Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual - Manual (Page 310)

Publication 1784-UM003A-EN-P – June 2003
302 Motion Object Attributes
Figure 13.6 Servo Loop with Servo Attributes
Position Command Position Command is the current value of the Fine Command Position into
the position loop summing junction, in configured axis Position Units. Within
the active servo loop, the Position Command value is used to control the
position of the axis.
Position Feedback Position Feedback is the current value of the Fine Actual Position into the
position loop summing junction, in configured axis Position Units. Within the
servo loop, the Position Feedback represents the current position of the axis.
Pos P
Gain
Pos I
Gain
Vel
FF
Gain
d/dt
Error
Accum
-ulator
Position
Error
d/dt
Low
Pass
Filter
Vel P
Gain
Output
Limit
Position
Accum-
ulator
Σ Σ Σ
Position
Command
(Coarse)
Fine
Interpolator
Position
Command
Velocity
Command Velocity
Error
Velocity
Feedback
16-bit
Encoder
Counter
Position
Integrator
Error
Marker
Latch
Torque
Servo
Drive
Ch Z
Marker
Input Marker
Event
Handler
Regist.
Event
Handler
Watch
Event
Handler
Watch
Event
Registration
Event
Homing
Event
Regist.
Latch
Registration
Input
Acc
FF
Gain
d 2 /dt
Σ
Vel I
Gain
Velocity
Integrator
Error
16 Bit
DAC
Position
Feedback
(Coarse)
Position
Feedback
Error
Accum
-ulator
Low
Pass
Filter
Output
Scaling
Friction
Comp.
Output
Offset
&
Servo
Polarity
Servo
Output
Level
Output
Filter
BW
Encoder
Polarity
Velocity
Offset
Watch
Position
Torque
Offset
Σ
AQB
Encoder
Ch A/B
Encoder
Input
Motor
Servo Config = Position Servo
GSV/SSV Access Attribute Name Data Type Values
GSV Position Command REAL Position Units
GSV/SSV Access Attribute Name Data Type Values
GSV Position Feedback REAL Position Units