Figure 10.2: Levels of Control Funtions
The three levels of control may be viewed as different levels of management. The top manager, the motion
program, may specify the following instruction, for example.
PR 6000,4000
SP 20000,20000
AC 200000,00000
BG X
AD 2000
BG Y
EN
This program corresponds to the velocity profiles shown in Figure 10.3. Note that the profiled positions show
where the motors must be at any instant of time.
Finally, it remains up to the servo system to verify that the motor follows the profiled position by closing the servo
loop.
The following section explains the operation of the servo system. First, it is explained qualitatively, and then the
explanation is repeated using analytical tools for those who are more theoretically inclined.
Figure 10.3: Velocity and Position Profiles
Chapter 10 Theory of Operation ▫ 171
DMC-40x0 User Manual
MOTION
PROGRAMMING
MOTION
PROFILING
CLOSED-LOOP
CONTROL
LEVEL
3
2
1
Y POSITION
X POSITION
Y VELOCITY
X VELOCITY
TIME