Cascade

Introduced in MORe v3.1

Represents a cascaded loop with a velocity loop and a position loop.

Block diagram

Signal	Description
\(v_s\)	Velocity setpoints
\(x_s\)	Position setpoints
\(v_i\)	Velocity feedback
\(y\)	Force/torque command value

Controller gains

Variable	Units linear	Units rotary	Description
\(K_v\)	\(1/s\)	\(1/s\)	Proportional gain of the position controller
\(K_p\)	\(N s/m\)	\(Nm s/rad\)	Proportional gain of the velocity controller
\(T_{ni}\)	\(s\)	\(s\)	Integral time
\(V_{ff}\)	\(-\)	\(-\)	Velocity feed-forward gain
\(\tau\)	\(s\)	\(s\)	Cut-off frequency of derivative approximation

Feedbacks

Selected Entity

Select “Link” to use a link output as feedback (direct feedback). If the controller contains a motor, an output of the motor can be selected (indirect feedback).

Link Output

Only visible if selected entity is “Link”. Select a link to be used as feedback.

Velocity Loop Closed

Disable to open the velocity feedback loop.

Position Loop Closed

Disable to open the position feedback loop.