Rockwell Automation 2092-DAx Ultra1500 User Manual - Manual (Page 119)

Publication 2092-UM001D-EN-P — July 2005
Ultra1500 Application Examples 5-39
Figure 5.19
Position Regulator Response During Move with Varied Error Offset
Control Block Diagrams
This section includes graphical representation and descriptions of the
regulators, control modes, and settings of the Ultra1500. Details are provided
in the following areas:
• Position Regulator
• Velocity Regulator
• Analog Velocity Mode
• Preset Velocity Mode
• Jog Mode
• Analog Current Mode
• Dual Current Command Mode
Offset = 0
Offset = 200
Offset = 400
Time (msec)
0 50 100
-4000
-3000
-2000
4000
1000
Follower Positioin (counts)
0
High Error Output Offset = 0
3000
High Error
Output Offset = 400
2000
-1000