CANopen Programmer's Manual - Maccon.de

CHAPTER
4: CONTROL LOOP CONFIGURATION
This chapter describes nested control loop model used by Copley Controls amplifiers to control
the position of the motor.
Contents include:
4.1: Control Loop Configuration Overview ................................................................................................. 128
4.2: Position Loop Configuration Objects ................................................................................................... 136
4.3: Velocity Loop Configuration Objects ................................................................................................... 143
4.4: Current Loop Configuration Objects ................................................................................................... 149
4.5: Gain Scheduling Configuration ........................................................................................................... 154
4.6: Chained Biquad Filters ........................................................................................................................ 155
Copley Controls 127