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The standstill zone is located symmetrically around the target approach posi-
tion.
When the tolerance window for idle is exceeded, the FM 453 signals a "Sta-
tionary Range" error (see Troubleshooting, Table 11-5,
Class 1/No. 12).
Axis moving
To monitor following error during movement, the FM 453 calculates the al-
lowable following error for the instantaneous traveling speed from the para-
meterized positioning loop amplification (MD38). Above the parameterized
"Minimum following error (dynamic)," a comparison is performed with the
actual value for the following error.
MD39
39
When the calculated following-error limit is exceeded, the FM 453 signals a
"Following error too great" error (see Troubleshooting, Table 11-7,
Class 3/No. 66).
Exception:
If an axis standstill occurs above the "minimum dynamic following error",the
error message described under Basic diagnostics "no drive movement" is
output (see Table 11-7, Class 3/No. 65).
FM 453 Servo Drive / Step Drive Positioning Module
C79000-G7076-C453-01
Approach position
Stationary range
Calculated curve of fol-
∆s
lowing error (∆s
Dynamic
monitoring
in effect
Actual curve of following
error
∆s – following error
v – speed
MD
Designation
Minimum following error (dy-
namic)
Description of Functions
)
calc
(Idealized) curve of fol-
lowing error
v
(MD23)
max
Value/Meaning
0 = no monitoring
0...1,000,000
v
Unit
[MSR]
9-79
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