Dual Loop Cascaded Position Control


Using a gear can cause inaccuracy when only the shaft is controlled.

A second encoder can be attached to the output shaft after the gear for an optimized position control.

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The velocity FIR filter is before velocity feed forward until firmware 4.4.9! Only in the soon-to-be-released firmware 4.4.10 it will be at the shown position.


  • Set the first encoder at the input shaft to “Commutation & Velocity”

  • Set the second encoder at the output shaft to “Position only”

  • Ensure that the gear ratio is set correctly in object 0x6091.