Following Error of servo motor – (2) Eliminating method for Delta’s servo

Delta ASD-A2/M series servo’s following error comes from two parts:

  1. The delay of command processing Ed
  2. Servo control lag Es

The total following error:Etotal = Ed + Es

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Following Error of Servo motor -(1)Concept

The following error of the servo motor means the difference between the received command and the actual position, namely :

Following Error = Command position – Actual position

Generally, in the case where the servo gain is well adjusted, the following error characteristics are :

    1. When the motor stops : the error is almost 0
    2. When doing acceleration and deceleration : the error is larger
    3. When running at constant speed : medium error

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