6.5.1.4 Monitoring the value ranges
Some internal values are depending on different objects. Here you can't decide
when programming an object, if the value is valid or not, since this can be decided
only after setting of all relevant parameters. The individual parameter setting may
not be rejected by invalid data.
With parameter ps22 it is possible to check if the internal values are all within a
valid range after parameterisation of the position value range. The result of the in-
ternal standardizations is displayed in this parameter.
For a disturbance-free operation always 0: coherently should be displayed in ps22.
Monitoring of internal value ranges
The position range (ps19 - ps18) has fallen below the minimum
value of 1024.
The position range (ps19 – ps18) is higher than 231.
The internal value of ps01 is currently internally limited.
(dr04, co03, ps35, ps36)
The internal value of ps02 is currently internally limited.
(dr04, co03, ps35, ps36)
Position controller is generally off.
An existing position difference is deleted.
Position controller is activated by the operating mode (default)
(co01 = -2 "jog mode“ or 2 “velocity mode” or 9 “cyclic synchronous velocity mode” or 10
"cyclic sync torque mode => Position controller off).
Position controller generally switched on
The position controller is activated / deactivated by the operating modes in mode 1
"auto". This behaviour can be modified with ps00.
Example: it shall be operated only speed-controlled in operating mode 1 "profile
position mode". Then ps00 must be set to 0 "off“, since the position controller
would be activated if the operating mode is set to 1 "auto".
Position controller
The position controller is active with the default setting of ps00 in the operating
mode cyclic synchonous position mode and also in the profile positioning mode.
It is defined with the following parameters:
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