Servo Loop Block Diagrams
Following are the servo loop block diagrams for common motion configurations.
AXIS_SERVO
Interpreting the Diagrams
The diagrams use the following labels for axes attributes.
Label | AXIS Attribute |
Acc FF Gain | AccelerationFeedforwardGain |
Friction Comp | FrictionCompensation |
Output Filter BW | OutputFilterBandwidth |
Output Limit | OutputLimit |
Output Offset | OutputOffset |
Output Scaling | OutputScaling |
Pos I Gain | PositionIntegralGain |
Pos P Gain | PositionProportionalGain |
Position Error | PositionError |
Position Integrator Error | PositionIntegratorError |
Registration Position | RegistrationPosition |
Servo Output Level | ServoOutputLevel |
Vel FF Gain | VelocityFeedforwardGain |
Vel I Gain | VelocityIntegralGain |
Vel P Gain | VelocityProportionalGain |
Velocity Command | VelocityCommand |
Velocity Error | VelocityError |
Velocity Feedback | VelocityFeedback |
Velocity Integrator Error | VelocityIntegratorError |
Watch Position | WatchPosition |
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