Editing Dual-loop feedback position control
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The most common method to make a dual loop system is to connect servo motor with rotary encoder to a servo drive and tune it for velocity control mode. The linear encoder feedback should go to the [[controller]] that implements it's own position control and outputs a velocity setpoint to the servo drive. | The most common method to make a dual loop system is to connect servo motor with rotary encoder to a servo drive and tune it for velocity control mode. The linear encoder feedback should go to the [[controller]] that implements it's own position control and outputs a velocity setpoint to the servo drive. | ||
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Servo drive can be also set in position or torque mode but the simplest solution is to use velocity control mode in the inner loop. | Servo drive can be also set in position or torque mode but the simplest solution is to use velocity control mode in the inner loop. | ||
From off-the-shelf solutions at least [[LinuxCNC]] supports dual-loop operation as the software implements a position controller with feedback input. | From off-the-shelf solutions at least [[LinuxCNC]] supports dual-loop operation as the software implements a position controller with feedback input. | ||
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