Omron C200H-MC221 Operation Manual page 36

Servo System
22
7. If the motor axis moves slightly due to a drift in the driver or voltage output,
the error counter receives a feedback pulse from the rotary encoder and a
speed control voltage is output in the reverse direction, causing the motor to
rotate toward its original position. This corrective operation for maintaining
the present position is called servolock or servoclamp.
8. Using this principle, positioning with acceleration and deceleration is
executed by continuously setting target positions in the error counter.
9. The target position set in the error counter becomes the error counter count
as shown below. The count is converted to a speed control voltage for the
servodriver to control the motor.
Target position value
(pulses)
Error counter count
(pulses)
Speed control voltage
Thus, the position equals the total count of target positions (shaded area in the
figure), and the speed will depend on the target position value per unit time.
Section 3-1
Time
Time
Time