Load-Dependent Position Deviation (Following Error)
The load-dependent position deviation is the difference between the reference position and the actual position caused by the load inertia.
Parameters are available to read the load-dependent position deviation during operation and the maximum position deviation reached so far.
The maximum permissible load-dependent position deviation can be parameterized. In addition, you can set the error class.
Monitoring of the load-dependent position deviation is available in the following operating modes:
oJog
oHoming
oCyclic Synchronous Position
Reading the Position Deviation
The following parameters let you read the load-dependent position deviation in user-defined units or revolutions.
|
Parameter name HMI menu HMI name |
Description |
Unit Minimum value Factory setting Maximum value |
Data type R/W Persistent Expert |
Parameter address via fieldbus |
|---|---|---|---|---|
|
Load-dependent position deviation between reference and actual positions. The load-dependent position deviation is the difference between the reference position and the actual position caused by the load. This value is used for following error monitoring. Type: Signed decimal - 4 bytes |
usr_p -2147483648 - 2147483647 |
INT32 R/- - - |
Modbus 7724 IDN P-0-3030.0.22 |
The following parameters let you read the maximum value of the load-dependent position deviation reached so far in user-defined units or revolutions.
|
Parameter name HMI menu HMI name |
Description |
Unit Minimum value Factory setting Maximum value |
Data type R/W Persistent Expert |
Parameter address via fieldbus |
|---|---|---|---|---|
|
Maximum value of the load-dependent position deviation. This parameter contains the maximum load-dependent position deviation reached so far. A write access resets this value. Type: Signed decimal - 4 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective immediately. |
usr_p 0 - 2147483647 |
INT32 R/W - - |
Modbus 7722 IDN P-0-3030.0.21 |
Setting the Position Deviation
The following parameter lets you set the threshold for the maximum load-dependent position deviation that is to trigger an error of error class 0.
|
Parameter name HMI menu HMI name |
Description |
Unit Minimum value Factory setting Maximum value |
Data type R/W Persistent Expert |
Parameter address via fieldbus |
|---|---|---|---|---|
|
Advisory limit of the load-dependent position deviation (error class 0). 100.0 % correspond to the maximum position deviation (following error) as specified by means of parameter MON_p_dif_load. Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective immediately. |
% 0 75 100 |
UINT16 R/W per. - |
Modbus 1618 IDN P-0-3006.0.41 |
The following parameters let you set the maximum load-dependent position deviation at which a movement is canceled with an error of error classes 1, 2, or 3.
|
Parameter name HMI menu HMI name |
Description |
Unit Minimum value Factory setting Maximum value |
Data type R/W Persistent Expert |
Parameter address via fieldbus |
|---|---|---|---|---|
|
Maximum load-dependent position deviation. The load-dependent position deviation is the difference between the reference position and the actual position caused by the load.
The minimum value, the factory setting and the maximum value depend on the scaling factor. Type: Signed decimal - 4 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective immediately. |
usr_p 1 131072 2147483647 |
INT32 R/W per. - |
Modbus 1660 IDN P-0-3006.0.62 |
The following parameter lets you set the error class for an excessively high load-dependent position deviation.
|
Parameter name HMI menu HMI name |
Description |
Unit Minimum value Factory setting Maximum value |
Data type R/W Persistent Expert |
Parameter address via fieldbus |
|---|---|---|---|---|
|
Error response to excessively high load-dependent position deviation. 1 / Error Class 1: Error class 1 2 / Error Class 2: Error class 2 3 / Error Class 3: Error class 3 Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Setting can only be modified if power stage is disabled. Modified settings become effective the next time the power stage is enabled. |
- 1 3 3 |
UINT16 R/W per. - |
Modbus 1302 IDN P-0-3005.0.11 |
