Pl.err - Kollmorgen AKD Series Benutzerhandbuch

AKD Benutzerhandbuch | 25.30.2 PL.ERR

25.30.2 PL.ERR

General Information
Type
Description
Units
Range
Default
Value
Data Type
See Also
Start Version M_01-00-00-000
AKD BASIC Information
Data Type
Variants Supported
AKD BASIC
AKD SynqNet
AKD EtherNet/IP
Fieldbus Information
Fieldbus
EtherCAT COE and CAN-
open
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 574
Description
PL.ERR reads the position error present when the drive is controlling the position loop. PL.ERR is the dif-
ference between the actual position of the motor shaft (PL.FB (s: 846)) and the commanded position of the
drive (PL.CMD (s: 838)). If the drive is not in the position operating mode (DRV.OPMODE (s: 574) = 2),
then the PL.ERR value is not generated by the drive and this parameter is read as 0.
AKD BASIC Notes
When you enable the position error interrupt (by setting INTR.PL.ERR=1), the Position
Error fault is disabled. In situations where it would have occurred, a position error inter-
rupt is generated instead.
Related Topics
PL.ERRFTHRESH (s: 840) | PL.ERRMODE (s: 842) | PL.ERRWTHRESH (s: 844)
13.5 Positionsregelkreis
R/O Parameter
Reads the position error present when the drive is controlling the position
loop.
counts, rad, deg, (custom units)
N/A
N/A
Float
PL.FB (s: 846)
Integer
Variant Supported
Index/Subindex Object Start Version
35C5h/0
60F4h/0
Yes 64 bit
√
√
√
M_01-00-00-000
No M_01-03-00-000
KOLLMORGEN | Mai 2013 839