PL.ERRMODE
General Information
Type R/W 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 Object Start Version
Modbus 578 M_01-03-00-000
Description
PL.ERRMODE sets the type of following error warning and fault usage.
Mode 0 - following error magnitudefault
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 – 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.ERRFTHRESH 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 dis-
abled, the following error limit tests are turned off and the warnings are cleared. A value of 0 in PL.ERR-
FTHRESH 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
11.5 Position Loop
AKD User Guide | PL Parameters
Kollmorgen | December 2010 541
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