GSK DA98A - Stop Characteristics; Servo Unit and Position Controller Model Selection by Computation

DA98A AC Servo Drive Unit User Manual
9.3 Stop characteristics
Lag pulse is defined to a difference value between the instruction pulse and feedback pulse
when the servo motor is controlled by pulse strings in position control mode. The difference value
is accumulated in the position deviator, and the relationship of this difference value and instruction
pulse frequency, electronic gear ratio and position proportional gain is as following equation:
ε=
p
K
Gf ×
*
ε：lag pulse （Puls）；
f：instruction pulse frequency（Hz）；
K
p
：position proportional gain（1/s）；
G：electronic gear ratio.
〖Note〗 The equation is obtained when [position feedforward gain] is 0%; if the [position
feedforward gain] is more than 0%, the lag pulse will be less than the value
computed by the above equation.
9.4 Servo unit and position controller model selection by computation
Instruction displacement and actual displacement:
L
Z
M
ZD
S
T
DD
DR
CD
CRI
S
⋅⋅⋅⋅⋅=
1
δ
S： actual displacement mm;
I： instruction displacement mm;
δ： min. unit of CNC mm;
CR： instruction frequency multiplication coefficient;
CD： instruction frequency division coefficient;
DR： servo frequency multiplication coefficient;
DD： servo frequency division coefficient;
ST： indexing per rev of servo motor;
ZD： gear teeth of motor side;
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