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186 • Chapter 10 Theory of Operation DMC-1700/1800
MOTION
PROGRAMMING
MOTION
PROFILING
CLOSED-LOOP
CONTROL
LEVEL
3
2
1
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 X
AD 2000
BG Y
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.