Galil DMC-2010, User Manual

Page: 188 / 267

The highest level of control is the motion program. This can be stored in the host computer or in the
controller. This program describes the tasks in terms of the motors that need to be controlled, the
distances and the speed.
MOTION
PROGRAMMING
MOTION
PROFILING
CLOSED-LOOP
CONTROL
LEVEL
3
2
1
Figure 10.2 - Levels of Control Functions
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 A
AD 2000
BG B
EN
This program corresponds to the velocity profiles shown in Fig. 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.
178
•
Chapter 10 Theory of Operation DMC-2X00