EPOS2 Application Notes Collection - Maxon Motor

Controller Architecture
Overview
9.2 Overview
The EPOS2 controller architecture contains three built-in control loops.
• Current regulation is used in all modes.
• Position and velocity controllers are only used in position-based, respectively velocity-based
modes.
• Current control loop receives as input the position, respectively velocity controller’s output.
Figure 9-72
Controller Architecture
maxon motor control
9-118 Document ID: rel3956 EPOS2 Positioning Controllers
Edition: April 2013
EPOS2 Application Notes Collection
© 2013 maxon motor. Subject to change without prior notice.