Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 106)

Publication 1746-6.1.2 - July 2000
Setting Up Your SLC Servo Module 7-27
Servo Loop Parameters
Servo loop parameters specify the following:
•
Control axis motion
•
DAC output to the axis drive
•
Gain and excess following error
Figure 7.4 and Figure 7.5 show how servo loop parameters work in a
standard closed loop and a velocity feedforward loop.
Most servo loop parameter values are determined by using
information in the Setting Initial Loop Type section of the Setting Up Your
SLC Servo Module chapter.
Figure 7.4 Servo Loop Parameters in a Standard Closed Loop
Control
Axis
Feedrate
Maximum Axis Gain
Position
Command Following
Error
Position
+
_
D/A
Velocity
Command
Velocity
Feedback
Axis Motion
Motor Tach Encoder
Drive Amplifier
Incremental Position
+
_