AXIS_SERVO Diagrams

AXIS_SERVO diagrams include:

Position Servo with Torque Servo Drive

This configuration gives full position servo control using an external torque loop servo drive. Synchronous input data to the servo loop includes Position Command, Velocity Offset, and Torque Offset. The controller updates these values at the coarse update period of the motion group.

The Position Command value is derived directly from the output of the motion planner, while the Velocity Offset and Torque Offset values are derived from the current value of the corresponding attributes.

Position Servo with Velocity Servo Drive

This configuration provides full position servo control using an external velocity loop servo drive.

Note that in this configuration the servo module does not close the velocity loop, but rather the drive does. Synchronous input data to the servo loop includes Position Command and Velocity Offset. (Torque Offset is ignored.) The controller updates these values at the coarse update period of the motion group.

The Position Command value is derived directly from the output of the motion planner, while the Velocity Offset value is derived from the current value of the corresponding attributes.