Copley Controls Xenus Plus Series - Page 22

Xenus Plus User Guide 16-01344 Rev 06
Copley Controls 22
2.2.5: Velocity Mode and Velocity Loop
Velocity Loop Diagram
As shown below, the velocity loop limiting stage accepts a velocity command, applies limits, and
passes a limited velocity command to the input filter. The filter then passes a velocity command to
the summing junction. The summing junction subtracts the actual velocity, represented by the
feedback signal, and produces an error signal. (The velocity loop feedback signal is always from
the motor feedback device even when an additional encoder is attached to the load.) The error
signal is then processed using the integral and proportional gains to produce a current command.
Programmable digital filters are provided on both the input and output command signals.
Inputs
In velocity mode, the velocity command comes from one of the following:
• The drive’s analog or PWM inputs.
• A network command, CAN, or RS-232 Serial.
• A CVM control program.
• The drive’s internal function generator.
In position mode, the velocity command is generated by the position loop.