Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 35)

Technical Overview 3-5
Publication 999-122 - January 1997
Finally, drive offset compensation is provided to allow compensating
for the inevitable offset and drift in analog servo amplifiers. Drive offset
compensation adds a programmable value to the magnitude of the servo
output signal.
Each of the gain terms mentioned above has a unique influence on the
closed loop dynamics of the system. By adjusting the P, I, and V gains,
it is easy to tailor the system dynamics to meet specific needs. The three
programmable control gains influence the closed loop dynamics in the
following way:
Proportional Gain
⇒
Elastic Stiffness
Integral Gain
⇒
Static Disturbance Compensation
Velocity Gain
⇒
Damping
Servo Amplifiers and
Motors Each axis of the IMC-S/23x can interface to a standard servo amplifier
operating in current (torque) or velocity (tach) mode which accepts a
±10V DC command. Servo amplifiers are available from Allen-Bradley
as well as other manufacturers to drive DC, brushless DC or AC motors
in a wide range of powers. The IMC-S/23x can also interface to
hydraulic servo and proportional valves which accept ±150 mA signals.