PL.PDELAY
Description
PL.PDELAY inserts a delay before the position command signal. The delay is implemented after the feedforwards are calculated, which allows the feedforwards to “lead” the position command/error signals.
By tuning this filter, position loop overshoot can be reduced without affecting loop stability. This filter is considered a feedforward. For best results it should be set in conjunction with VL.FFDELAY.
After making an approximation of the Open Loop bandwidth (Hz) in the Performance Servo Tuner, calculate PL.PDELAY:
PL.PDELAY = 1 / (Open Loop BW (Hz) * 2π) * 1,000,000
-
- 1,000,000 = seconds to microseconds
-
- PL.PDELAY and VL.FFDELAY are calculated exactly the same, however, depending on the mode of operation, sometimes an additional 250us should be added to PL.PDELAY for optimal results.
-
- If PL.PDELAY is not zero, and the drive is in Field Bus mode, then commanding position jumps above one revolution within one fieldbus cycle are not supported and can result in undefined motion.
General Information
|
Type |
R/W Parameter |
|
Units |
Microseconds |
|
Range |
0, 100 to 625,000 |
|
Default Value |
0 |
|
Data Type |
Integer |
|
Start Version |
M_01-13-01-000 |
Variants Supported
| Variant | Supported |
|---|---|
| AKD Base | Yes |
| AKD with Position Indexer | Yes |
| AKD EtherCAT | Yes |
| AKD CANopen | Yes |
| AKD BASIC | No |
| AKD SynqNet | Yes* |
| AKD EtherNet/IP | Yes |
| AKD PROFINET | Yes |
| AKD Sercos® III | Yes |
| AKD-N | Yes |
| AKD-C | No |
*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.
Fieldbus Information
If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type.
| Index/Subindex | Object Start Version |
|---|---|
|
53D5/0 |
M_01-13-01-000 |
| Fieldbus | Address | Attributes | Signed? |
|---|---|---|---|
|
PROFINET |
2981 | DWord | No |
| Sercos® III | 4 Octets |
| Instance | Data Size | Data Type |
|---|---|---|
| 982 | 4 Byte | Integer |
| Register Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
|---|---|---|---|---|
|
1962 |
No | 32 bit | No | M_01-03-00-000 |
Related Topics
