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
In computer networking, bandwidth often refers to a data rate measured in bits/s, for example, network throughput. The reason for the connection of data rate with the term bandwidth is that the limit to the data rate of a physical communication link is related to its bandwidth in hertz (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
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- 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 BusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design 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 |
|
Index/Subindex |
Object Start Version |
|
|---|---|---|
|
53D5/0 |
M_01-13-01-000 |
Related Topics
