Galil DMC-2010, User Manual

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Chapter 10 Theory of Operation
Overview
The following discussion covers the operation of motion control systems. A typical motion control
system consists of the elements shown in Fig 10.1.
COMPUTER CONTROLLER DRIVER
MOTOR ENCODER
Figure 10.1 - Elements of Servo Systems
The operation of such a system can be divided into three levels, as illustrated in Fig. 10.2. The levels
are:
1. Closing the Loop
2. Motion Profiling
3. Motion Programming
The first level, the closing of the loop, assures that the motor follows the commanded position. This is
done by closing the position loop using a sensor. The operation at the basic level of closing the loop
involves the subjects of modeling, analysis, and design. These subjects will be covered in the
following discussions.
The motion profiling is the generation of the desired position function. This function, R(t), describes
where the motor should be at every sampling period. Note that the profiling and the closing of the loop
are independent functions. The profiling function determines where the motor should be and the
closing of the loop forces the motor to follow the commanded position
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