Servo Control

Each axis object executes a servo loop at a constant rate. The following diagram represents the calculations being performed in each of these loop periods.

The following steps briefly summarize the sequence of operations that are performed each servo loop period:

The encoder interface calculates the actual position and velocity of the axis using the information captured from the position sensor.
A new command position and velocity is calculated from the trajectory data from a Motion object.
A position error is calculated from the difference between the Command and Actual positions.
A filter algorithm calculates the demand signal that is applied to the drive.

See Also