Pacific Scientific OC950 - Page 82

Figure 3 A-8 MA950
VelFB
1
RESOLVER
INTERFACE
RemoteFB
POSITION
VELOCITY
EncPos
EncFreq
FROM
MOTOR
SHAFT
K(s)
V
2
0,1
0
1,2
(RAD)
5
Position
2*KPPπ
VelCmd
To Ve lo ci ty
Position Command from OC950
Loop
PosError
6
d
dt
1mSec
Update
KVFF
100
7
PosCommand
(RESOLVER COUNTS)
(RPM)
(COUNTS)
(RAD)
(RAD)
(RAD/SEC)
(COUNTS)
SC950 POSITION CONTROL
BlkType = 2 BLOCK DIAGRAM