Technosoft IPS110 Technical Reference page 18

3. Closed-loop control of load position using an encoder on load, combined with open-loop
control of a 2 phase step motor in speed, with speed reference provided by the position
controller. The motion commands in both SI and IU units refer to the load.
IPS110
Figure 2.3. Encoder on load. Closed-loop control: load position, open-loop control: motor speed
4. Closed-loop control of a 2-phase step motor in position, speed or torque. Scaling factors
take into account the transmission ratio between motor and load (rotary or linear). Therefore,
the motion commands expressed in SI units (or derivatives) refer to the load
commands, expressed in IU units refer to the motor.
Figure 2.4. Encoder on motor shaft. Closed-loop control: motor position, speed or torque
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IPS110
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IPS110 Technical Reference