(*)  servomechanism 

Error Signal

The motor is paired with a resolver mounted on the driveshaft to provide position and speed feedback. In addition, the measured position of the shaft is compared to the command position.

On the other hand, if the output position differs from that required, an error signal is generated which then causes the motor to rotate in either direction, as needed to bring the output shaft to the appropriate position. As the positions approach, the error signal reduces to zero, and the motor stops.

Kuka Servo Motor

In the case of the KUKA Servo Motor, each axis motor has its own Servo Drive called a KSD which stands for KUKA Servo Drive. Each KSD is rated according to the motor that it is driving. For example, the Axis 2 motor will require more current than the wrist axes 4, 5, and 6 as the load is a lot greater on that axis.

Resolver

The resolver feedback is fed back to the robot as a data signal after passing via the Resolver to the Digital converter card at the base of the robot. Therefore, on this card, the six resolver values are combined into a single data signal back to the robot PC.