Following Error Detection And In-Position Detection - Lenze i950 Commissioning Manual

Configure position control
Basic setting

Following error detection and in-position detection

9.1.1 Following error detection and in-position detection
The "following error recognition" and "in-position recognition" are functions of the position
control. All parameters correspond to the CiA 402 specification.
Unit
Set position
_p
0x607A
Interpolation: time interval
Position: Time monitoring "set position reached"
Input data
Parameter
0x607A
0x60FC
0x6062
0x6065
0x6066
0x6067
0x6068
Output data
Parameter
0x6063
0x6064
0x60F4
0x60FA
0x6041
Parameter
Address Name / setting range / [default setting]
0x6065 Following error window
0 ... [1000] ... 4294967295 pos. unit
0x6066 Following error time out
0 ... [0] ... 0 ms
132
Interpolation
Set position (internal)
0x60FC
Actual position (internal)
0x6063
0x60C2
Following error: Window
0x6065
Following error: Time monitoring
0x6066
Position: Window
0x6067
0x6068
Designation
Target position
Position demand internal value
Position demand value
Following error window
Following error time out
Position window
Position window time
Designation
Position actual internal value
Position actual value
Following error actual value
Control effort
CiA: Statusword
Position controller: Output signal
Position
control
Following error: Actual error
CiA402 status word / bit 13
CiA402 status word / bit 10
Data type
INTEGER_32
INTEGER_32
INTEGER_32
UNSDIGNED_32
UNSIGNED_16
UNSIGNED_32
UNSIGNED_16
Data type
INTEGER_32
INTEGER_32
INTEGER_32
INTEGER_32
UNSIGNED_16
Info
Setting of the symmetrical tolerance window around the setpoint posi-
tion for following error detection.
• 0 ≡ following error detection deactivated.
• > 0 ≡ following error detection activated.
• A following error is detected if the actual position is outside this toler-
ance window.
• If the following error is detected longer than the time defined in
0x6066 in [ms], bit 13 ("following error") is set in the CiA402 status
word (0x6041).
0x60F4 displays the current deviation of the actual position from the
•
setpoint position.
Setting of time monitoring for the following error detection.
0 ≡ the following error is evaluated without a time delay.
0x60FA
0x60F4
0x6041
0x6041