Parker Hannifin
- 50 - Aries Controller Hardware Installation Guide
Servo Tuning Overview
The Aries Controller uses a digital control algorithm to control and maintain
position and velocity. The digital control algorithm consists of a set of
numerical equations used to periodically (once every servo sampling period)
calculate the value of the control output.
The numerical terms of the equations consist of the current commanded and
actual position values (including a few from the previous sampling period),
and a set of control parameters. Each control parameter, commonly called a
gain, has a specific function (for more information, see Servo System Gains
on pag
e 55). In addition, tuning is the p
rocess of selecting and adjusting
gains to achieve optimal servo performance.
When using the control algorithm described above, the whole servo system
acts as a closed-loop system (see Figure 32). It is called closed loop
becau
se the control algorithm accounts for both the command (position,
velocity, tension, etc.) and the feedback data from the encoder. Therefore, it
forms a closed loop of information. When all gains are set to zero, the digital
control algorithm is disabled.
Figure 32 Closed Loop and Open Loop System Comparison
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