Galil DMC-1700 Manual De Usuario

 
 

The following discussion covers the operation of motion control systems.  A typical motion control system consists 
of the elements shown in Fig 10.1.  

 

COMPUTER

CONTROLLER

DRIVER

MOTOR

ENCODER

 

 

The operation of such a system can be divided into three levels, as illustrated in Fig. 10.2.  The levels are: 

1.  Closing the Loop 

2.  Motion Profiling 

3.  Motion Programming 

The first level, the closing of the loop, assures that the motor follows the commanded position.  This is done by 
closing the position loop using a sensor.  The operation at the basic level of closing the loop involves the subjects of 
modeling, analysis, and design.  These subjects will be covered in the following discussions. 

The motion profiling is the generation of the desired position function.  This function, R(t), describes where the 
motor should be at every sampling period.  Note that the profiling and the closing of the loop are independent 
functions.  The profiling function determines where the motor should be and the closing of the loop forces the motor 
to follow the commanded position 

The highest level of control is the motion program.  This can be stored in the host computer or in the controller.  
This program describes the tasks in terms of the motors that need to be controlled, the distances and the speed.