Lenze · 8400 HighLine · Reference manual · DMS 12.0 EN · 06/2017 · TD23 545
8 Basic drive functions (MCK)
8.4 Basic settings
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Operating mode
If the limit for the following error in C01215/x
is set higher than "0.0000 units" and if the current
following error exceeds this limit over the time set in C01244/x
:
• The error response set in C00595/5
or C00595/6 will be carried out (Lenze setting: "Warning").
• The error message "Ck05: Error, following error 1
" or "Ck06: Error, following error 2" will be
entered into the logbook.
• The status output bFollowErrLim1 or bFollowErrLim2 at the SB LS_MotionControlKernel
is set to
TRUE.
8.4.6.1 Monitoring of the following error in case of controller inhibit
Up to and including version 13.xx.xx, the setpoint position is always set = actual position in case of
controller inhibit.
From version 14.00.00 onwards, the setpoint position is only set = actual position if the current
following error reaches the limit value set in C01215/3
.
• In the Lenze setting C01215/3
= "0.0000 units" the behaviour is as before, i.e. the setpoint
position is immediately set = actual position in case of controller inhibit.
Application example
In case ofa continuous relative positioning by 100 units and a setting of the controller inhibit after
each positioning process (e.g. by means of the Holding brake control
in the "automatically
controlled" mode), it is expected that after 10 positioning processes, an absolute target of
10 x 100 units = 1000 units has been reached.
Without
setting a limit value (C01215/3 =0), the continuous setting of the setpoint position to the
actual position in case of controller inhibit causes a drifting of the setpoint position due to the
drifting of the actual position at standstill. After ten positioning processes, only e.g. 999.5 units have
been reached instead of 1000 units. If, however, the setpoint position is not
set to the actual
position (C01215/3
<> 0) in case of controller inhibit, the setpoint position is exactly in the target
after 10 positioning processes and 9 x controller inhibits (in case of 10 x relative traverse paths).
Parameters Info Lenze setting
Value Unit
C01215/3 MCK: Following error SetPos=ActPos 0.0000 units
Note!
The limit value set in C01215/3 should not be set higher than the drift of the actual
position at standstill of the drive plus a possible safety option. Otherwise, the position
controller carries out an intermittent compensation after the controller inhibit is
deactivated due to the pending system deviation!
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