ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 268)

0 0.005 0.01 0.015 0.02 0.025 0.03
0
200
400
600
800
1000
1200
1400
1600
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Time
PY - Auxiliary Position
DV[6] - External Position Reference
FR[3]=1
FR[3]=2
FR[3]
changes
Figure 6-11: Follower Ratio
Example:
This example illustrates how a moving object is handled by the application:
X axis
Y a
x
is
M oving conveyer
Cake
Circle to
draw
10000
In this application, an x-y stage draws a chocolate picture on a cake while the cake travels
on a conveyor. The drawing must be accurate with respect to the cake.
In order to draw a circle of radius 10,000 encoder counts on the cake in one second, the
x-axis motor must follow the trajectory:
x(t) = 10,000 * cos(2
πt) + c(t)
where c(t) is the position of the conveyor.
If the conveyor has an encoder, it can be used to compensate for its motion.
SimplIQ for Steppers Application Note The Position Reference Generator
MAN-STECR (Ver. 1.1)
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