Position Overshoot Adjustment; Function Restriction; Function Description; Application Example - Delta ASDA-A3 Series User Manual

Tuning

5.8.2 Position overshoot adjustment

5.8.2.1 Function restriction

5
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 based on the speed change, which unit is 0.1%/1000 rpm. 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.

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
P1.061
P1.062
P2.002
5-66
Position
On
Signal for
target position
reached
DO: 0x05 TPOS Off
Viscous friction compensation
Percentage of friction compensation
Position feed forward gain
P1.061 = 0
P1.061 = 100
P1.061 = 900
Time
Time
Function
ASDA-A3