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Tuning
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ASDA-A3
5
5.8 Application function adjustment
5.8.1 Adjusting position error in constant speed zone
5.8.1.1 Function restriction
1. When using P2.002 and P2.003, set P1.001.YX control mode to Position (PT, PR).
2. When using P2.007, you must set P1.001.YX control mode to Position or Speed (PT, PR, S,
Sz).
5.8.1.2 Function description
In Position mode, this function uses the Position command to calculate an ideal speed value
and applies this value to the Speed command. This function reduces the position error in the
constant speed zone during position control. Therefore, you can use this function to shorten the
settling time or reduce the following error.
Position
command
Differentiator
+
-
Position
feedback
P2.002
Position
controller
P2.003
+ +
+-
Speed
controller
Speed
feedback
Position feed forward gain (P2.002)
This parameter converts the difference of the position command changes into an ideal speed
value and applies this value to the Speed command. The higher the value of P2.002, the
smaller the error in the constant speed zone, thus reducing the error when the system performs
dynamic following. When this parameter is set to 100, it completely eliminates the position error
at the constant speed zone but causes a greater position overshoot. When this parameter is set
to 0, the position feed forward gain function is disabled.
Position
5-68
Speed
Time
Position
error
Time
P2.002 = 0
P2.002 = 50
P2.002 = 100
Time
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