Xenus XSL User Guide Quick Setup with CME 2
Copley Controls Corp. 115
5.13: Position Loop
Initial position loop proportional gain (Pp), velocity feed forward (Vff), and acceleration feed
forward (Aff) values were calculated in a previous step.
5.13.1: Position Loop Settings
For more information, see Position Mode and Position Loop (p. 24).
5.13.1.1 Click P Loop ( ) to open the Position Loop screen.
Options are described in the following table.
Option Description For More Information…
Gains
Aff Acceleration feed forward. Range: 0 to 32,767.
Vff Velocity feed forward.
Range: 0 to 32,767. 100% Vff: 16,384.
Pp Position loop proportional gain. Range: 0 to
32,767.
Trajectory Limits (p. 24)
Gains
Multiplier
The output of the position loop is multiplied by
this value before being passed to the velocity
loop. In dual encoder systems, the multiplier’s
initial value is calculated based on the ratio of
motor encoder turns to position encoder turns.
See Rotary Motor Feedback
Setup Options (p. 90) for
information on motor/position
encoder ratio.
Following Error
Fault The level (in encoder counts) at which the
following error produces a fault, which stops the
servo loop. We recommend raising the fault
level before tuning the loop.
Warning The level (in encoder counts) at which the
following error produces a warning (without
stopping the servo loop).
Disable
Fault
Prevents following error from triggering a fault.
Following Error Fault Details
(p. 39).
Tracking
Tracking
Window
Width of the tracking window in counts.
Tracking
Time
Position must remain in the tracking window for
this amount of time to be considered tracking.
Tracking Window Details
(p. 40).
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