Copyright: (c) 2000-2003 PMC Corp.


Motion Integrator
Motion Integrator v1.4

Welcome to PMC’s Motion Integrator. Motion Integrator turns your PC into your own personal system integrator. Working at the pace of the individual user, Motion Integrator uses Wizard windows to install, configure, and test any PMC motion controller.

For the power user, Motion Integrator provides Axis I/O, Digital I/O, and Analog I/O test panels. These easy to use tools provide instant feedback on the status of the motion control system.

	Analog I/O Configuration
	Digital I/O Configuration
	Motion System Setup
	Motor Mover
	Servo Tuning
	Glossary
	Technical Support


Glossary

A  B    D  E  F  G  H  I  J  K  L  M  N  O  P  Q  R  S  T  U  V  W  X  Y  Z

Accuracy

A measure of the difference between the expected position and actual position of a motion system.

Actuator

Device which creates mechanical motion by converting energy to mechanical energy.

Back EMF

The voltage generated when a permanent magnet motor is rotated. This voltage is proportional to motor speed and is present regardless of whether the motor windings are energized or unenergized.

Closed Loop

A broadly applied term, relating to any system in which the output is measured and compared to the input. The output is then adjusted to reach the desired condition. In motion control, the term typically describes a system utilizing a velocity and / or position transducer to generate correction signals in relation to desired parameters.

Commutation

The action of applying currents or voltages to the proper motor phases in order to produce optimum motor torque.

Critical Damping

A system is critically damped when the response to a step change in desired velocity or position is achieved in the minimum possible time with little or no overshoot.

DAC

The digital-to-analog converter (DAC) is the electrical interface between the motion controller and the motor amplifier. It converts the digital voltage value computed by the motion controller into an analog voltage. The more DAC bits, the finer the analog voltage resolution. DACs are available in three common sizes: 8, 12, and 16 bit. The bit count partitions the total peak-to-peak output voltage swing into 256, 4096, or 65536 DAC steps, respectively.

Dead Band

A range of input signals for which there is no system response.

Driver

Electronics which convert step and direction inputs to high power currents and voltages to drive a step motor. The step motor driver is analogous to the servo motor amplifier.

Duty Cycle

For a repetitive cycle, the ratio of on time to total time:

Efficiency

The ratio of power output to power input.

Encoder

A type of feedback device which converts mechanical motion into electrical signals to indicate actuator position or velocity.

Following Error

The difference between the calculated desired trajectory position and the actual position.

Friction

A resistance to motion caused by contacting surfaces. Friction can be constant with varying speed (Coulomb friction) or proportional to speed (viscous friction).

Holding Torque

Sometimes called static torque, holding torque specifies the maximum external torque that can be applied to a stopped, energized motor without causing the rotor to rotate continuously.

Inertia

The measure of an object's resistance to a change in its current velocity. Inertia is a function of the object's mass and shape.

Kd

K is a generally accepted variable used to represent gain, an arbitrary multiplier, or a constant. In this case the lower case "d" designates derivative gain.

Ki

K is a generally accepted variable used to represent gain, an arbitrary multiplier, or a constant. In this case the lower case "i" designates integral gain.

Kp

K is a generally accepted variable used to represent gain, an arbitrary multiplier, or a constant. In this case the lower case "p" designates proportional gain.

Limits

Motion system sensors that alert the motion controller that the physical end of travel is being approached and that motion should stop.

MCAPI

The Motion Control Application Programming Interface - this is the programming interface used by Windows programmers to control PMC's family of motion control cards.

MCCL

Motion Control Command Language - this is the command language used to program PMC's family of motion control cards.

Micro-Stepping

Stepper drive systems have a fixed number of electromechanical detents or steps. Micro stepping is an electronic technique to break each detent or step into smaller parts. This results in higher positional resolution and smoother operation.

Open Loop

A control system that does not have a feedback loop and thus is not self-correcting.

Position Error

see following error.

Position Move

Unlike a velocity move, a position move includes a predefined stopping position. The trajectory generator will determine when to begin deceleration in order to ensure the actual stopping point is at the desired target position.

PWM

Pulse Width Modulation is a method of controlling the average current in a motors phase windings by varying the duty cycle of transistor switches.

Repeatability

The degree to which the positioning accuracy for a given move performed repetitively can be duplicated.

Resonance

A condition resulting from energizing a motor at a frequency at or close to the motor's natural frequency.

Resolution

The smallest positioning increment that can be achieved.

Resolver

A type of feedback device which converts mechanical position into an electrical signal. A resolver is a variable transformer that divides the impressed AC signal into sine and cosine output signals. The amplitude of these signals represents the absolute position of the resolver shaft.

Slew

That portion of a move made at constant, non-zero velocity.

Tachometer

A device attached to a moving shaft that generates a voltage signal directly proportional to rotational speed.

Torque

The moment of a force; the measure of a force's tendency to produce torsion and rotation about an axis, equal to the vector product of the radius vector from the axis of rotation to the point of application of the force and the force vector.

Velocity Move

A move where no final stopping position is given to the motion controller. When a start command is issued the motor will rotate indefinitely until it is commanded to stop.

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