Fig. 201 Position Specification; Fig. 202 Following Error Window - Beckhoff EL72 1-901 Series Manual

Commissioning
Fig. 201: Position specification
Following error monitor
Furthermore, there is an option in CSP mode to activate a following error monitor. The following error monitor
is switched off on delivery. In all other modes this is not used and is ignored.
• The window of the following error monitor can be adjusted with the Following error window (Index
0x8010:50 MDP742 / Index 0x6065 DS402). The value set here – multiplied by the scaling factor –
specifies by what position the actual position may differ from the set position, positively and negatively.
The total accepted tolerance is thus twice as large as the position entered in the Following error
window (see fig. Following error window).
Fig. 202: Following error window
• The time (in ms) allowed for a following error exceedance can be set with the Following error time out
(Index 0x8010:51 MDP742 / Index 0x6066 DS402). As soon as the target position is exceeded by
more than the position entered in the Following error window for the time entered in the Following error
time out, the terminal outputs an error and stops immediately.
• The current following error can be read in the Following error actual value (Index 0x6010:09 MDP742 /
Index 0x60F4 DS402).
166 Version: 1.9 EL72x1-901x