Parker TPDM - Page 166

Parker Hannifin Manufacturing Srl user’s manual TPDM
165
target position Figure 33: Position reached
Figure 34 shows the meaning of the sub-function following error in the profile position mode.
Symmetrically around the reference position a window is defined for the accepted following
error tolerance. If a drive is situated out of the accepted position range for more than following
error time out time the bit following error (bit 13) in the statusword is set.
Accepted following
reference position Figure 34: Following error
The following error window is used to signal by mean of status word the servo error condition
on user defined BIT14 when Interpolated position mode is active and with standard bit 13 in
profile position mode.
If the user sets b70.12 a fault reaction sequence is entered and according to the fault reaction
option code (valid values 0,1,2) the motor is stopped and finally disabled sending an
emergency message with error code 0xff11 and user data loaded with pr[153:152].
Position
Accepted position range
Position window
Position window
Position reached
Position not reached Position not reached
Position
Error tollerance
Followi
ng
error
window
F
ollow
ing
error
window
No following error
F
o
l
l
o
w
i
n
g
e
r
r
o
r
Following error