Velocity Mode - Emerson Epsilon Eb Series Reference Manual

Operational Overview
Velocity Mode Following Error
In Velocity mode, the maximum Following Error possible varies based on the gain and torque
limit settings. When the Actual Torque Command reaches the maximum possible level, the
following error will stop increasing and any additional position error will be dropped. In
Velocity mode, when the following error exceeds the Following Error Limit parameter there
is no action.
Encoder Feedback and Position Feedback
Encoder Feedback (Position Feedback Encoder) and Position Feedback are two separate
parameters which indicate the same physical motor position. Encoder Feedback is the
position change since power up in motor encoder counts and Position Feedback is the total
position change since power up in motor revolutions. The Position Direction parameter
setting will change which direction the motor rotates when the position feedback and position
command are counting up. In the default setting the position counts up when the motor shaft
rotates clockwise (when viewed from the shaft end).
The Encoder Feedback (Position Feedback Encoder) parameter can be pre-loaded serially by
setting the Position Feedback Encoder Modbus parameter.

Velocity Mode

Three submodes are associated with Velocity mode: Analog, Presets and Summation.
Analog Submode
The Analog Input receives an analog voltage which is converted to the Velocity Command
Analog parameter using the Full Scale Velocity, Analog Input Full Scale, and Analog Input
Zero Offset parameters. The equation for this conversion is:
−
((AI AZO) FSV)
=
VCA
AFS
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