0022E521A594 KJ2005X1-BA1 Control module

The following discussion may help you get your system to work. Potential problems have been divided into groups as follows:

 1. Installation

2. Communication

3. Stability and Compensation 

4. Operation The various symptoms along with the cause and the remedy are described in the following tables.

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. This program corresponds to the velocity profiles shown in Fig. 10.3. Note that the profiled positions show where the motors must be at any instant of time. Finally, it remains up to the servo system to verify that the motor follows the profiled position by closing the servo loop. The following section explains the operation of the servo system. First, it is explained qualitatively, and then the explanation is repeated using analytical tools for those who are more theoretically inclined.

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