Control Techniques Epsilon EP-P, Reference Manual

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Epsilon EP-P Drive Reference Manual
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torque back into the user defined units. The units of this parameter are % ContinuousCurrent. This scaling factor is used
along with the user torque to establish a relationship between torque user units and actual torque.
3.6 Dual Loop View
Dual Loop View provides the setup parameters to have an axis position controlled by a remote or secondary encoder, while
maintaining a velocity encoder feedback to help with loop stability and to prevent the axis “runaway” if the remote encoder
becomes disconnected.
An example application would be where a web is pulled through rollers, but there is not a precise grip on the material so it can
slip a little and so loose position. This is solved by an external encoder touching the web and providing the accurate feedback
of the web position.
Figure 41: Dual Loop View
3.6.1 Display Dual Loop Setup
Select this check box to enable the Dual Loop Mode feature which accepts a secondary feedback device to close the position
loop while still using the motor encoder to close the velocity loop.
3.6.2 Position Encoder Setup Group
Position Feedback Polarity
Position Feedback Polarity defines the direction of the position encoder that corresponds to a positive position change. This
value is somewhat arbitrary, since the position encoder can be mounted to spin CW or CCW as the material moves "forward".
If this value is not set correctly in Dual Loop mode the motor will rotate in the opposite direction as desired.
Master Interpolation
This parameter determines how the incoming pulses are seen to generate the synchronized motion command. This setting
allows the user to choose the appropriate signal type to match the device generating the master input pulses.
Pulse Quadrature
The most common type for use with incremental encoders using AB Quadrature signals
Pulse Direction
Used with Step and Direction control signals
Pulse Pulse
Used with Pulse Forward and Pulse Reverse control signals
Available when Sync Encoder Input is selected as the Master Source on the MasterUnits View or on the Dual Loop View when
the Dual Loop setup checkbox is selected enabling the feature.
Drive Input Signal
This is selected accordingly based on whether the incoming pulses are Differential (default) or Single Ended. Available when
Sync Encoder Input is selected as the Master Source on the Master Units view or when the Dual Loop feature is enabled.