Kollmorgen AKD-N-DB Benutzerhandbuch Seite 1109

AKD Benutzerhandbuch | 25.32.4 PL.ERRMODE
In Mode 0, the values of PL.ERRFTHRESH and PL.ERRWTHRESH are compared against the value
of PL.ERR. If the absolute value of PL.ERR is larger than PL.ERRWTHRESH, then a warning is
generated. If the absolute value of PL.ERR is larger than PL.ERRFTHRESH, then a fault is gene-
rated.
Mode 1 - deviation from predicted trajectory fault
In Mode 1, the values of PL.ERRFTHRESH and PL.ERRWTHRESH are compared against the fol-
lowing 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.ERRFTHRESH 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. 1104) | PL.ERRFTHRESH (➜ S. 1106) | PL.ERRWTHRESH (➜ S. 1110)
Positionsregelkreis (➜ S. 152)
KOLLMORGEN | Dezember 2014 1109