I have started working with a Panasonic AC servo drive of capacity 400W (manual). While trying to understand how a ac servo works in position control mode. After experimenting I have come to the following conclusions:
The AC servo maintains position by comparing.
For example if I want to reach a position of 1000(say), and I am giving 1002 pulses(forward) and once it is running, I am giving a reverse of 2 pulses when the motor has reached 999(using Quadrature Encoder Interface). The drive will reach a position of 1000 by (999-2=997 position) and the remaining 3 pulses to go forward or reverse is decided by the closeness of the position as going forward of 3 pulses will be close to my 1002 position it will go from 997 to 1000. So finally it will reach a position of 1000.
Now if I want to make a position control algorithm, the thing I have to do is play with forward and reverse pulses. Is it right?
Can anyone give me some guide on position control algorithms? The load will be like a 1 or 2kg.