Using external amp control in dual loop configuration

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.