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LinMot
4.3 Position monitoring
4.3.1 Following error monitoring
Configuration
possibilities
User Manual V1.01
The different operating modes for driving the electronic unit from a higher-level control
system have been shown in chapter 4.1. In almost all application cases the higher-level
control system will need additional information and feedback about the actual positions
of the driven actuators.
For example, the higher-level control system might need to be informed about whether
the desired movement sequence was executed, or if all actuators are already outside the
motion range of another moving machine part, so that the latter can safely move without
damaging the other actuators.
Two digital signals are available for this feedback to the higher-level control system.
They allow the monitoring of the following error and of a position range. These
messages are forwarded as a collective message (or concatenation) from all the actuators
connected to an electronic unit.
For the following error monitoring the difference between the position set value and the
actual position is monitored. If this difference becomes bigger than the maximal allowed
position difference that was set, it is to assume that a disturbance of some kind has
occurred (e.g. slider jammed, load mass too big, etc.) which has to be communicated to
the higher-level control. In this case a warning message or an error message should be
sent to the higher-level control system.
Figure 4-8: Following error monitoring
A positive and a negative maximal allowed position difference can be set for each
actuator. Here it can be freely specified whether the event of trespassing these limits
should generate a warning message or an error message (turning off the actuator) to be
sent to the higher-level control.
Design and Installation
4-9
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