Dual-Loop Axis Types

Dual-loop axes have two different feedback quantities and one control output. This is typically used for controlling two quantities, such as position and force, with a single actuator.

For example, with dual-loop control, an axis can use a single valve on a cylinder to move a load and then apply a force to it.

Dual-loop control requires two different feedback quantities assigned to the same axis. The following options are available:

Feedback Type	Description
Position-Pressure	Used for controlling both position and pressure with one actuator. Typically used with hydraulic cylinders.
Position-Force	Used for controlling both position and force with one actuator. Typically used with hydraulic cylinders.
Position-Acceleration	Used for advanced control such as active damping, which provides precision control of difficult system, such as pneumatic systems.
Velocity-Pressure	Used for controlling both velocity and pressure with one actuator.
Velocity-Force	Used for controlling both velocity and force with one actuator.
Velocity-Acceleration	Used for advanced control applications.

Required Modules

Dual-loop control requires the following:

RMC75: The secondary feedback must be on an AP2 expansion module.

RMC150: The RMC must be pressure-enabled, indicated by adding a 1 to the RMC150E, making it RMC151E.

Creating a Dual-Loop Axis

To create a dual-loop axis, in the Axis Definitions dialog, create a Control Axis, then choose Dual Loop Axis.

For more details on defining axes, see the following topics:

Defining Axes

Axis Definitions: Dialog

Axis Definitions: Edit

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