YASKAWA 400W AC SERVO MOTOR 2.8A Industrial Servo Motor 1.27N.m SGMAH-04A1A-AD21

The amount by which the circle is smaller is very predictable based on velocity, radius and gain, but the equations are more complex than can be covered in this article. There are empirical charts available that relate these factors.

There are two basic approaches to computer closure of the servo loop. One is to devote a computer to each
axis. The other is to have a central computer that closes all axes. Each vendor will have a list of reasons why his is best, but here are several basic observations.

• By closing the velocity loop as well as the position loop in the computer, a single feedback device can be
used for both. The computer per axis approach is beneficial if very high update rates are chosen for the
velocity loop. With multiple axes, the burden on a central computer may too great with high update velocity
loops.
• If much coordinated motion is anticipated, a central computer would have direct access to each axis. With
the computer per axis approach, the computer-to-computer communication links result in delays that limit
close coordination. The velocity loops may remain analog with the central computer approach to ease this.