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Control System Principles
8
2.
The motor rotates at a speed corresponding to the speed voltage. The
rotary encoder connected to the motor axis rotates in sync with the mo-
tor, generates feedback pulses, and subtracts error counter contents.
Desired
position
(pulses)
Error
counter
count
(pulses)
Speed
voltage
3.
Consequently, the encoder rotation is equivalent to the target position,
and the motor stops rotating when the error counter count and the
speed voltage becomes zero (stopping motor rotation).
4.
While the motor is stopped, the rotary encoder constantly maintains the
stopped position through correction. If the motor axis moves slightly, the
error counter receives a feedback pulse from the rotary encoder and a
rotation voltage is emitted in the reverse direction, causing the motor to
rotate toward its original position. This operation is called servolock or
servoclamp.
Time
Time set
Time
Time
Positioning end
Section 1-6
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