Supervision

POS_LAG_PERCENTAGE

This parameter configures the position window for the supervision of the following error.

The default value is 150[%]. A value of 0[%] will deactivate the supervision function.

The size of the position window depends on the setting of the parameters CONTROL_TIME and MAX_RPM Central Motion Control (PLC-Based).

Position Window [Increments] = INC_PER_R * MAX_RPM/60 * CONTROL_TIME/1000

Position Window [Units] = U_PER_REV_NOMINATOR/U_PER_REV_DENOMINATOR * MAX_RPM/60 * CONTROL_TIME/1000

Example

Position Window [Increments] = 10000 * 6000/60 * 50/1000 = 50000 [Increments]

Position Window [Units] = 1/1 * 6000/60 * 50/1000 = 5 [Units]

A value of 100% will result in a position window which corresponds to the expected following error with the giving CONTROL_TIME at MAX_RPM. Therefore it is recommended to use values higher than 100[%]. In case the parameter FF_PERCENTAGE is used smaller values can be used.

If the supervised position window is exceeded the axis state will change to ErrorStop.”

V_CHECK_TIME

After the configured time the drive’s actual velocity has to be at least 50 % of the commanded velocity. This function can also be used in case the Position Reference is transferred to the drive.

A value of 0 will deactivate this supervision function.

If the supervised velocity window is exceeded the axis state will change to ErrorStop.