Galil DMC-2X00 user manual

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.

LEVEL

3

MOTION

PROGRAMMING

2

1

MOTION

PROFILING

CLOSED-LOOP

CONTROL

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.

DMC-2X00 Chapter 10 Theory of Operation y 133