User`s manual

8-16 Motion Mate™ DSM314 for Series 90™-30 PLCs User's Manual – January 2001 GFK-1742A
8
Follower Control Loop Block Diagram
Enable/
Disable
Control
%Q Enable
Follower
CTL01-
CTL32
Follower
Enabled
%Q Master
Source Select
1 per Servo Axis
ACC
Ramp
Control
Velocity
Timebase
*A
Tracking Error
Accumulator
*B
+
+
1/B
Path
(Command)
Generator
1 per Servo Axis
Jog
Move
@ Vel
Home
Motion
Programs
+
+
x
Ratio
A/B
Position
Error and
In Zone
Detection
Pos Error
(FB Counts)
In Error Limit
In Zone
Cmd
Velocity
PGM CMD
Position
x Position
Loop Gain
+
+
x Vel
FF Gain
FF%
Pos Loop
Time Constant
Servo
Amplifier
Servo Velocity Command
Encoder
1
Motor
Actual
Position
Register
A
B
NOTE:
In Follower Mode, Servo Axis 1
Motion = (Master CTSx A/B) +
Cmd Generator CTS
Axis Follower Control Loop
(Axis 1 loop is shown)
(Axis 2,3,4 loop is identical)
Master FF
Velocity
Path Generator Axis #
or
Actual Position Axis #
Selected by
Configuration
Path Generator Axis #
or
Actual Position Axis #
Selected by
Configuration
Master Source 1
Master Source 2
+-
*B
Velocity
Limit
+
+
Local Logic
Position
Increment Cmd
Follower
Ramp Active
Velocity
Limit
Figure 8-15. Follower Axis Control Loop Block Diagram