How to setup Position Error Delay

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: