3.1.8.3.11 Control supervision
This feature allows to supervise the work of the control loops. This includes monitoring the internal variables
and basic analysis of the control loop performance. Some monitoring functions and data objects are
available only in specific control modes.
The main supervision functions are:
Following error - Basic function that needs to be calculated on the master
Following error window - Advanced feature that raises a flag in the Statusword
Target reached function - Raises a flag in the Statusword
3.1.8.3.11.1 Timing diagram of the supervision objects
Two communication cycles after the master sends a target value to the slave (position/velocity/torque), the
slave sends back two values: the Demand Value, indicating the value that was received by the slave and the
Actual value as read from the sensors. These values are synchronized and sampled from inside the control
loop.
Name and designation of these objects differ, depending on the chosen mode of operation:
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