Festo EMCA-EC-67 CO Series, Description

Page: 214 / 416

11 Monitoring of the drive behaviour
214 Festo – EMCA-EC-C-HP-EN – 2017-11e – English
11.1.2 Following error
In positioning, speed and jog mode, exceeding the maximum permissible following error can be mon­
itored. While carrying out an order, the deviation between the calculated setpoint value and the current
actual value is monitored. The permitted difference (max. permissible following error) is established
through parameterisation. The message “Following error” is activated after the “following error re­
sponse delay” has expired if the difference between the setpoint and actual value of the current con­
trolled variable (path, speed) lies outside the parameterised difference. In case of error or warning, the
“following error” status bit (SPOS.FOLERR, B5) is set. If the following error was configured as a warn­
ing, the message is deleted automatically once the actual value once again lies inside the following
error window. If the following error is configured as an error, the cause of the error must first be elimin­
ated before the error message “Following error” (FCT: 2Fh) can be acknowledged with the rising edge of
the control bit “Acknowledge malfunction” (CCON.RESET, B3).
FHPP parameters: following error
The following FHPP parameters are available for following errors.
PNU Name Operating
mode
1)
Page
Positioning mode
300.3 Current following error D, R 273
424 Maximum divergence R 284
549 Following Error Window D 297
1045 Following error delay time D, R 314
Speed mode
310.3 Current deviation D, R 274
424 Maximum divergence R 284
568 Message window for deviation D 299
1045 Following error delay time D, R 314
Jog mode
300.3 Current following error 273
538 Following Error Window 295
539 Following error delay time 295
1) D = direct operation, R = record selection mode
Tab. 11.3 FHPP parameters for following error