User guide

Quick Setup with CME 2 Xenus XTL User Guide
114 Copley Controls Corp.
5.11: Position Loop
Initial position loop proportional gain (Pp), velocity feed forward (Vff), and acceleration feed forward
(Aff) values were calculated in a previous step.
5.11.1: Position Loop Settings
For more information, see Position Mode and Position Loop (p. 14).
5.11.1.1 Click P Loop to open the screen:
5.11.1.2 Change/verify Position Loop parameters as needed:
Option Description For More Information…
Gains
Aff Acceleration feed forward. Range: 0 to 32,767.
Vff Velocity feed forward.
Range: 0 to 32,767. 100% Vff: 16,384.
Pp Position loop proportional gain. Range: 0 to 32,767.
Trajectory Limits (p. 14)
Gains
Multiplier
Position loop output is multiplied by this value before going
to the velocity loop. In dual encoder systems, the
multiplier’s initial value is calculated based on the ratio of
motor encoder turns to position encoder turns.
See Feedback Parameters,
Rotary (p. 80) for information on
motor/position encoder ratio.
Following Error
Fault The level (in encoder counts) at which the following error
produces a fault, which stops the servo loop. We
recommend raising the fault level before tuning the loop.
Warning The level (in encoder counts) at which the following error
produces a warning (without stopping the servo loop).
Disable
Fault
Prevents following error from triggering a fault.
Following Error Fault Details (p.
29).
Tracking
Tracking
Window
Width of the tracking window in counts.
Tracking
Time
Position must remain in the tracking window for this
amount of time to be considered tracking.
Tracking Window Details
(p. 30).