Chapter 10 Theory Of Operation; Overview - Galil Motion Control DMC-1600 Series User Manual

Chapter 10 Theory of Operation

Overview

The following discussion covers the operation of motion control systems. A typical motion
control system consists of the elements shown in Fig 10.1.
COMPUTER
Figure 10.1 - Elements of Servo Systems
The operation of such a system can be divided into three levels, as illustrated in Fig. 10.2. The
levels are:
The first level, the closing of the loop, assures that the motor follows the commanded position.
This is done by closing the position loop using a sensor. The operation at the basic level of
closing the loop involves the subjects of modeling, analysis, and design. These subjects will be
covered in the following discussions.
The motion profiling is the generation of the desired position function. This function, R(t),
describes where the motor should be at every sampling period. Note that the profiling and the
closing of the loop are independent functions. The profiling function determines where the motor
should be and the closing of the loop forces the motor to follow the commanded position
164 • Chapter 10 Theory of Operation
CONTROLLER
1. Closing the Loop
2. Motion Profiling
3. Motion Programming
ENCODER
DRIVER
MOTOR
DMC-1600