Kollmorgen AKD Basic User Manual

AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
6.25.4 PL.ERRMODE
General Information
Type NV Parameter
Description
Sets the type of following error warning and fault
usage.
Units
0- Standard following error
1-Enhanced following error
Range 0 to 1
Default
Value
0
Data Type Boolean
See Also PL.ERR , PL.ERRFTHRESH , PL.ERRWTHRESH
Start Version M_01-02-09-000
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 578 No 8 bit No M_01-03-00-000
AKD BASIC Information
Data Type Integer
Description
PL.ERRMODE sets the type of following error warning and fault usage.
Mode 0 - following error magnitudefault
In Mode 0, the values of PL.ERRFTHRESH and PL.ERRWTHRESH are compared against
the value of PL.ERR. If the absolute value of PL.ERR is larger than PL.ERRWTHRESH, then
a warning is generated. If the absolute value of PL.ERR is larger than PL.ERRFTHRESH, then
a fault is generated.
Mode 1 - deviation from predicted trajectory fault
In Mode 1, the values of PL.ERRFTHRESH and PL.ERRWTHRESH are compared against
the following value:
<error> = abs(PL.ERR - [ ( VL.CMD – 1*VL.FF) / PL.KP ] )
If the absolute value of <error> is larger than PL.ERRWTHRESH for a consecutive period of
100 ms, then a warning is generated. If the absolute value of <error> is larger than PL.ERR-
FTHRESH for a consecutive period of 100 ms, then a fault is generated.
In mode 1, if PL.KI is not 0 then the following error prediction mechanism is turned off. When
the drive is disabled, the following error limit tests are turned off and the warnings are cleared. A
value of 0 in PL.ERRFTHRESH or PL.ERRWTHRESH disables the respective functionality.
Example
Assuming
PL.ERRMODE = 0, PL.ERRFTHRESH=1.2, PL.ERRWTHRESH=1, then PL.ERR reads 1.1.
In this case the warning is generated, but the fault is not.
Assuming PL.ERRMODE = 0, PL.ERRFTHRESH=1.2, PL.ERRWTHRESH=1, then PL.ERR
reads 1.3.
In this case the warning is generated, as well as the fault.
Related Topics
Kollmorgen™ | March 30, 2012 386

Kollmorgen AKD Basic Specifications

General

Brand	Kollmorgen
Model	AKD Basic
Category	Controller
Language	English