Difference between revisions of "How to setup Position Error Delay"
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== First Step == | == First Step == | ||
| − | * set PEDEL to 1 (minimum value) | + | * set [[MC-Basic:axis.POSITIONERRORDELAY|PEDEL]] to 1 (minimum value) |
* Run the axis back and forth and record PE and VCMD as : | * Run the axis back and forth and record PE and VCMD as : | ||
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| − | Compute PEDEL as PE/VCMD, in this case it will be: | + | Compute [[MC-Basic:axis.POSITIONERRORDELAY|PEDEL]] as PE/VCMD, in this case it will be: |
<pre> | <pre> | ||
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</pre> | </pre> | ||
| − | 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'''<br> | + | Taking into account the used value of [[MC-Basic:axis.POSITIONERRORDELAY|PEDEL]] (1) and the sampling time of 4ms we get the new [[MC-Basic:axis.POSITIONERRORDELAY|PEDEL]] value of 5, e.i. '''PEDEL = 1 + 4 = 5'''<br> |
== Second Step == | == Second Step == | ||
| − | Change the PEDEL(5) to the integer value estimated before and run the test again: | + | Change the [[MC-Basic:axis.POSITIONERRORDELAY|PEDEL]](5) to the integer value estimated before and run the test again: |
[[Image:PE_PEDEL5.PNG|800px]]<br> | [[Image:PE_PEDEL5.PNG|800px]]<br> | ||
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| − | So setting PEDEL to 5.078 we get:<br> | + | So setting [[MC-Basic:axis.POSITIONERRORDELAY|PEDEL]] to 5.078 we get:<br> |
[[Image:PE_PEDEL5078.PNG|800px]]<br> | [[Image:PE_PEDEL5078.PNG|800px]]<br> | ||
Revision as of 11:21, 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:
