Multi-Axis Contour Control; Function Restriction; Function Description - Delta ASDA-B3 Series User Manual

Tuning

5.8.3 Multi-axis contour control

5.8.3.1 Function restriction

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1. In the communication mode, settings for P1.034 - P1.036, P2.068, and P1.017 for each axis
have to be consistent.
2. The settings of the two degree of freedom control function (P2.094 [Bit 12]) for each axis
have to be consistent.
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3. Setting the same speed loop bandwidth (P2.004 / 2π) for each axis is recommended.

5.8.3.2 Function description

For the application of multi-axis contour control, make sure the servo parameter settings among
all axes are consistent. If the response settings among each axis do not match, the contour
distorts.
1. When the filter parameter settings (P1.008, P1.068) of each axis are inconsistent, the
response of the axis with a lower filter parameter setting goes ahead of the other axes.
2. When the position gain parameter settings (P2.000, P2.002, P2.089) of each axis are
inconsistent, the response of the axis set with a higher position gain goes ahead of the
other axes.
3. After all axes are tuned, if their speed loop bandwidth settings (P2.004 / 2π) are
inconsistent but the contours remain undistorted, you can apply the position gain parameter
settings of the axis with the lowest bandwidth to the other axes.
Note: it is recommended that you set the Analysis Type to Speed Open-loop in the System Analysis of
ASDA-Soft; the zero-crossing frequency is the speed loop bandwidth.
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When the two degree of freedom control function is enabled (P2.094 [Bit 12] = 1),
settings of P2.002, P2.089, P1.008, and P1.068 for each axis must be consistent.
When the two degree of freedom control function is disabled (P2.094 [Bit 12] = 0),
settings of P2.000, P2.002, P1.008, and P1.068 for each axis must be consistent.
ASDA-B3