User guide

Copley Controls 221
APPENDIX
H: GAIN SCHEDULING
The Gain Scheduling feature allows you to schedule gain adjustments based on changes
to a key parameter. For instance, Pp, Vp, Vi, and Current Offset (A) could be adjusted
based on changes to commanded velocity.
Gain adjustments are specified in a Gain Scheduling Table. Each table row contains a key
parameter value and the corresponding gain settings. The amplifier uses linear
interpolation to make smooth gain adjustments between the programmed settings.
Gain scheduling involves the basic steps outlined below. Details follow in the chapter.
H.1: Configure Gain Scheduling ................................................................................................................................................ 222
H.2: Set Up the Gain Scheduling Table(s) ................................................................................................................................. 223
H.2.1: Create a Gain Scheduling Table ....................................................................................................................... 223
H.2.2: Edit Gain Scheduling Table Values .................................................................................................................. 225
H.2.3: Save and Restore Gain Scheduling Tables and Settings ................................................................................. 226
H.3: Gain Scheduling Table Guidelines ..................................................................................................................................... 227
H.3.1: Gain Schedule Table Storage Limits ................................................................................................................ 227
H.3.2: Gain Schedule Data Rules ............................................................................................................................... 227