CANopen Programmer's Manual - Maccon.de

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