98 Rockwell Automation Publication 2097-UM001D-EN-P - November 2012
Chapter 5 MotionView Software Configuration
Figure 53 - Servo Loop Diagram
Tools Category
The tools category provides access to the oscilloscope and digitally monitor drive
performance parameters.
-
+
Kd
Ki
Kp
z - 1
z
1
z - 1
+
+
+
-
+
Position D-Gain Difference
Position
Integrator
Saturation
Velocity Command
Ki
Kp
1
z - 1
+
+
Velocity
Integrator
Saturation by
Scalled Current Limit
Encoder
Feedback
Target
Position
Position Error
Target
Velocity
Velocity Error
+
LPF
Feedback
Low-pass Filter
Velocity Feedback
Sv = 2 (11 + GainScaling)
Sv
>
Current Command
Filter 1
Filter 2
Position I-Gain
Position P-Gain
Velocity I-Gain
Velocity P-Gain
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