Load-Dependent Position Deviation (Following Error)

Home » What Is A Dependent Position » Load-Dependent Position Deviation (Following Error)

Maybe your like

Load-Dependent Position Deviation (Following Error)

Description

The load-dependent position deviation is the difference between the reference position and the actual position caused by the load inertia.

Parameters are available to read the load-dependent position deviation during operation and the maximum position deviation reached so far.

The maximum permissible load-dependent position deviation can be parameterized. In addition, you can set the error class.

Availability

Monitoring of the load-dependent position deviation is available in the following operating modes:

oJog

oHoming

oCyclic Synchronous Position

Reading the Position Deviation

The following parameters let you read the load-dependent position deviation in user-defined units or revolutions.

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Maximum value

Data type

R/W

Persistent

Expert

Parameter address via fieldbus

_p_dif_load_usr

Load-dependent position deviation between reference and actual positions.

The load-dependent position deviation is the difference between the reference position and the actual position caused by the load. This value is used for following error monitoring.

Type: Signed decimal - 4 bytes

usr_p

-2147483648

-

2147483647

INT32

R/-

-

-

Modbus 7724

IDN P-0-3030.0.22

The following parameters let you read the maximum value of the load-dependent position deviation reached so far in user-defined units or revolutions.

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Maximum value

Data type

R/W

Persistent

Expert

Parameter address via fieldbus

_p_dif_load_peak_usr

Maximum value of the load-dependent position deviation.

This parameter contains the maximum load-dependent position deviation reached so far. A write access resets this value.

Type: Signed decimal - 4 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

usr_p

0

-

2147483647

INT32

R/W

-

-

Modbus 7722

IDN P-0-3030.0.21

Setting the Position Deviation

The following parameter lets you set the threshold for the maximum load-dependent position deviation that is to trigger an error of error class 0.

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Maximum value

Data type

R/W

Persistent

Expert

Parameter address via fieldbus

MON_p_dif_warn

Advisory limit of the load-dependent position deviation (error class 0).

100.0 % correspond to the maximum position deviation (following error) as specified by means of parameter MON_p_dif_load.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

%

0

75

100

UINT16

R/W

per.

-

Modbus 1618

IDN P-0-3006.0.41

The following parameters let you set the maximum load-dependent position deviation at which a movement is canceled with an error of error classes 1, 2, or 3.

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Maximum value

Data type

R/W

Persistent

Expert

Parameter address via fieldbus

MON_p_dif_load_usr

Maximum load-dependent position deviation.

The load-dependent position deviation is the difference between the reference position and the actual position caused by the load.

The minimum value, the factory setting and the maximum value depend on the scaling factor.

Type: Signed decimal - 4 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

usr_p

1

131072

2147483647

INT32

R/W

per.

-

Modbus 1660

IDN P-0-3006.0.62

Setting the Error Class

The following parameter lets you set the error class for an excessively high load-dependent position deviation.

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Maximum value

Data type

R/W

Persistent

Expert

Parameter address via fieldbus

ErrorResp_p_dif

Error response to excessively high load-dependent position deviation.

1 / Error Class 1: Error class 1

2 / Error Class 2: Error class 2

3 / Error Class 3: Error class 3

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Setting can only be modified if power stage is disabled.

Modified settings become effective the next time the power stage is enabled.

-

1

3

3

UINT16

R/W

per.

-

Modbus 1302

IDN P-0-3005.0.11

0198441114060.02

© 2019 Schneider Electric. All rights reserved.

Tag » What Is A Dependent Position