January 2012 6.17 Monitoring Functions 953
6.17.3 Movement monitoring
Movement monitoring is possible during operation both with velocity
feedforward and with following error. This requires, however, that position
control occurs in the interpolator of the MC, and not in the CC.
If the MP_movementThreshold parameter is set to a value greater than 0,
the manipulated value of the position controller is totaled in the IPO clock as
soon as the threshold configured in the parameter is exceeded. In
MP_thresholdDistance you enter the distance at which the comparison is to
be performed, and so define the monitoring cycle.
The MANUALplus 620 now calculates a nominal path and compares it with the
actual path traversed, based on the distance defined in the optional parameter
MP_thresholdDistance. If MP_thresholdDistance is not defined, the default
distance of 5 mm is effective.
An error message is output if the actual path traversed is…
less than a quarter of the nominal path
or
four times greater than the nominal path.
If the encoder is defective, the axis moves no more than the distance defined
in MP_thresholdDistance.
Intentional movements smaller than indicated in MP_movementThreshold
are ignored.
In MP_movementThreshold, enter the distance over time at which
movement monitoring is to start.
Enter in MP_thresholdDistance the distance at which the nominal and
actual paths are to be checked.
Settings in the configuration editor MP number
Axes
ParameterSets
[Key name of the parameter set]
CfgEncoderMonitor
movementThreshold
thresholdDistance
400705
400706
If MP_movementThreshold = 0, movement monitoring is not active.
If you are using drive motors with digital interface, set
MP_movementThreshold to 0 and use MP_vCtrlFiltLowPassT of the
speed controller.
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