Delta ASD-A2/M series servo’s following error comes from two parts:
- The delay of command processing Ed
- Servo control lag Es
The total following error：Etotal = Ed + Es
Following Error
Following Error of servo system
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 :
-
- When the motor stops : the error is almost 0
- When doing acceleration and deceleration : the error is larger
- When running at constant speed : medium error