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Description of Functions
Approach to the target position
On approach to a position, the monitoring time is activated:
t
t
24
25
Following error monitoring
Axis standstill
A message is output on an axis standstill setpoint or deactivated servo enable
if disturbances cause the axis to move out of position.
26
9-78
s
Target range (PEH) (MD24)
Set
Actual
a
b
c
t
t
t
1
2
3
PEH – Position reached, stop
s – path
t – time
Time
t
(a)
After the interpolator reaches the target position, the monitoring time
1
(MD25) for reaching the target range is started in the CL controller, after
the overtravel in the jolt filter dies down to the target range value (PEH
on setpoint side).
(b)
Before the monitoring time expires, the actual position reaches the target
2
range. Positioning is completed. A PEH is signaled, and exact matching
is performed by the CL controller.
(c)
After the monitoring time expires, the actual position has not reached the
3
target range (PEH).
Error message: "PEH Target Range Monitoring" (see Troubleshooting,
Table 11-5, Class 3/No. 64)
MD
Designation
Target range
0...1 000 000
Monitoring time
0 = no monitoring
1...100,000
MD
Designation
Stationary range
0...1 000 000
Upper range
Position to be
approached
Lower limit
Monitoring time (MD25)
Position Monitoring
Value/Meaning
[MSR]
[ms], rounded to 2–ms
steps
Value/Meaning
[MSR]
FM 453 Servo Drive / Step Drive Positioning Module
C79000-G7076-C453-01
t
Unit
Unit
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