Drawings & Diagrams
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30
MANUAL # 9675-1035-000-A
Sensored Vector Velocity Control Loop Diagram
Gain
Velocity
Command
Integer
Settable
(GVC)
Gain Velocity
Scale in Counts
per Interrupt
Power of 2
settable
2
0
=1
2
8
=256
(GVS)
Mode 2
Velocity
Command
(SVC)
View MM
Low Pass
Feedback filter
+
-
+
+
Sensored Vector Velocity Control Loop Diagram
Velocity
Error
MM Set
+
+
MM Set
MM Set
Raw Velocity
Estimate
Proportional
Gain
MM Set
32768
)
GVP
(
Integral Gain
MM Set
32768
)
GVI
(
Tach Gain
MM Set
32768
)
GVF
(
Derivative Gain
MM Set
256
)
GVD
(
Scaled Velocity
MM View
)
SVS
(
±32767
Mode 2
Velocity Loop
Error Command
to Current Loop
(SVC)
Velocity
From Current
Control Loop
Diagram
Measured Motor
Velocity with
Derivative and
Tach Gain
