What is the block diagram of the feedback loop when op mode is set to velocity?

[Mathieu Gibeault]

On 7344s, is the feedback loop changed when the operation mode is set to velocity? Is it still a “position feedback” loop with just a ramp at the input? Or is there an additionnal derivitive to find the speed and the input command is a speed?

[cld]

When making a move where the encoder is not configured for velocity feedback, the control loop uses actual position vs. expected position as a function of time to correct for the velocity output. However, when the encoder is configured for velocity feedback, we actually use the velocity based on encoder feedback in the control loop and this also allows us to use the functionality of the Kv term to smooth velocity response.
Best Regards,
Chris D
NI Applications Engineer