Fine control over drive motion using real-time velocity and position data
Used In:
- Point-to-Point motions
- When highest accuracy is needed for settling time
Gain scheduling enables fine-tuned control over servo motion velocity and position. It provides the user with the capability to change the drive’s gains on-the-fly according to its motion in real time.
Elmo’s 3-step gain scheduling provides dedicated, configurable parameters for servo motion in different stages:
- Stage 1: The axis is standing (no motion)
- Stage 2: The axis is in motion
- Stage 3: Immediately after the motion ends (a configurable period)
The following graphs show how an example of how gain scheduling can improve settling performance at the end of a motion. On the left is the velocity profile with a detailed before-and-after zoom of gain scheduling effects. On the right is a before-and-after position error plot of gain scheduling effects.
Gain scheduling is easily configured using the Elmo Application Studio (EAS):
Design Features
- Enables fine control over the drive motion at selected stages
- Drive controller gains are changed on-the-fly, in real time
- Easily configured by the EAS