C
ONNECT
STC
S
TO
A
MPS
/M
OTOR
/E
NCODER
4-6
P
C
X
,
S
T
D
,
1
0
4
X
,
C
P
C
I
&
V
6
U
C
o
n
n
ec
ti
o
n
s
fo
r
D
u
a
l-
L
o
o
p
C
o
n
tr
o
l
Connections for Dual-Loop Control
DSP Series controllers can be configured for dual-loop control. In dual-loop control, the
veloc-
ity information
for the PID derivative term (Kd) is derived from a rotary
encoder on the motor
shaft, and the
position information
for the PID proportional and integral terms is derived from
an
encoder on the load
itself.
The axis that will be used for the rotary encoder is configurable through software and can be
any axis that is not controlling a motor. For example, if axis 0 is configured for velocity feed-
back and axis 1 is configured for positional feedback, your system would be connected as
shown in the next figure.
Figure 4-5
Typical Dual-loop Encoder Connections with Differential Encoders
STC-26
Encoder
Brushless
Amp
Motor
Servo +
GND
+ 5 volts
Encoder A+
Encoder A-
Encoder B+
Encoder B-
Encoder Index+
Encoder Index-
GND
-
Encoder A+
Encoder A-
Encoder Index-
Encoder B+
Encoder B-
Encoder Index+
14
16
15
18
17
19
20
21
14
22
3
4
5
6
7
8
D
UAL
-
LOOP
E
NCODER
C
ONNECTIONS
From
PCX
CPCI
STD
V6U
104X
Axis 1
Axis 1
Axis 0
Encoder
Position
Velocity
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