ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 73)

GS[N] - Gain Scheduling
Purpose:
Defines the gain scheduling process.
SimplIQ drives contain several sets of controller parameters. The ability to select the
best control parameters on-the-fly 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[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
1..16: Manual
64: Automatic
0..16 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:
The maximum deceleration that the
motor can apply. Used to assure
that the position controller
commands only speeds that can be
stopped on time without overshoot.
0…500000000
GS[10] Position error coefficient for
position gain scheduling to raise
gains 0…1,200
GS[15] Gain scheduling step [in speed
units]:
0: 16384
1: 8192
N: 16384/2
N
0…10
Table 3-12: Gain Scheduling Parameters
Under most circumstances, this command is used only by the tuning
environment.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
65