Using external amp control in dual loop configuration
Looking at the dual loop control. Can this be achieved by using the PID control on the external amplifier (Set Ki to zero) - and then run the galil in normal control (with load encoder connected to main encoder inputs and set KD to 0)
Thanks
CVV
Comments 1
Galil_CoryB on
08/19/2016 - 11:06
CVV-
Dual loop control splits the PID filter so it uses 2 feedback sources, one for the motor and one for the load. For this to be the most effective the external drive should be in torque mode and the motor encoder should have greater resolution then the load encoder (2-10 times recommended). Example, if the load is moved 1000 counts, the motor encoder should report a move of 2000 counts or greater. With dual loop running, all three of the PID parameters can be used.
Galil_CoryB on 08/19/2016 - 11:06
CVV-
Dual loop control splits the PID filter so it uses 2 feedback sources, one for the motor and one for the load. For this to be the most effective the external drive should be in torque mode and the motor encoder should have greater resolution then the load encoder (2-10 times recommended). Example, if the load is moved 1000 counts, the motor encoder should report a move of 2000 counts or greater. With dual loop running, all three of the PID parameters can be used.