Velocity Operation; Serial Velocity Operation; Analog Velocity Operation; Velocity Control - Servotronix CDHD2S User Manual

Operations
Current control loop tuning is derived from motor properties and bus voltage. In the
ServoStudio2 "Motor Setup" wizard, the current control loop is tuned.

7.4 Velocity Operation

7.4.1 Serial velocity operation

In serial velocity mode (OPMODE0), the drive current and speed loops are active and the drive
responds to commands received via the USB or RS232 port. The command specifies that the velocity
is subject to acceleration and deceleration limits.
In the ServoStudio2 "Movement" screen, select "Operation Mode" - Serial Velocity, which is
used to modify and test parameters.

7.4.2 Analog velocity operation

When operating in "Analog Velocity " mode (OPMODE1), the drive current and velocity loops
are active and the drive responds to analog commands from the main analog input (connected at
controller interface (C2) pins 8 and 26).
The command specifies that the velocity is subject to the acceleration limit defined by the
variable ACC.

7.4.3 Velocity control

Please refer to VarComVELCONTROLMODE.
PI controller (using KVP and KVI)
⚫
PDFF controller (using KVP, KVI, KVFR)
⚫
Standard pole placement controller (using MJ, MKT, BW, LMJR, TF)
⚫
HD velocity loop (with integrating circuit) (using KNLD, KNLP)
⚫
HD velocity control (with integrating loop) (recommended)
Please refer to VarComVELCONTROLMODE7.
Before using the HD velocity controller, first execute the ServoStudio2 "Autotuning" wizard,
then adjust the tuning manually (if necessary).
You can then continue using the HD velocity controller.
VELCONTROLMODE7 has the velocity control advantage of HD nonlinear controller.
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