PL.PDELAY

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PL.PDELAY

General Information
Type	R/W Parameter
Description	Sets the delay time for PL.CMD.
Units	Microseconds
Range	0, 100 to 625,000
Default Value	0
Data Type	Integer
Start Version	M_01-13-01-000

FieldbusA 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	Index/Subindex	Object Start Version
EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen	53D5/0	M_01-13-01-000

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 bandwidthIn 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

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.