User guide

CME 2 User Guide Scope Tool
Copley Controls 161
15.9: Control Loop Parameters
The Scope tool provides convenient access to all of the control loop parameters that
might be used in tuning and diagnosing an amplifier. The user can adjust these
parameters and see the results immediately on the scope. Control loop parameters are
accessed through a set of tabs, shown below.
Note that the parameters represented on these tabs can also be accessed through the
screens used to configure the control loops and the digital position input. Changing a
value in the Scope tool automatically updates the value on the other screens where it
appears, and vice versa.
Control loop parameter tab descriptions follow.
15.9.1: Gains Tab
The Gains tab provides access to all of the gains appropriate to the operating mode, as
described below.
Modes
Gains
Description
For More Information
Position mode
only
Pp
Position loop proportional gain.
Trajectory Limits (p. 131).
Aff
Acceleration feed forward.
Vff
Velocity feed forward.
Position or
velocity mode only
Vp
Velocity loop proportional gain.
Velocity Loop Gains (p.
123).
Vi
Velocity loop integral gain.
All modes
Cp
Current loop proportional gain.
Current Loop Gains (p. 119).
Ci
Current loop integral gain.
ECp
Encoder Correction Gain.
Encoder Correction (p. 142).