Newport MM4005 - Table of Contents

4.1 EDH0162En1040 – 06/99
MM4005 4-Axis Motion Controller/Driver
Table of Contents
Section 4 —
Motion Control Tutorial
4.1 Motion Systems......................................................................................4.3
4.2 Specification Definitions........................................................................4.4
4.2.1 Following Error............................................................................4.4
4.2.2 Error..............................................................................................4.5
4.2.3 Accuracy.......................................................................................4.5
4.2.4 Local Accuracy............................................................................4.6
4.2.5 Resolution ....................................................................................4.6
4.2.6 Minimum Incremental Motion...................................................4.7
4.2.7 Repeatability................................................................................4.8
4.2.8 Backlash (Hysteresis).................................................................4.8
4.2.9 Pitch, Roll and Yaw.....................................................................4.9
4.2.10 Wobble........................................................................................4.10
4.2.11 Load Capacity............................................................................4.10
4.2.12 Maximum Velocity ....................................................................4.11
4.2.13 Minimum Velocity.....................................................................4.11
4.2.14 Velocity Regulation...................................................................4.12
4.2.15 Maximum Acceleration.............................................................4.12
4.2.16Combined Parameters...............................................................4.12
4.3 Control Loops.......................................................................................4.13
4.3.1 PID Servo Loops ........................................................................4.13
P Loop.........................................................................................4.14
PI Loop........................................................................................4.14
PID Loop.....................................................................................4.15
4.3.2 Feed-Forward Loops.................................................................4.15
4.4 Motion Profiles.....................................................................................4.17
4.4.1 Move ...........................................................................................4.17
4.4.2 Jog...............................................................................................4.18
4.4.3 Home Search..............................................................................4.18
4.5 Encoders................................................................................................4.21
4.6 Motors ...................................................................................................4.23
4.6.1 Stepper Motors..........................................................................4.24
Advantages.................................................................................4.28
Disadvantages............................................................................4.28
4.6.2 DC Motors ..................................................................................4.28
Advantages.................................................................................4.29
Disadvantages............................................................................4.29
4.7 Drivers...................................................................................................4.29
4.7.1 Stepper Motor Drivers..............................................................4.29
4.7.2 DC Motor Drivers ......................................................................4.31
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