Kollmorgen AKD PDMM series, User Manual

Page: 399 / 513

AKD PDMM User Guide | 40.3 PL.ERRFTHRESH
PL.ERR reads the position error present when the drive is controlling the position loop.
PL.ERR is the difference between the actual position of the motor shaft (PL.FB (pg 403)) and
the commanded position of the drive (PL.CMD (pg 398)). If the drive is not in the position oper-
ating mode (DRV.OPMODE (pg 294) = 2), then the PL.ERR value is not generated by the drive
and this parameter is read as 0.
AKD BASIC Notes
When you enable the position error interrupt (by setting INTR.PL.ERR=1),
the Position Error fault is disabled. In situations where it would have occurred,
a position error interrupt is generated instead.
Related Topics
PL.ERRFTHRESH (pg 399) | PL.ERRMODE (pg 400) | PL.ERRWTHRESH (pg 401)
1 Position Loop
40.3 PL.ERRFTHRESH
General Information
Type NV Parameter
Description Sets the maximum position error.
Units
Depends on or
Rotary: counts, rad, deg, (custom units), 16-bit counts
Linear: counts, mm, µm, (custom units), 16-bit counts
Range
Rotary:
0.000 to 5,123,372,000,000,005.000 counts
0.000 to 7,495,067.136 rad
0.000 to 429,436,076.032 deg
0.000 to 5,964,389.888 (custom units)
0.000 to 78,176,452,636.718 16-bit counts
Linear:
0.000 to 5,123,372,000,000,005.000 counts
0.000 to 1,192,877.952*MOTOR.PITCH (pg 387) mm
0.000 to 1,192,878,014.464*MOTOR.PITCH (pg 387)
µm
0.000 to 5,964,389.888 (custom units)
0.000 to 78,176,452,636.718 16-bit counts
Kollmorgen™ | December 2012 399