Enclosure Azimuth motion is controlled by the EMCS PLC. Motion is commanded from the ECS or locally.
ECS can control motion in four operating 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 for selected modeEMCS / Azimuth / Control Loop
Calculate Speed Reference to Azimuth Drives for Position Control or Speed Control
EMCS PLC controls Enclosure Azimuth motion in two control modes
Position Control
Operate to maintain Actual Position = Position ReferenceSpeed Control
Operate to move Azimuth at Speed Reference
Enclosure Azimuth motion during observation
PLC Routine: Control Speed
Set Position and Speed Reference
Calculate Position Error
Set Tuning parameters based on position error (Homing, Tracking, Fine Tracking
Set Speed limits based on operating mode
Set response times for PI, signal filtering and output curve shaping
Calculate inflection point (change in direction) of Position Setpoint
PI (Proportional / Integral) closed loop control
Calculate PI output
Clamp maximum integral error
Clamp PI output
Add ECS speed reference
Clamp maximum speed output
Convert degrees / second to RPM