Siemens SIMATIC S5 Manual page 86

Machine Data, Modes and Traversing Programs
s
a
b
t t
t
1 2
0
Figure 5-7. Following Error in Dependence on Setpoint and Actual Value
The following error changes in direct proportion to the traversing speed in
accordance with the following equation:
If the actual value stops changing during a positioning operation, for instance
because
• the encoder failed or
• the power section was switched off,
the following error continually increases.
The driving voltage for the power section increases in proportion to the increase
in the following error. If the voltage exceeds 5 V, the current operation is aborted
with "Position control loop interrupted". The IP 266 automatically switches to
follow-up mode, a mode in which the position controller is disabled.
5-14
s
t
v
s = [mm]
kv
s = s - s
set act
IP 266
a: Setpoint characteristic
b: Actual characteristic
s: Following error
t : Start of positioning
0
t The following error has
1:
reached its maximum range
limit
t : Following error is brought
2
back into range
EWA 4NEB 812 6057-02