Position And Velocity Errors - Copley Controls Xenus Plus Series User Manual

Xenus Plus User Guide

2.7: Position and Velocity Errors

2.7.1: Error-Handling Methods
In position mode, any difference between the limited position output of the trajectory generator and
the actual motor position is a position error. The drive's position loop uses complementary methods
for handling position errors: following error fault, following error warning, and a position-tracking
window.
Likewise, in velocity or position mode, any difference between the limited velocity command and
actual velocity is a velocity error. The drive's velocity loop uses a velocity tracking window method
to handle velocity errors. (There is no velocity error fault.)
2.7.2: Following Error Faults
When the position error reaches the programmed fault threshold, the drive immediately faults.
(The following error fault can be disabled.)
For detailed information, see
2.7.3: Following Error Warnings
When the position error reaches the programmed warning threshold, the drive immediately sets the
following error warning bit in the status word. This bit can be read over the CAN network.
It can also be used to activate a digital output.
2.7.4: Position and Velocity Tracking Windows
When the position error exceeds the programmed tracking window value, a status word bit is set.
The bit is not reset until the position error remains within the tracking window for the
programmed tracking time. A similar method is used to handle velocity errors.
For detailed information, see
Copley Controls
Following Error Fault Details
Tracking Window Details (p. 54).
16-01344 Rev 06
(p.53).
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