July 2013 6.11 Monitoring functions 899
6.11.3 Movement monitoring
Movement monitoring is possible during operation both with velocity
feedforward and with following error.
During movement monitoring, the actual path traveled is compared at short
intervals (several servo cycles) with the nominal path calculated by the NC. If
during this period the actual path traveled differs from the calculated path, the
flashing error message MOVEMENT MONITORING IN <AXIS> appears.
Analog axes:
An existing offset during a standstill may cause a potential at the analog output
without any resulting positioning movement:
In MP1140.x, enter a threshold from which the movement monitoring
should go into effect.
Digital axes:
There is no offset.
In MP1140.x, enter the speed from which the movement monitoring should
go into effect.
For digital axes, in addition to the comparison of actual and nominal values, the
calculated position from the pulses of the position encoder are compared with
the pulses of the speed encoder:
Enter in MP332.x the number of signal periods and in MP331.x the path for
the number of signal periods (See "Encoders" on page 606).
Enter the distance per motor revolution in MP1054.x. A formula can also be
entered in MP1054.x.
In MP1144.x, enter a limit value for this position difference. If you are not
using a position encoder, you must enter 0 in MP1144.x as the position
difference.
If the difference is greater than the input value from MP1144.x, the error
message MOVEMENT MONITORING IN <AXIS> B appears.
MP1140.x Threshold above which the movement monitoring
functions
Input: Analog axes:0.030 to 10.000 [V]
Digital axes: 0.030 to 10.000 [1000 min
–1
]
Recommended: 0.030 [1000 min
–1
]
MP1054.x Distance of one motor revolution [mm or °]
Input: Analog axes: Nonfunctional
Digital axes: Entry of a formula possible,
see "Special case: Entering a formula" on page 479
MP1144.x Motion monitor for position and speed
Input: Analog axes: Nonfunctional
Digital axes: 0 to 99 999.999 [mm]
0: No monitoring
If you enter the maximum value in MP1140.x or MP1144.x, no movement
monitoring is active.
Safe machine operation is not possible without the movement monitoring
function.
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