NSK EDD Megatorque Motor - Tuning Parameters

8. More Advanced Function
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8.5. Tuning
8.5.1. Servo Block Diagram
 The figure below illustrates the servo block diagram of the Driver Unit Model EDD.
Fig 8-11: Servo block diagram
Differentiator
TRC
Trancient position command
TPC
TDC
TQC
Position
command
Differentiator
TV
Current
velocity
FF
Feedforward
compensator
ZF
LO
Feedforward
gain
＋
－
PG
PGL
VG
VGL
GP
GT
TG
Gain switching
state monitor
Gain switching
Velocity loop
proportional
gain
CN2: IOFF
LG
Velocity loop
lower gain
Filter switching
ON/OFF
FO
TVE
Velocity
error
Position loop
proportinal gain
DBP
TP
TD
TQ
Current position
TE
Position
error
TVC
Velocity
command
＋
－
Dead band