ElmoMC SimplIQ Command Reference - Manual (Page 91)

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 (GS[2]=64).
The following table details the use of the KV[N] parameters array:
Index KG[N] Value Length
0 Reserved 1
[1…63] KI for inner loop 63
[64…126] KP for inner loop 63
[127…189] KP for outer loop 63
[190…252] GSIndexTable table 63
[253…315] Parameter 1 for scheduled advanced filter 63
[316…378] Parameter 2 for scheduled advanced filter 63
[379…441] Parameter 3 for scheduled advanced filter 63
[442…504] Parameter 4 for scheduled advanced filter 63
Table 3-27: KG[N] Gain Scheduled Controller Parameters
Attributes: Type: Parameter, [1…189]: Real; [190…504]: Integer
Source: Program, RS-232, CANopen
Restrictions: None
Default values: RS=0
Range:
See section 15.4 “The Gain Scheduling
Algorithm” in the SimplIQ Software Manual
Index range: [0…504]
Activation: Immediate
Reference chapter in the SimplIQ Software Manual:
Chapter 15, ”The Controller”
SimplIQ Command Reference Manual Alphabetical Listing
MAN-SIMCR (Ver. 4.5)
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