Engel HFI 2230, Руководство по эксплуатации

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Integrated Synchronous Servo Drives
HFI 22xx / HFI 26xx / HFI 32xx / HFI 37xx
Positioning mode - General positioning parameters
Operating Manual Rev. 1.3 www.engelantriebe.de Page 59
Following error monitoring: The following error is the difference between the actual position and the setpoint posi-
tion of the drive. A following error can occur if, for example, the mechanical load is too high or the parameterised accel-
eration/deceleration ramp is too fast.

Following error window: A following error event is present if, for a defined period of time (Following error
timeout), the absolute value of the difference between actual position and setpoint position is greater than the
value parameterised under Following error window.
Control I/F Menu, Object, Telegram
I/O mode Setup via DSerV
CANopen Following Error Window [6065
h
]
The following error monitoring is active, if Bit 31 = 0. Bits 0 … 30 define the size of the
window.
EtherCAT Following Error Window [6065
h
]
The following error monitoring is active, if Bit 31 = 0. Bits 0 … 30 define the size of the
window.
EtherNet/IP Following Error Window [6065
h
]
The following error monitoring is active, if Bit 31 = 0. Bits 0 … 30 define the size of the
window.
PROFINET Following Error Window [6065
h
]
The following error monitoring is active, if Bit 31 = 0. Bits 0 … 30 define the size of the
window.
(not available via telegrams, must be directly addressed)

Following error timeout: The value parameterised under Following error timeout defines how long the abso-
lute value of the difference between actual position and setpoint position is allowed to be greater than the val-
ue specified under Following error window.
Control I/F Menu, Object, Telegram
I/O mode Setup via DSerV
CANopen Following Error Timeout [6066
h
]
EtherCAT Following Error Timeout [6066
h
]
EtherNet/IP Following Error Timeout [6066
h
]
PROFINET Following Error Timeout [6066
h
]
(not available via telegrams, must be directly addressed)

Following error reaction: If Following error monitoring is active, following error events are signalled and a
following error reaction is triggered, which can be parameterised as follows:
No reaction:
Control I/F Menu, Object, Telegram
I/O mode No reaction
CANopen Signalisation in object
Statusword [6041
h
]
(Bit13)
EtherCAT Signalisation in object
Statusword [6041
h
]
(Bit13)
EtherNet/IP Signalisation in object
Statusword [6041
h
]
(Bit13)
PROFINET Standard Telegram 9: no signalisation in STW1
ENGEL Telegram 100: signalisation in object
Statusword [6041
h
]
(Bit13)
Figure 8-37: Following error monitoring parameters