CANopen Programmer's Manual - Maccon.de

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4: Control Loop Configuration CANopen Programmer’s Manual CURRENT OFFSET INDEX 0X60F6, SUB-INDEX 3 Type Access Units Range Map PDO Memory Unsigned 16 RW 0.01 amps - YES RF Description This offset value is added to the commanded motor current. It can be used to compensate for a directional bias affecting the current loop. 154 Copley Controls
CANopen Programmer’s Manual 4: Control Loop Configuration 4.5: Gain Scheduling Configuration The Gain Scheduling feature allows you to schedule gain adjustments based on changes to a key parameter. For instance, Pp, Vp, and Vi could be adjusted based on changes to commanded velocity. Gain adjustments are specified in a Gain Scheduling Table. Each table row contains a key parameter value and the corresponding gain settings. The amplifier uses linear interpolation to make smooth gain adjustments between the programmed settings. Gain Scheduling Tables are stored in the Copley Virtual Machine (CVM) memory space. They can be created and modified using CME 2 software. The following objects are used to configure Gain Scheduling. GAIN SCHEDULING CONFIG INDEX 0X2370 Type Access Units Range Map PDO Memory Unsigned 32 RW - - YES RF Description Bits Meaning 0-2 Key parameter for gain scheduling. Value Description 0 None. Setting the key parameter to zero disables gain scheduling. 1 Use value written to Gain Scheduling Key Parameter (index 0x2371, p. 155) as the key. 2 Use Instantaneous Commanded Velocity (index 0x2250, p. 137). 3 Use Load Encoder Velocity (index 0x2231, p. 144). 4 Use Position Command Value object (index 0x60FC, p. 141). 5 Use Position Actual Value object (index 0x6063, p. 137). 6-7 Reserved. 3-7 Reserved. 8 If set, use the absolute value of key parameter for gain lookup. 9 If set, disable gain scheduling until the axis is referenced (homed). GAIN SCHEDULING KEY PARAMETER INDEX 0X2371 Type Access Units Range Map PDO Memory Integer 32 RW - - YES R Description Gain scheduling key parameter value. When gain scheduling is enabled, the current value of the key parameter is stored here. When this parameter is selected as the key parameter for gain scheduling, then it may be written to manually move through entries in the gain scheduling table. Copley Controls 155
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