JVL MAC050 - Page 57

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 53
2.10 Servo filter adjustment
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.
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.
Follow error compensation:
TT1028GB
Commanded velocity
Commanded velocity
Actual velocity
Actual velocity
DYN3
DYN2
DYN1
None
None
DYN1
DYN2
DYN3
Static
Velocity
Follow error
Velocity
The best result is normally obtained in the
range 90-110%.
Follow error
Dynamic follow error compensation Static follow error compensation
Time
Time
Time
Time