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Reference

3.4 PositionServo Reference Diagrams

This section contains the process ﬂow diagrams listed in Table 69. These diagrams are for reference only.

Table 69: PositionServo Process Flow Diagrams

Drawing # Description

S999 Position and Velocity Regulator

S1000 Motion Commands -> Motion Queue -> Trajectory Generator

S1001 Current Command -> Motor

S1002 Encoder Inputs

S1003 Analog Inputs

S1004 Analog Outputs

S1005 Digital Inputs

S1006 Digital Outputs

Position and Velocity Regulators

Position

Command

Kff term

Biquad

Convergence

Filter

Biquad

Convergence

Filter

Velocity

Estimator

Secondary

Encoder

Primary

Encoder

Current

Limiter

I term Limit and

unti wind-up

I term Limit and

unti wind-up

P term

D term

I term

P term

D term

Velocity

Window

#41 Second Encoder

Position Feedback

Mechanical Velocity Feedback

Velocity Command

To Torque Amplifier

Current Command

Kff is automatically calculated

1 2 ... 121 122 123 124 125 126 127 128 129 130 131 132 133 134

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