User guide
Gain Scheduling CME 2 User Guide
222 Copley Controls
H.1: Configure Gain Scheduling
Use this procedure to select basic Gain Scheduling options.
1
If necessary, Start CME 2 Software (p. 15).
2
On the Main screen, choose AmplifierGain Scheduling.
3
Choose the Key Parameter:
Key Parameter
Description
Disable Gain Scheduling.
Disable gain scheduling.
Use Written Parameter.
An external controller can write to this parameter using any of several
protocols and corresponding parameter IDs: Copley ASCII Interface or the
Copley Indexer 2 Program (ID 0x128), CANopen and EtherCAT(Index
0x2371), and MACRO I-variable (0x528).
See the Copley ASCII Interface Programmer’s Guide, the Copley Indexer 2
Program User Guide, or the Copley CANopen Programmer’s Guide.
Use Commanded Velocity.
Schedule gain adjustments based on changes to commanded velocity.
Use Actual Velocity.
Schedule gain adjustments based on changes to actual velocity.
Use Commanded Position.
Schedule gain adjustments based on changes to commanded position.
Use Actual Position.
Schedule gain adjustments based on changes to actual position.
4
Optionally set controls:
Control
Description
Use Absolute Value of Key
Parameter
If a velocity or position value is chosen for the Key Parameter and this option
is set, the Key Parameter is interpreted as an absolute value.
Disable Gain Scheduling
Until Axis is Referenced
When this option is set, the scheduled gain adjustments do not take place
until the axis is referenced (homed).
5
Select the gains that you wish to adjust by schedule. The choices are Pp, Vp, Vi and
Current Offset (A). For each gain you select, a column will be enabled in the Gain
Scheduling Table.
6
Continue with Set Up the Gain Scheduling Table(s) (p. 223).