Kollmorgen AKD-C01007-MCEC Benutzerhandbuch Seite 989

AKD Benutzerhandbuch | 24.31.4 PL.ERRMODE
In Mode 1, the values of PL.ERRFTHRESH and PL.ERRWTHRESH are compared against the following
value:
<error> = abs(PL.ERR - [ ( VL.CMD – 1*VL.FF) / PL.KP ] )
If the absolute value of <error> is larger than PL.ERRWTHRESH for a consecutive period of 100 ms, then
a warning is generated. If the absolute value of <error> is larger than PL.ERRFTHRESH for a con-
secutive period of 100 ms, then a fault is generated.
In mode 1, if PL.KI is not 0 then the following error prediction mechanism is turned off. When the drive is
disabled, the following error limit tests are turned off and the warnings are cleared. A value of 0 in PL.ERR-
FTHRESH or PL.ERRWTHRESH disables the respective functionality.
Example
Assuming
PL.ERRMODE = 0, PL.ERRFTHRESH=1.2, PL.ERRWTHRESH=1, then PL.ERR reads 1.1.
In this case the warning is generated, but the fault is not.
Assuming PL.ERRMODE = 0, PL.ERRFTHRESH=1.2, PL.ERRWTHRESH=1, then PL.ERR reads 1.3.
In this case the warning is generated, as well as the fault.
Related Topics
PL.ERR (S. 984) | PL.ERRFTHRESH (S. 986) | PL.ERRWTHRESH (S. 990)
Positionsregelkreis (S. 155)
989 KOLLMORGEN | Mai 2014