Siemens Sinamics S110 Function Manual page 218

Drive functions
7.3 Function modules
Figure 7-45
Following error monitoring is activated via p2546 (following error tolerance). If the absolute
value of the dynamic following error (r2563) is greater than p2546, fault F07452 is output and
bit r2648.8 is reset.
Figure 7-46
The position controller has two cam controllers. If cam position p2547 or p2548 is passed in
the positive direction (p2521 > p2547 or 2548), then cam signals r2683.8 and r2683.9 are
reset.
Function diagrams (see SINAMICS S110 List Manual)
● 4020 Zero-speed / positioning monitoring
● 4025 Dynamic following error monitoring, cam controllers
218
Following error monitoring
Cam controllers
Function Manual, 10/2008, 6SL3097-4AB10-0BP0
Drive functions