Kollmorgen AKD PDMM series, Руководство пользователя

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AKD PDMM User Guide | 40.5 PL.ERRWTHRESH
General Information
Default
Value
0
Data Type Boolean
See Also
PL.ERR (pg 398), PL.ERRFTHRESH (pg 399), PL.ERRWTHRESH (pg
401)
Start Version M_01-02-09-000
AKD BASIC Information
Data Type Integer
Description
PL.ERRMODE sets the type of following error warning and fault usage.
Mode 0 - following error magnitude fault
In Mode 0, the values of PL.ERRFTHRESH and PL.ERRWTHRESH are compared against
the value of PL.ERR. If the absolute value of PL.ERR is larger than PL.ERRWTHRESH, then
a warning is generated. If the absolute value of PL.ERR is larger than PL.ERRFTHRESH, then
a fault is generated.
Mode 1 - deviation from predicted trajectory fault
In Mode 1, the values of PL.ERRFTHRESH and PL.ERRWTHRESH are compared against
the following value:
<error> = abs(PL.ERR - [ ( VL.CMD – 1*VL.FF) / PL.KP ] )
If the absolute value of <error> is larger than PL.ERRWTHRESH for a consecutive period of
100 ms, then a warning is generated. If the absolute value of <error> is larger than PL.ERR-
FTHRESH for a consecutive period of 100 ms, then a fault is generated.
In mode 1, if PL.KI is not 0 then the following error prediction mechanism is turned off. When
the drive is disabled, the following error limit tests are turned off and the warnings are cleared. A
value of 0 in PL.ERRFTHRESH or PL.ERRWTHRESH disables the respective functionality.
Example
Assuming
PL.ERRMODE = 0, PL.ERRFTHRESH=1.2, PL.ERRWTHRESH=1, then PL.ERR reads 1.1.
In this case the warning is generated, but the fault is not.
Assuming PL.ERRMODE = 0, PL.ERRFTHRESH=1.2, PL.ERRWTHRESH=1, then PL.ERR
reads 1.3.
In this case the warning is generated, as well as the fault.
Related Topics
PL.ERR (pg 398) | PL.ERRFTHRESH (pg 399) | PL.ERRWTHRESH (pg 401)
1 Position Loop
40.5 PL.ERRWTHRESH
General Information
Type NV Parameter
Description Sets the position error warning level.
Kollmorgen™ | December 2012 401