36 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
2.7 Error messages and error handling
2.7.1 Error messages and error handling
The MAC motor incorporates 5 fundamental parameters used for protection-related
purposes. They all have effect regardless of the operation mode the motor is set up to
use.
Follow error
It is possible to define the maximum allowable difference between the actual position of
the motor and the desired position. Depending on the setting of the servo filter etc., this
position difference will change. For protection it can be useful to define that the differ
-
ence is not allowed to exceed for example 500 counts (the motor has 4096 counts per
rev. fixed). If a mechanical collision occurs, the position difference will typically be ex
-
ceeded and cause a follow error making the motor passive with no further movement.
The default is 0, meaning that the feature is disabled.
Function error
Similar to Follow Error but the number of difference counts is only measured from the
point where the peak torque is reached, making it impossible for the motor to follow the
commanded movement. Default is 0, meaning that the feature is disabled.
Position limit min. and max.
Same as the physical limit switches but performed by software. Default is 0, meaning that
the feature is disabled.
Error acceleration
If an unrecoverable error occurs, it can be expedient to use a controlled deceleration in-
stead of a sudden stop. If the inertia in the system is high and the mechanical parts are
weak, a sudden stop can cause damage and unintended behaviour. Use this parameter
to define the deceleration during an unrecoverable error. Default is 0, meaning that the
feature is disabled.
Error andlingh
Use these fields to define error
limits for the etc.maximum follow error
TT09 GB69-01
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