GSK DA98B - Servo and Orientation Controllor Computation

Chapter 9 Order guide
73
is as follows:
ε=
p
K
Gf ×
*
ε：Lag pulse （Puls）；
f：Instruction pulse frequency（Hz）；
K
p
：Orientation proportional gain（1/S）；
G：Electronic gear ratio.
9.4 Servo and orientation controllor computation
1. Instruction displacement and actual displacement:
S：Actual displacement mm；
I：Instruction displacement mm；
δ：Min. unit of CNC mm；
CR：Instruction dividing frequency numerator；
CD：Instruction dividing frequency denominator；
DR：Servo dividing frequency numerator；
DD：Servo dividing frequency denominator；
ST：Servo motor scale of per rev；
ZD：Side gear tooth numbers of motor；
ZM：Side gear tooth numbers of lead screw；
L：Lead screw pitch mm；
Generally S=I，the instruction value is equal to the actual one.
2. Max. instruction speed of CNC：
F：Instruction speed mm/min；
f
max
：Max. output frequency of CNC Hz.
L
Z
M
ZD
S
T
DD
DR
CD
CRI
S ⋅⋅⋅⋅⋅=
1
δ
max
60
f
CD
CRF
≤⋅
×
δ
The equation is obtained when [position feedback
g
ain] is 0% and
the la
g
pulse will be less than the computation counted by the above
equation if [position feedback gain] is more than 0%.