Delta ASDA-A3 Series User Manual page 632

ASDA-A3
P1.017
Default: 0
Unit: ms (minimum scale is μs)
Format: DEC
Settings:
When the following error compensation function is enabled (P1.036 = 1), the servo calculates the
compensation amount according to the command and adjusts the position error (PUU) close to 0. If
setting the position feed forward gain (P2.002) and position integral compensation (P2.053) cannot
reduce the position error, set the additional compensation time to compensate the error.
Additional compensation distance = P1.017 x Motor speed
Note: enable the following error compensation function (P1.036 = 1) to use the additional compensation function.
P1.018
Default: 0
Unit: ms (minimum scale is μs)
Format: DEC
Settings:
During the operation of the E-Cam, if the mechanical factor is excluded, but the following error still
exists, which may be error caused by the electrical delay. Set the compensation pulse number of the
master axis to correct the E-Cam phase. If the compensation time is set to 0, the compensation is not
enabled.
Compensation pulse = P1.018 x (Pulse frequency of the E-Cam master axis (Kpps) - P1.021 (Minimum
frequency of pulse compensation for the E-Cam master axis))
Note: monitor the pulse frequency of the E-Cam master axis (Kpps) with the monitoring variable 060 (3Ch).
P1.019
Default: 0x0000
Unit: -
Format: HEX
Settings:
X Additional function for Capture
Y Reserved
Additional compensation time for the following error
E-Cam: compensation time for the pulse of E-Cam master
axis
Capture / Compare: additional function settings
Control mode: PR
-25.000 to +25.000 (includes 3
Setting range:
decimal places)
Data size: 16-bit
Control mode: PR
-25.000 to +25.000 (includes 3
Setting range:
decimal places)
Data size: 16-bit
Control mode: All
Setting range: 0x0000 - 0x0101
Data size: 16-bit
Z Additional function for Compare
U Reserved
Parameters
Address: 0122H
0123H
Address: 0124H
0125H
Address: 0126H
0127H
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