ElmoMC SimplIQ Command Reference - Manual (Page 67)

GS[N] - Gain Scheduling
Purpose:
Defines the gain scheduling process.
SimplIQ drives are scheduled according to the controller and the command states. This
may be necessary due to either the difference between the low-speed behavior and the
high-speed behavior of the plant or because the inertia changes with position
dependence. The process of assessing the situation and varying the controller parameters
online accordingly is called “gain scheduling.”
The following table lists the gain scheduling parameters. Unused indices are reserved for
compatibility with older drives.
Parameter Description Values
GS[0] No encoder count over which speed
loop is opened 0…500
GS[1] Minimum speed command for speed
and dual gain scheduling (counts/sec) 0…16*62*256 internal speed units
(1 speed unit = counts/Ts/2^16)
GS[2] Use scheduled gains:
0: No
64: Yes 0, 64
GS[4] Upward gain of gain scheduling filter 0…32,767
GS[5] Downward gain of gain scheduling
filter 0…32,767
GS[9] NL factor for position controller 0…60,000,000
GS[10] Position error coefficient for position
gain scheduling to raise gains 0…1,200
GS[14] Maximum speed error for which KP[N]
is cleared in speed controller if no
encounter count exceeds GS[0] 0…2 31 -1
GS[15] Gain scheduling step:
0: 256
1: 128
N: 256/2
N
0…3
Table 3-15: Gain Scheduling Parameters
The GS[N] array is normally programmed by the Composer IDE. Manipulate it
only if you are sure of what you are doing.
SimplIQ Command Reference Manual Alphabetical Listing
MAN-SIMCR (Ver. 4.5)
3-54