 Okay, so let's start with the tuning of the startup of our engine and let's show some basic and advanced methods So let's begin with the basic stuff First we have to Set up the alignment so initially we will set up the alignment taking two seconds and The final current Will be approximately 50 to 100 percent of the motor nominal current This is to stabilize the motor if it was spinning or vibrating at one fixed position And give it enough time for stabilizing in this position second part it's a speed ramp It's a required Start to some some speed our recommendation. It's a user 30 percent of maximal application speed to Speed up faster than the non-realable part of the sensorless reconstruction and Then it's also take some time. It's in some seconds depend on the motor or Inertia connected to the rotor Okay, finally, we have to work with the current around and set up the initial and final values dependent on the required torque So normally we'll start with a 50% of the nominal current value So the next part it's about the threshold in the speed and we have to define some Minimal speed and below the speed. It's not possible switch to the closed loop. We have to avoid some non-realable reconstruction and We defined usually 15% of nominal speed for this threshold Additionally to check that the speed was reached we define some Speedband tolerance limit and the lower one shall be set to 93.75 percent This is one step below 100 second possibility how to describe startup it's advanced it's defined quite similar but with some five points first it's a Alignment with without this Final speed zero with predefined at electrical angle then second step start with the spinning with final speed in non-zero value and Define at current we can define five steps and Also, there is some possibility how to define a step Which is able switch to sensor sensor less algorithm to the closed loop The green part now shows the length of each of the steps. So we can define Alignment length we can define the length of our startup and so on The second part depicted in red is the final speed in rpm defined for each step the Motor control algorithm will Gradually change the speed from the one reached in the previous step to the end value of this step So it will for example in the second step go from 0 to 588 rpm in 1.17 Seconds and finally we can see the final current of each step that defines the torque ramp and the available current the bottom part it's the same as in the basic view and You have to again define some limit in the speed for the switching to a closed loop and this slide you see two view for for The advanced view for the startup with startup table with five points first. It's on the left side first it's Set up from in the workbench which defy which is defined at to the code and second part It's from the monitor and you can change this part online from Motor control workbench monitor There is only one different in the order of a column and Inside the online view it's torque in in the digits of ADC It's not a current. It's some digits and define some torque