ADLINK AMP-208C - Manual (Page 162)

Motion Control Theory 148
AMP-204C / AMP-208C
4.9.4 Motion Control and I/O Sampling Function
4.9.4.1 Sampling Source
This control card supports multiple signal sampling for analysis.
There are two signal sources: the one belongs to motion kernel
signal and the other the close-loop control signal. In figure below,
the bottom layer's motion kernel and controller's adjustable update
rate is 1ms and 250us respectively, sampling rate of the sampling
process is 1ms, and the sampled signals are sent by APS library
to MotionCreatorPro2 or other applications to display. The
close-loop control signal would be a better choice for learning the
system's overall control performance. Please note that close-loop
control signal sampling is invalid in pulse control mode. See table
below for meanings of individual signals and Section 4 of
MotionCreatorPro 2 User Manual for operation pages and steps.
Figure 4-57: Signal sampling structure diagram