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ASDA-A3

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Tuning

5.8.3.3 Application example

Adjusting the contour errors:

If the contour becomes unsmooth when transiting from one quadrant to another, it is caused by

insufficient friction compensation of the servo. Descriptions for manually and automatically

adjusting the friction compensation are as follows.

5

Manual adjustment:

Take the circular motion for example, you can gradually increase the value of P1.062 until the

quadrant protrusion disappears and the quadrant becomes concave, and then start adjusting

P1.063. On the basis of the default 100% of P1.063, the lower the value of P1.063, the sooner

the system reaches the setting of P1.062; the higher the value of P1.063, the slower the system

reaches the setting of P1.062. When the contour (error) upon quadrant transition slightly

becomes concave, you can increase the setting of P1.063 to speed up the compensation. If the

contour slightly becomes convex, reduce the setting of P1.063 to slow down the compensation.

Protrusion upon

quadrant transition of

X axis

Moving

direct io n

Protrusion upon

quadrant transition of

Y axis

Insufficient

friction

compensation

Moving

direct io n

Moving

direct ion

Proper friction

compensation

Over friction

compensation

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Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com

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