ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 97)

KG[N] - Gain Scheduled Controller
Parameters
Purpose:
Specifies the parameters of the gain scheduled speed or position controller. The KG[N]
parameters apply only if the controller gains are scheduled, either manually
(GS[2]=1...16) or automatically (GS[2]=64).
The following table details the use of the KG[N] parameters array:
Index KG[N] Value Lengt
h
[1…16] KI for inner (speed) loop 16
[17…32] KP for inner (speed) loop 16
[33…48] KP for outer (position) loop 16
Table 3-24: KG[N] Gain Scheduled Controller Parameters
Attributes: Type: Parameter, [1…48]: Real;
Source: Program, RS-232, CANopen
Restrictions: None
Default values: RS=0
Range:
[0 … 10 8 ]
Index range: [1…48]
Activation: Immediate
SimplIQ: Modified
Under most circumstances, this command is used only by the tuning
environment.
Notes:
• The GS[N] array for SimplIQ for Steppers includes 16 gain scheduling controllers.
In SimplIQ, it included 64 controllers.
• SimplIQ for Steppers cannot schedule the control filter, SimplIQ could schedule
one link of the control filter.
• The units for the inner (speed) loop gains are:
KP: mAmp/(count/sec)
KI: mAmp/count
• The units for the position gain are 1/sec.
Application notes:
Gain scheduling
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
89