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Motion Control

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ASDA-A3

7

7.3.10 Auxiliary function

Following error compensation

There are two factors causing the following error. The first is the servo error, which is generated

by the position loop and can be eliminated by the position integral compensation (P2.053).

The second is the command processing delay, which is the delay caused by the filter or

command. For the general point-to-point motion, the servo waits for the positioning complete

signal and then proceeds to the next command. This does not generate too much following error

and affect the motion. However, for E-Cam applications, you must reduce the following error, or

the E-Cam phase can deviate, reducing the machining precision.

To enable the following error compensation function, set P1.036 to 1. Meanwhile, set P1.008

(Position command smoothing constant) to 0 ms. Enable the position command moving filter

(P1.068) and set the value to less than 10 ms. Set the position integral compensation (P2.053)

to less than 50. If you are not satisfied with the performance in the acceleration or deceleration

stage, adjust the command response gain (P2.089) to reduce the following error. To have better

performance in the synchronous speed zone, set the additional compensation time (P1.017) to

compensate the deviation. The formula is as follows.

Compensation distance = P1.017 (Additional compensation time) × current motor speed

Excluding the following error caused by the machine, if the error is proportional to the speed

(for example: 100 rpm with an error of 0.01%; 1000 rpm with an error of 0.1%), it could be

caused by the electrical delay. In this case, use P1.018 and P1.021 to compensate the E-Cam

phase. The compensation mechanism is as follows.

Compensation amount (pulse) = P1.018 (Compensation time) x [Master axis pulse frequency

(Kpps) – P1.021 (Minimum frequency of pulse compensation for the E-Cam master axis)]

The master axis pulse frequency can be monitored with monitoring variable 060 (3Ch), which

value has to be greater than the minimum compensation frequency.

7-154

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