6. Setting Parameters
Festo P.BE-CMMP-CO-SW-EN 0708NH
87
1
following_error_window
(6065
h
)
0
-following_error_window
(6065
h
)
following_error_time_out
(6066
h
)
statusword, Bit 13 (6041
h
)
time
position_difference =
position_demand_value (6062 ) - position_actual_value (6064 )
h
h
t
t
t
Fig. 6.4: Contouring error – functional overview
The Fig. 6.5 shows how the window function is defined for the "contouring error"
message. The area between xi-x0 and xi+x0 is defined symmetrically around the command
position (
position_demand_value
) xi. For example, the positions xt2 and xt3 lie outside
this window (
following_error_window
). If the drive leaves this window and does not
return to the window within the time specified in the object
following_error_time_out
,
bit 13
following_error
is set in the
statusword
.
Fig. 6.5: Drag error
2.
Position reached
This function offers the possibility of defining a position window around the target
position (
target_position
). If the actual position of the drive is located within this
range for a specific time – the
position_window_time
– the related bit 10
(
target_reached
) is set in the
statusword
.
Summary of Contents for CMMP Series
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