Galil DMC-13X8 user manual Theory of Operation

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

ENCODER MOTOR

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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