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Velocity control

The velocity control function is in charge of closing the velocity loop, or in other words, it ensures that the controller is all the time in the velocity demanded by the profiler. This loop uses the output of the profiler, after passing through the stop manager, and the actual velocity reading, as an input for the algorithm. In order to increase control frequency resolution, the output of the loop is scaled to torque values, and the torque control function is used afterwards to provide the actual control of the actuator. See the torque control page for additional information about how the torque control loop works and why the position and velocity control loops are actually closed using the torque control function.

Velocity control function

Related objects

0x2501 - Velocity control parameters set

0x606B - Velocity demand value

0x606C - Velocity actual value

0x6074 - Torque demand

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