How to setup Position Error Delay

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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 :

PE VCMD.PNG
Command Velocity recordings


PE PEDEL1.PNG
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:

PE PEDEL5.PNG

again estimate the error: 

PE/VCMD = 0.18/57.74*1000 = 0.317 ms
IMPORTANT.svgIMPORTANT
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:
PE PEDEL5078.PNG

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