Description
PL.ERRMODE sets the type of following error warning and fault usage.
Mode 0 - following error magnitude fault
In Mode 0, the values of PL.ERRFTHRESH and PL.ERRWTHRESH are compared against the value of PL.ERR. If the absolute value of PL.ERR is larger than PL.ERRWTHRESH, then a warning is generated. If the absolute value of PL.ERR is larger than PL.ERRFTHRESH, then a fault is generated.
Mode 1 - deviation from predicted trajectory fault
In Mode 1, the values of PL.ERRFTHRESH and PL.ERRWTHRESH are compared against the following value:
<error> = abs(PL.ERR - [ ( VL.CMD – VL.FF) / PL.KP ] )
If the absolute value of <error> is larger than PL.ERRWTHRESH for a consecutive period of 100 ms, then a warning is generated. If the absolute value of <error> is larger than PL.ERRFTHRESH for a consecutive period of 100 ms, then a fault is generated.
In mode 1, if PL.KI is not 0 then the following error prediction mechanism is turned off. When the drive is disabled, the following error limit tests are turned off and the warnings are cleared. A value of 0 in PL.ERRFTHRESH or PL.ERRWTHRESH disables the respective functionality.
Usage of Mode 1:
If a machine was frictionless, no resonances and VL.KVFF was set to 1.0 (100% velocity feedforward) then the value being compared against the fault threshold and warning threshold would be zero because all of the error would be due to the commanded move.
This feature is intended to remove all error contributed from the trajectory and leave only the disturbances from forces outside of those commanded.
Example
Assuming
PL.ERRMODE = 0, PL.ERRFTHRESH=1.2, PL.ERRWTHRESH=1, then PL.ERR reads 1.1.
In this case the warning is generated, but the fault is not.
Assuming PL.ERRMODE = 0, PL.ERRFTHRESH=1.2, PL.ERRWTHRESH=1, then PL.ERR reads 1.3.
In this case the warning is generated, as well as the fault.
General Information
|
Type |
NV Parameter |
|
Units |
0- Standard following error 1-Enhanced following error |
|
Range |
0 to 1 |
|
Default Value |
0 |
|
Data Type |
Boolean
|
|
See Also |
|
|
Start Version |
M_01-02-09-000 |
| Variant | Supported |
|---|---|
| MKD EtherCAT | Yes |
| AKD-N | Yes |
| MKD-N | Yes |
| MKD-C | No |
| Index/Subindex | Object Start Version |
|---|---|
|
5121h/0 |
M_01-02-09-000 |
Related Topics
