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Control System Principles
Desired position Error
(pulse string)
Position Control Unit
Action
Servomotor Driver
Speed Characteristics
cludes an error counter, a D/A converter, and a servomotor driver, detects
machine movements by rotation of the motor in relation to the target, com-
putes the error between the target value and actual movement, and zeroes
the error through feedback.
Speed
voltage
D/A
converter
counter
Position feedback (feedback pulses)
1.
First, the error counter receives a target position in units of encoder
pulses. The error counter transfers its contents to the D/A convertor
which converts the contents to analog speed voltages for the servomo-
tor driver.
Rotational speed
+N (rpm)
–V
–N
Servomotor
Servo-
motor
driver
Speed feedback
Tachogenerator
Rotary encoder
+V Speed voltage
Section 1-6
7
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