Omron CS1W-MC221 -, Operation Manual

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14
Control System Configuration and Principles Section 1-4
6. Unless the target position is given, the error counter constantly maintains
the stopped position.
7. If the motor axis moves slightly due to a drift in the driver or voltage output,
the error counter receives a feedback pulse from the rotary encoder and a
speed control voltage is output in the reverse direction, causing the motor
to rotate toward its original position. This corrective operation for maintain-
ing the present position is called servolock or servoclamp.
8. Using this principle, positioning with acceleration and deceleration is exe-
cuted by continuously setting target positions in the error counter.
9. The target position set in the error counter becomes the error counter
count as shown below. The count is converted to a speed control voltage
for the servo driver to control the motor.
Thus, the position equals the total count of target positions (shaded area in
the figure), and the speed will depend on the target position value per unit
time.
Target position value
(pulses)
Time
Error counter count
(pulses)
Speed control voltage
Time
Time