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 | PID - the traditional Proportional/Integral/Differential
compensation filter
| PAVff - Proportional, with Acceleration and Velocity feedforward
terms
| PIV/VAff - Proportional/Integral position error terms, Velocity
error, as well as Acceleration and Velocity feedforward compensation | |
In addition, direct control of the analog output is possible.
Also built into the model 2219 are a variety of special functions. They include automatic ration control of the two axes, also known as electronic gearing, where one axis is under program control and the other follows it via a set ratio.
Another automatic function is axis-follower control. In this mode, one axis is disabled and its encoder input is used to monitor an externally driven encoder. The remaining axis automatically follows this position via a set ratio.
The model 2219 also supports two modes of registration mark sensing for web control applications. In the first mode, sensing a registration signal simply stores the current servo position in a register. The second mode causes the motion to continue to a stop at a set distance from the sensing of the registration signal. Separate registration inputs are provided for each axis.
For positioning applications, there is an automated two step home-sense function that can optionally make use of an encoder marker pulse for highly accurate initial calibration.
These features, combined with the tuning flexibility and performance of the model 2219, make this module an exceptional value for designers facing difficult motion control applications.
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The model 2219
Servo Control Module possesses an extensive range of capabilities including
ratiometric operation, registration sensing, multiple compensation modes, and
multistep home sensing. These capabilities, along with the impressive
performance specifications, make it suitable for application in a variety of
demanding servo applications.