Enclosure Azimuth Position Control

Enclosure Azimuth motion is controlled by the EMCS PLC. Motion is commanded from the ECS or locally.

ECS can control motion in four modes

• Tracking - ECS sends Position Reference and Speed Reference

• Point to Point - ECS sends Position Reference and sometimes sends Speed Reference

• Jogging and Offset - modes are not used

Local motion includes Point to Point and Jogging

EMCS PLC controls Enclosure Azimuth motion in these routines

• EMCS / Azimuth / Control Speed
  Setup Control Loop:
  Position and Speed Reference
  Position Error control modes
  Tuning parameters
  Speed limits
  Response times

• EMCS / Azimuth / Control Loop
  Calculate Speed Reference to Azimuth Drives for Position Control or Speed Control

EMCS PLC controls Enclosure Azimuth motion in two modes

• Position Control
  Operate to maintain Actual Position = Position Reference

• Speed Control
  Operate to move Azimuth at Speed Reference

Position Control

PI (Proportional / Integral) closed loop control