Operating Modes - Copley Controls Accelnet Plus BEL Series User Manual

Accelnet & Stepnet Plus Panels User Guide
3.4 O
PERATING
M C
ODES AND ONTROL
N C
ESTING OF ONTROL
Copley Controls Accelnet & Stepnet Plus Panel servo drives use up to three nested control loops, current,
velocity, and position, to control a motor in three associated operating modes. Plus Panel stepper drives
typically operate in microstepping mode which is a form of open-loop position and velocity control. When
stepper motors are equipped with encoders, they can operate stepper motors as brushless servo motors that
use the same nested control loops as the servo drives.
This graphic shows the three control loops in a Plus Panel drive. The innermost loop controls current. This
loop becomes an element in the velocity loop. Finally, the position loop takes the command input from a
position commanding source which could be analog inputs, digital inputs, or commands over a network such
as EtherCAT or CANopen.
M
ODES
L
OOPS
L M
OOPS AND ODES
16-01339 Rev 07