Difference between revisions of "How to setup Position Error Delay"
(Created page with "= How to SetUp Position Error Delay = == First Step == * set PEDEL to 1 (minimum value) * Run the axis back and forth and record PE and VCMD as : [[Image:PE_VCMD.PNG |800px...") |
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[[Image:PE_VCMD.PNG |800px]]<br> | [[Image:PE_VCMD.PNG |800px]]<br> | ||
Command Velocity recordings | Command Velocity recordings | ||
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[[Image:PE_PEDEL1.PNG|800px]]<br> | [[Image:PE_PEDEL1.PNG|800px]]<br> | ||
Position Error recordings | Position Error recordings | ||
Revision as of 11:18, 31 May 2015
How to SetUp Position Error Delay
First Step
- set PEDEL to 1 (minimum value)
- Run the axis back and forth and record PE and VCMD as :
Command Velocity recordings
Position Error recordings
Compute PEDEL as PE/VCMD, in this case it will be:
PE/VCMD = 0.94/57.74*1000 = 16.2 ms
Taking into account the used value of PEDEL (1) and the sampling time of 4ms we get the new PEDEL value of 5, e.i. PEDEL = 1 + 4 = 5
Second Step
Change the PEDEL(5) to the integer value estimated before and run the test again:
again estimate the error:
PE/VCMD = 0.18/57.74*1000 = 0.317 ms
 | IMPORTANT |
| This means the non-integer communication delay of the drive is 317 micro-seconds. |
which is in units of one sample equal:
317/4000 = 0.078
So setting PEDEL to 5.078 we get:
