Parker ACR Series Programmer's Manual

Also see for ACR8020: Hardware manual

Contents

Parker ACR Series Programmer's Manual Manual pdf 88 page image

Parker HannifinThe information up to and including the SSP is the commandedposition. See Figure 16.Figure 16 Secondary Setpoint SummationViewing the Setpoint CalculationsServo loop calculations for the actual position of an axis can beobserved in ACR-View. The Servo Loop Status window shows themotion offsets, primary and secondary setpoints, servo gains andother values, and how they result in the final position output.► In the Project Workspace, click Status Panel, then click ServoLoop Status.Following ErrorThe Secondary Setpoint is compared with the value of the ActualPosition received from a feedback device. See Figure 17. Thedifference between the Secondary Setpoint and Actual Position iscalled the Following Error:Following Error = SSP - ACT POSThe controller makes adjustments to the motor position through aconstant cycle of comparison and correction. Following Error is usedby the PID loop (servo control algorithm) to keep the Actual Positionequal (or approaching equal to) the Secondary Setpoint.88 Programmer’s Guide