HARSFEN0602
KV [0] 100
KV[1] 19 Last index used
KV[2] 15 1st block, 2-order
KV[3] 1734476372 Parameter 1 (k1), man
KV[4] -32 Parameter 1 (k1), exp
KV[5] 1480626866 Parameter 2 (k2), man
KV[6] -32 Parameter 2 (k2), exp
KV[7] -1592218865 Parameter 3 (k3), man
KV[8] -31 Parameter 3 (k3), exp
KV[9] 2104573671 Parameter 4 (k4), man
KV[10] -32 Parameter 4 (k4), exp
KV[11] 14 2nd block, 1-order
KV[12] 1571662995 Parameter 1 (p), man
KV[13] -32 Parameter 1 (p), exp
KV[14] 1361652150 Parameter 2 (q), man
KV[15] -31 Parameter 2 (q), exp
KV[16] 0 End of the filter blocks
KV[17] 0 Reserved
KV[18] 0 Reserved
KV[19] -1 End of filters
The value of KV[N] parameters for N>19 is not important.
15.5 The Gain-Scheduling Algorithm The gain scheduling (GS) is implemented for speed and position controllers. This means, that the controller
parameters (Speed controller KI, KP, Position controller gain, and some links of the high order filter) are
changed automatically with the working point of the servo drive.
Gain scheduling solves the following problems:
Low Resolution Position Sensor: When the position sensor has low resolution, the speed is derived from
the position data with large time delay, typically half of the time between consecutinve encoder pulses. The
speed measurement delay risks the controller stability. In order to maintain stability in low speeds, the
controller gains are reduced. For high speed, the controller achieves its full possible bandwidth.
The Harmonica can schedule of the controller gains automatically, as a function of the command to the
speed controller. In the speed unit mode, the command to the speed controller is a function of the reference
generator only. For the position control modes (UM=4,UM=5) the reference to the speed controller is the
sum of the position command derivative, and the output of the position controller.
Load and Posture Variations When controlling an articulated manipulator, the inertia that some of the
manipulator motors see varies much with the posture of the manipulator. Resonance frequency may also
vary considerably with varying posture or load conditions. By gain scheduling, one can switch the active
controller parameters, as a function of posture and load.
The following table describes the programming of 63 controller parameters sets:
Parameters Name Description
KG[1]...KG[63] SpeedKiTable SpeedKiTable[k] is the speed KI gain for the k'th
controller
KG[64]...KG[126] SpeedKpTable
SpeedKpTable[k] is the speed KP gain for the k'th
controller
KG[127]...KG[189] PositionKpTable PositionKpTable[k] is the position KP gain for the
k'th controller
KG[190]...KG[252] DoubleLeadBeta DoubleLeadBeta[k] is the βparameter for the
double lead element of the k'th controller
KG[253]...KG[315] DoubleLeadG DoubleLeadG[k] is the G parameter for the double
lead element of the k'th controller