Trio Motion Coordinator MC216 - Page 170

6-12 System Setup and Diagnostics
Setting Servo Gains
Trio Motion Technology
Servo Loop Diagram
Trio BASIC
Command
Interpreter
Velocity Profile /
Interpolation
Following
Error
FE
Proportional
Gain
P_GAIN
Derivitive
Gain
D_GAIN
Integral
Gain
I_GAIN
Velocity
FeedForward
VFF_GAIN
Output
Velocity
OV_GAIN
Resultant
Speed
Demand
Servo Amplifier
Quad. Pulse
Decoder
Quad Count
+/- 10v
Speed Reference
Tacho
Feedback
Measured
SPEED
MSPEED
Demand
Position
DPOS
Demand Speed
Measured
Position
MPOS
D-A Converter
DAC_OUT
Encoder
Feedback
ET Motor
SERVO
ON/OFF ?
Forced
Voltage Output
DAC
X
PP_STEP