Instruction Manual PSx3xxPL
39
4.9
Drag error correction
With SDO #2046 the drag error correction can be enabled. With this feature enabled,
the drive will raise or lower the target speed proportional to the drag error by the
configured value. The drive attempts under consideration of the configured maximum
current to compensate the drag error which has developped by controlling the target
speed to a value which lays slightly above or below the specified value of the target
speed (SDO #2012).
By setting SDO #2046 to 0 the drag error correction can be disabled.
Drag error monitoring and correction take effect always except during a braking
operation when approaching a target position or when aborting a positioning. The
actual target speed when accelerating is determined by the actual speed at the
beginning of the positioning and the acceleration setting (SDO #201C).
4.10 Abort run when the master fails
If the connection to the master is interrupted during a positioning run, the master
cannot abort an actual run. In order to generate an automatic run abort in this case,
there’s a mechanism implemented in the drive that monitors the communication to the
Powerlink Managing Node (e.g. the bus master).
Three possible responses are envisaged for this case:
1) If a positioning is in progress, the drive should end this positioning as planned and
then not start a new positioning as long as no connection exists.
This behaviour is activated when SDO #2049 ("configuration for connection
failure") is set to 0.
2) If a positioning is in progress, the drive should abort the movement and then not
start a new positioning as long as no connection exists.
This behaviour is activated if SDO #2049 ("configuration for connection failure") is
set to 1 ("Operation abort").
3) Regardless of whether the drive stands still or a positioning is in progress, the drive
should perform a movement to the safety position defined by SDO #204A.
This behaviour is activated if SDO #2049 ("configuration for connection failure") is
set to 2 ("move to safe position").
The movement to safe position can also be started repeatedly in case of failure, this
is configured by SDO #204B ("repeat time for safety movement").
