Servo Algorithms

PID Block Diagram | PIV Block Diagram

PID Block Diagram

Torque Demand Mode

Velocity Demand Mode

*Note: In controller firmware version 633 and higher, the Friction Feedforward, Acceleration Feedforward, and Offset are directed to the Torque Demand. In previous firmware versions, these values were directed to the Velocity Demand.

PID Algorithm

PIV Block Diagram

Torque Demand Mode

For a print-friendly version of the above diagram, click here.

Velocity Demand Mode

PIV is not applicable for Velocity Demand Mode.

PIV: Position Compensator

For a print-friendly version of the above diagram, click here.

PIV: Velocity Compensator

For a print-friendly version of the above diagram, click here.

Previous | Next