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.ERRWTHRESHfor 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 |
| AKDCANopen | 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
