Position Overshoot Adjustment; Function Restriction; Function Description; Application Example - Delta ASDA-B3 Series User Manual

ASDA-B3

5.8.2 Position overshoot adjustment

5.8.2.1 Function restriction

When using this function, set the control mode (P1.001.YX) to Position or Speed mode (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 P1.061 (Viscous friction compensation), set P1.062 (Percentage of friction
compensation) to a non-zero value. P1.061 is the torque compensation amount based on the
speed change, which unit is 0.1%/1000 rpm. When adjusting P1.061, it is recommended that
you first set it to 100, 200, then gradually increase the value. 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 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
Position
On
Signal for
target position
reached
Off
DO.TPOS (0x05)
Viscous friction compensation
Percentage of friction compensation
Position feed forward gain
P1.061 = 0
P1.061 = 100
P1.061 = 900
Time
Time
Function
Tuning
5
5-65