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Section 6 — Motion Control Tutorial
␣ .............................................. 6-1
6.1
Motion Systems .................................................................................. 6-1
6.2
Specification Definitions .................................................................... 6-2
6.2.1 Following Error ........................................................................ 6-2
6.2.2 Error .......................................................................................... 6-3
6.2.3 Accuracy .................................................................................. 6-3
6.2.4 Local Accuracy ........................................................................ 6-4
6.2.5 Resolution ................................................................................ 6-4
6.2.6 Minimum␣ Incremental Motion ............................................... 6-5
6.2.7 Repeatability ............................................................................ 6-6
6.2.8 Backlash (Hysteresis) ............................................................ 6-6
6.2.9 Pitch, Roll, and Yaw ................................................................ 6-7
6.2.10 Wobble ..................................................................................... 6-8
6.2.11 Load Capacity .......................................................................... 6-9
6.2.12 Maximum Velocity .................................................................. 6-9
6.2.13 Minimum Velocity ................................................................... 6-9
6.2.14 Velocity Regulation ............................................................... 6-10
6.2.15 Maximum Acceleration ........................................................ 6-10
6.2.16 Combined Parameters .......................................................... 6-11
6.3
Control Loops ................................................................................... 6-11
6.3.1 PID Servo Loops .................................................................... 6-12
6.3.2 Feed-Forward Loops ............................................................. 6-14
6.4
Motion Profiles .................................................................................. 6-15
6.4.1 Move ....................................................................................... 6-15
6.4.2 Jog ........................................................................................... 6-16
6.4.3 Home Search .......................................................................... 6-17
6.5
Encoders ............................................................................................ 6-19
6.6
Motors ................................................................................................ 6-22
6.6.1 Stepper Motors ...................................................................... 6-22
6.6.2 DC Motors .............................................................................. 6-27
6.7
Drivers ................................................................................................ 6-28
6.7.1 Stepper Motor Drivers ......................................................... 6-28
6.7.2 DC Motor Drivers .................................................................. 6-30
Section 7 — Servo Tuning
␣ ..................................................................... 7-1
7.1
Tuning Principles ............................................................................... 7-1
7.2
Tuning Procedures ............................................................................. 7-1
7.2.1 Hardware And Software Requirements ............................... 7-2
7.2.2 Correcting Axis Oscillation .................................................... 7-2
7.2.3 Correcting Following Error .................................................... 7-2
7.2.4 Points To Remember .............................................................. 7-4
Section 8 — Optional Equipment
␣ ...................................................... 8-1
8.1
ESP6000 Controller Card ................................................................... 8-1
8.1.1 Terminal Block Board ............................................................ 8-1
8.1.2 Analog I/O Cable ...................................................................... 8-3
8.1.3 Digital I/O Cable ...................................................................... 8-4
8.1.4 Auxiliary I/O Cable .................................................................. 8-5
8.1.5 Driver Interface (100-100 pin) Cable .................................... 8-6
8.1.6 Motor/Driver (100-68 pin) Cable ........................................... 8-6
8.2
UniDrive6000 ....................................................................................... 8-7
8.2.1 Motor Driver Card ................................................................... 8-7
8.2.2 Rack-Mount Ears ..................................................................... 8-9
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