Delta ASDA-A2 Series User Manual page 352

A2
ASDA-
When the function of tracking error compensation is enable (P1-36=1), the
system will calculate the compensation value according to the input command
automatically and make the position error (PUU) to be close to 0. However, as the
time delay caused by other reasons cannot be predicted in advance. The users
can set the additional time to compensate the positioning time delay.
Additional compensation distance = P1-17 x Motor Speed
Please note:
1. The setting value of this parameter is proportioned to the value of the motor
speed.
2. This parameter is enabled only when P1-36 is set to 1.
P1-18 CPCT
Operation
Interface:
Default: 0
Control
Range: -20.000 ~ +20.000 (Three decimal point)
Data Size: 16-bit
Display
Format:
Settings:
(This function is available in firmware version V1.038 sub48 and later models only)
This parameter is used to compensate the delay pulse phase when the electronic
cam function is enabled during operation. Please use this parameter with P1-21.
Compensated Pulse Phase (pls) = P1-18 x (Pulse Frequency of E-Cam Master Axis
(Kpps) – P1-21)
Please note:
1. The setting value of this parameter is proportioned to the value of the pulse
frequency of E-Cam master axis.
2. The pulse phase compensation function is enabled only when the setting
value of parameter P1-18 is higher than 0.
3. The pulse phase compensation function is enabled only when the value of the
pulse frequency of E-Cam master axis (monitoring variable is 060 (3Ch) Pulse
number of E-Cam master axis (Incremental)) is higher than the setting value
of parameter P1-21.
Revision September 2012
Electronoic Cam (E-Cam) Pulse Phase
Compensation – Time Setting
Keypad/Software
PR
Mode:
Unit: ms with fraction down to usec
Decimal
Chapter 8 Servo Parameters
Communication
Address: 0124H
0125H
Related Section: N/A
8-75