Configuration Manual Owner's manual

421 Publication 1784-UM003A-EN-P – June 2003
Appendix B
Wiring Diagrams
This appendix shows the loop interconnect diagrams for common motion
configurations.
About Block Diagrams
The control block diagrams in this section use the following terms for motion
attributes.
Diagram term Motion attribute name (as used in
the GSV and SSV instructions)
Acc FF Gain AccelerationFeedforwardGain
Vel FF Gain VelocityFeedforwardGain
Pos P Gain PositionProportionalGain
Pos I Gain PositionIntegralGain
Vel P Gain VelocityProportionalGain
Vel I Gain VelocityIntegralGain
Output Filter BW OutputFilterBandwidth
Output Scaling OutputScaling
Friction Comp FrictionCompensation
Output Limit OutputLimit
Output Offset OutputOffset
Position Error PositionError
Position Integrator Error PositionIntegratorError
Velocity Error VelocityError
Velocity Integrator Error VelocityIntegratorError
Velocity Feedback VelocityFeedback
Velocity Command VelocityCommand
Servo Output Level ServoOutputLevel
Registration Position RegistrationPosition
Watch Position WatchPosition