JVL MAC050 User Manual page 57

2.10
2.10.8 Follow error compensation
This feature makes it possible to achieve a minimum position error during movement
(dynamically). The 2 main types are:
- Static
Will reduce follow error at constant speed, which can be useful for electronic gear
applications since the motor will follow exactly what is demanded without any posi-
tion error.
- Dynamic
Will reduce follow error during acceleration or deceleration (speed changes). This
feature is intended to be used for applications which require that a commanded
speed or target position is reached as fast as possible but without any overshoots etc.
The Dynamic compensation provides 3 levels (Dyn 1 to 3). Using a higher Dyn num-
ber, the filter order is increased and better performance may be possible, but will de-
pend on the actual application.
Follow error compensation:
Dynamic follow error compensation
Velocity
Follow error
Please note that the dynamic compensation level Dyn 3 is only available on the MAC400-
800 but for all motor sizes the available dynamic compensation is limited to Dyn 1 or 2 if
a slow main filter is selected.
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Servo filter adjustment
DYN3
Commanded velocity
DYN2
DYN1
None
Actual velocity
None
DYN1
DYN2
DYN3
The best result is normally obtained in the
range 90-110%.
TT1028GB
Static follow error compensation
Velocity
Time
Follow error
Static
Time
Commanded velocity
Actual velocity
Time
Time
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