Servo Algorithms
PID Block Diagram
Torque Demand Mode
Velocity Demand Mode
*Note: In controller firmware version 633 and higher, the Friction Feedforward, Acceleration Feedforward, and Offset are directed to the Torque Demand. In previous firmware versions, these values were directed to the Velocity Demand.
PID Algorithm
PIV Block Diagram
Torque Demand Mode
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Velocity Demand Mode
PIV is not applicable for Velocity Demand Mode.
PIV: Position Compensator
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PIV: Velocity Compensator
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