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7
cludes an error counter, a D/A converter, and a servomotor driver, detects
machine movements by rotation of the motor in relation to the target, com-
putes the error between the target value and actual movement, and zeroes
the error through feedback.
Servo-
motor
driver
Tachogenerator
Rotary encoder
Speed feedback
Position feedback (feedback pulses)
Speed
voltage
D/A
converter
Desired position Error
counter
Servomotor
(pulse string)
1.
First, the error counter receives a target position in units of encoder
pulses. The error counter transfers its contents to the D/A convertor
which converts the contents to analog speed voltages for the servomo-
tor driver.
Servomotor Driver
Speed Characteristics
Rotational speed
+N (rpm)
–V
+V Speed voltage
–N
Position Control Unit
Action
Control System Principles
Section 1-6