3.1.8.1.4.2 Usage
Set the first encoder at the input shaft to “Commutation & Velocity”
Set the second encoder at the output shaft to “Position only”
Ensure that the gear ratio is set correctly in object 0x6091.
3.1.8.1.4.3 Parameters related to Dual Loop Cascaded Position
Control
0x6091 Gear Ratio Object for indicating the revolutions of motor and shaft
0x2010 Torque Controller Values Kp, Ki and Kd for Torque Controller
0x2012 Position Controller Values Kp, Ki and Kd for Cascaded Position Controller (Both loops: Position
and Velocity)
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