Omron XTRADRIVE

XtraDrive User Manual Chapter 6: Servo Adjustment
6-14
6.3.2. Position Control Block Diagram
The following is a general block diagram of the NCT. The NCT
algorithm includes specific non-linear functions for each one of the
blocks shown here, so that this block diagram should be used for
general understanding only.
Kp
S
Kis/S
Kd
S^2 Ka
+
+
+
+
+
+
+
S^2 Kff
Kiv
Command Smoothing
Command
Position
Internal Command Position
Notch Filter
Torque
Filter
1/K
t
Torque
Command
Current Controller
Motor
Encoder
Current
Command
+
-