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Feedback control
with following error
July 2013
Following error (also known as servo lag) is a gap that remains between the
nominal position commanded by the NC and the actual position.
Simplified representation:
S
Noml
S
Actl
The nominal position value s
position value s
and the resulting difference is the following error s
actl
s
=
s
– s
a
noml
actl
s
=
following error
a
s
=
nominal position value
noml
s
=
actual position value
actl
The following error is multiplied by the k
velocity value:
v
=
k
· s
noml
v
a
v
=
nominal velocity value
noml
Analog axes (control via CMA-H):
For stationary axes, the integral factor has an additional effect (MP1080.x). It
produces an offset adjustment.
Digital axes:
There is no offset. MP1080.x has no function.
6.8 The control loop
for a given axis is compared with the actual
noml
factor and passed on as nominal
v
v
Noml
:
a
833
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