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