Chapter 5 Memory and Parameter
4) Command inposition range
This item sets the distance to the target position where inposition flag (_AXxx_INPOS) is On.
When starting up the motion control, the in-position flag (_AXxx_INPOS) is Off, and it is On when the current position goes
inside the「Command inposition range」from the target position. In-position flag can be used as a trigger when executing
other assistant work before completing the position control.
5) Exceeding value of tracking error
Set the value which will detect the value over position deviation. If a value exceeds this range, the 「Over deviation warning
(_AXxx_DEV_WARN)」 or 「Over deviation alarm(_AXxx_DEV_ERR)」flag is On.
If this set value is 0, it won’t detect the value over the deviation. You can set whether you want it to be a warning or an alarm
for over deviation in the 「Error level of tracking error」of the expanded parameter.
6) Tracking error level
Set whether to make it a warning or an alarm when the value over deviation is detected.
Operations according to the set values are as follows.
- ‘0: Warning’
When an error occurs in tracking error, the 「Over deviation warning (_AXxx_DEV_WARN)」flag is On, and warning
error of tracking error (error code: 0x101D)) occurs. The axis does not stop and keeps operation.
- ‘1: Alarm’
When an error occurs in tracking error, the 「Over deviation alarm (_AXxx_DEV_ERR)」flag is On, and the alarm error
of tracking error (error code: 0x101C) occurs. The axis suddenly stops at the「Emergency stop deceleration」of basic
parameter.
In the following situations, the error in tracking error is not examined.
In case the「Tracking error over-range value」is 0
In case of the operation in homing or torque control
7) Current position compensation amount
Current position compensation amount is a parameter unit used to display the current position value as the command
position when the servo motor’s current position value is not displayed as a fixed value but changed slightly depending on
the personal setting of the user application and the servo drive.
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