Xenus XSL User Guide Quick Setup with CME 2
Copley Controls Corp. 113
5.12: Velocity Loop
Initial velocity loop proportional gain (Vp) and velocity loop integral gain (Vi) values were
calculated in a previous step.
5.12.1: Velocity Loop Settings
For more information, see Velocity Mode and Velocity Loop (p. 22).
5.12.1.1 Click V Loop ( ) to open the Velocity Loop screen.
5.12.1.2 Enter the following options as needed.
Option Description
Velocity Limit Top speed limit. Max value may depend upon the back EMF & the Encoder value.
Min value: 0.
Acceleration
Limit
Maximum acceleration rate. Max value may depend upon load, inertia, & peak current.
Min value: 1. (Does not apply in position mode.)
Deceleration
Limit
Maximum deceleration rate. Max value may depend upon load, inertia, & peak current.
Min value: 1. (Does not apply in position mode.)
Tracking
Window
Tracking
Time
See Tracking Window Details (p. 40).
Vp Velocity loop proportional gain. Range: 0 to 32,767.
Vi Velocity loop integral gain. Range: 0 to 32,767.
Fast Stop
Ramp
Deceleration rate used by the velocity loop when the amplifier is hardware disabled.
Range: 0 to 100,000,000. Default: velocity loop Decel. Limit value. For more information,
see Velocity Loop Limits (p. 22).
Enable Gains
Scalar
Increases the resolution of the units used to express Vp and Vi, providing more precise
tuning. For more information, see Velocity Loop Gains Scalar (p. 23).
Filter See Velocity Loop Filters (p. 167).
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