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. For information on SynqNet parameters see Supported Parameters (➜ p. 1).

Fieldbus

Index/Subindex

Object Start Version

EtherCAT COE and CANopen

53D5/0

M_01-13-01-000

Fieldbus

Address

Attributes Signed?

Profinet

2981

DWord No
sercos® III 4 Octets
Fieldbus Instance Data Size Data Type
EtherNet/IP 982 4 Byte Integer

Related Topics

PL.PDELAY

VL.FFDELAY

Position Loop