ElmoMC SimplIQ Servo Drives Composer User Manual - Manual (Page 45)

a. Be sure that the Gain Scheduling ON check box (in the middle) is not selected
and that the Advanced Filter Designer is OFF.
b. Select an existing velocity or enter a new velocity value in a row appropriate to
its place in the velocity range.
c. Enter the relevant gain coefficients for that velocity.
d. In the Step 3: Set Test Parameters and Step 4: Set Record Parameters blocks, be
sure that the required values are entered.
e. Click Run Test. The system will send the gain coefficients for the selected row to
the drive and the motor will operate at the selected velocity and according to the
test and record parameters that you selected. The recorder will automatically
record the feedback and display the results for the highlighted row.
f. Evaluate the results and, if needed, modify your values, repeating steps b.
through e. until you are satisfied that the gain values for that velocity are
acceptable. You may then highlight the row to indicate that it has been tested
satisfactorily. To do so, click the right mouse button and from the shortcut
menu, select Toggle Bookmark. The row with the bookmark will be highlighted
in a light color.
g. Repeat steps b. through f. for one or more other velocity values until you are
satisfied that you have determined a representative amount of recommended
gain scheduling values.
3. You may have the Wizard complete the gain schedule table for you and then test the
entire table with gain scheduling. To do so, perform the following procedure:
a. Check the Gain Scheduling ON check box.
b. In the row indicating the lowest velocity value for the range to be filled in, and
in the row indicating the highest value in the range, select Accept.
c. To have the Wizard “complete” the gain scheduling for that range, click the
right mouse button and from the shortcut menu, click Interpolate Pos. Loop.
The Wizard will calculate the coefficient values in the range you defined in
step b. Rows before and after that range will take the values of the first and last
Accepted row, respectively.
d. To test the interpolated values, select a row of the table that indicates the
velocity to be reached during the test. Alternatively, in the Speed text box, enter
the velocity value. If that exact value does not appear in the table, the value
closest to it — but not exceeding it — will be selected in the table.
e. In the Step 3: Set Test Parameters and Step 4: Set Record Parameters blocks, be
sure that the required values are entered.
f. Click Run Test. The system will send the gain coefficients to the drive and
activate the gain scheduling. During the test, the motor will turn according to
the test and recording parameters. The recorder will be activated immediately in
order to record and display the results of the position, position command and
current command.
Composer User Manual Using the Wizard
MAN-COMPUM (Ver. 1.9)
2-4