Rexroth Indramat CLM1.4, Manual

Page: 134 / 274

CLM01.4-LAP-01VRS Parameters
8-17
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
The maximum position difference is calculated as follows:
1000 Ax11) in (as Factor Kv
x01) VK(as in A Ax12) (as in Velocity
IU in ifference Position D Max.
1000
60
Kv
sec ity in IU/ max. veloc
IU in Difference Position
×
×
= ±
× =
L: IU = Input Units
Kv = Factor Value / Parameter Ax11
VK = Feed Constant / Parameter Ax01
Fig. 8-8: Position Monitoring
Example:
IU = mm
Maximum velocity (Ax21) = 2000 Rpm
VK (Ax01)
= 100 mm
Kv (Ax11) = 1
mm 200
1000 1
mm 100 Rpm 2000
IU in Difference Pos. Max.
=
×
×
= ±
Fig. 8-9: Example of Position Monitoring
With a change to the parameters ’Kv Factor’ and ’Maximum Velocity,’
because the input is in percent, the monitoring window does not need to
be reprogrammed.
So that the correct error message is always issued, Parameter
Ax27(Switching Threshold) should be smaller then:
Difference Position max
100
% in Ax14 Parameter
.
=
Fig. 8-10: Calculation of the Switching Threshold
If Parameter Ax14 is programmed as too small a value, even a normal
movement generates a ’Drive Runaway’ or ’Position Lag’ fault.
Example for ’Drive Runaway’:
1) Parameter Ax21 ’Direction’ conflicts with the encoder wiring or the
command value.
2) The axis moves without the output of a command position.
3) The input value in Parameter Ax19 does not correspond with the
encoder data (too small).
4) The maximum velocity in Parameter Ax12 is smaller than the
indication on the amplifier module.