User guide

Control Loops CME 2 User Guide
124 Copley Controls
11.6: Position Loop Setup and Tuning
Initial position loop proportional gain (Pp), velocity feed forward (Vff), and acceleration
feed forward (Aff) values can be calculated with The Calculate Function (p. 54).
Enter Basic Position Loop Settings
1
Click P Loop to open the Position Loop Values screen:
2
Change/verify Position Loop Values as needed. Click Close when done.
Gain
Description
Aff
Acceleration feed forward. Range: 0 to 32,767. See Trajectory Limits (p. 131).
Vff
Velocity feed forward. Range: 0 to 32,767. 100% Vff: 16,384.
See Trajectory Limits (p. 131).
Pp
Position loop proportional gain. Range: 0 to 32,767. See Trajectory Limits (p. 131).
Gains Multiplier
Position loop output is multiplied by this value before going 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 Feedback Parameters (p. 46).
Following
Error
Description
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.
See Following Error Fault Details (p. 91).
Warning
The level (in counts) at which the following error produces a warning (without stopping
the loop). See Following Error Fault Details (p. 91).
Disable Fault
Stops following error from faulting. See Following Error Fault Details (p. 91).
Tracking
Description
Tracking Window
Width of tracking window in counts. See Tracking Window Details (p. 92).
Tracking Time
Position must remain in the tracking window for this amount of time to be considered
tracking. See Tracking Window Details (p. 92).
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