PL.ERRTIME

Description

PL.ERRTIME is active when PL.ERRMODE equals 1. It is used to configure enhanced following error fault and warning detection. Enhanced following error mode compensates for expected deviations of the velocity feedforward from the profile velocity, in order to isolate external disturbances in the following error calculation.

The enhanced following error fault (F438) occurs when:

abs(PL.ERR PL.ERRFACTOR * ExpectedPosError ) > PL.ERRFTHRESH for a time period greater than PL.ERRTIME.

The related warning (n438) occurs when:

abs(PL.ERR – PL.ERRFACTOR * ExpectedPosError ) > PL.ERRWTHRESH for a time period greater than PL.ERRTIME.

The expected position error is defined as:

ExpectedPosError = (Profile velocity – VL.FF ) / PL.KP

where profile velocity is the desired velocity at the input of the position loop, i.e. the derivative of the position command.

General Information

Type

NV Parameter

Units

Milliseconds

Range

0 to 1000

Default Value

100

Data Type

Integer

Start Version

M_01-14-00-000

Variants Supported

Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes*
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.

Related Topics

Position Loop