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Tuning

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ASDA-A3

5

5.8.2 Position overshoot adjustment

5.8.2.1 Function restriction

When using this function, you must set P1.001.YX (control mode) to Position or Speed (PT, PR,

S, or Sz).

5.8.2.2 Function description

The position overshoot occurred during positioning may be caused by the high value of P2.002

or a great change in the system friction. Lowering the setting of P2.002 or properly setting the

viscous friction compensation can reduce the position overshoot.

When using the viscous friction compensation (P1.061), set the percentage of friction

compensation (P1.062) to a non-zero value. Viscous friction compensation (P1.061) is the

torque compensation amount in units of 0.1%/1000 rpm (rotary motor) or 0.1%/1000 mm/s

(linear motor), which is based on the change of motor speed. When adjusting this parameter,

first setting it to 100, 200, and gradually increasing the value is recommended. Setting the value

too high may cause an increased overshoot or a longer settling time with an unchanged

overshoot.

Position

P1.061 = 0

P1.061 = 100

P1.061 = 900

Signal for On

target position

reached

DO: 0x05 TPOS Off

Time

Time

5.8.2.3 Application example

For the applications that do not allow overshoot, using this function can reduce the position

overshoot; however, a high value of P1.061 can cause a longer positioning time.

Relevant parameter

Refer to Chapter 8 for detailed descriptions.

Parameter

Function

P1.061

Viscous friction compensation

P1.062

Percentage of friction compensation

P2.002

Position feed forward gain

5-70

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