Servo Analyzer Signal Injection Point

[JeffLowe]

Where does the Servo Analyzer inject the disturbance signal? Specifically is it before or after the trajectory filter? Similarly is the Motor[x]/CompDesPos before or after the trajectory filter?

[steve.milici]

There are options for “before” and “after” (before the “Plant”). This is documented in the “Power PMAC Servo Analyzer User Manual” in the section “Measurement Configuration” starting on page 7 (11 electronic).

The element “Motor[x].CompDesPos” is input before the PID filter. This is documented in the “Power PMAC User’s Manual” in the chapter “SETTING UP COMPENSATION TABLES” starting on page 369. Specifically see the section “Target Register Addresses: Target[q]”, starting on page 378.