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5-4 Setup MN1854
Configuring Following Error Limit [ FEi ]
EDIT
> SETUP > ENC > FOL–ERR
Value: 750 Steps
Range: 0–99,999 motor steps (0 = Off)
– Axis One Fol Error –
–↑ 750 Steps ↓–
Select value, press ENTER
Press ← or → to select next axis.
If a Following Error occurs, the control will enter a fault state where:
S Any motion or program being executed is immediately terminated.
S The LCD Display will indicate “Following Error”, along with an
explanation.
S A fault output will be generated if defined as a “Stall” or Fault
output.
S The fault must be cleared before motion can occur. A Stop or Kill,
by programmable inputs or serial command, the ESC key or a
RESET will clear a Following Error fault
S Bit 9 of SS response is set to 1
S Bit 1 of SD response is set to 1
Configuring Position Maintenance In–Range Deadband [ IRi ]
EDIT
> SETUP > ENC > IN–RNGE
Value: 25 Steps
Range: 0–32,767 steps
– IN–RANGE SETUP –
WINDOW
Select WINDOW (press F1)
In–Range Window specifies the position maintenance deadband or
region surrounding the set–point position. The “window” is specified in
post–quadrature (4 x # of lines) encoder steps. The window is the
region surrounding the commanded position in which the load reside
and not be considered “out of position.” The control will try to correct
the position if it is outside this window.
– IN–RANGE WINDOW –
← 25 steps →
Enter encoder steps, Press ENTER
(must be a positive number)
Configuring Position Maintenance Gain [ PGi ]
EDIT
> SETUP > ENC > PMGAIN
Value: 10
Range: 1–32,767
– Axis One PM GAIN –
← 10 →
Select value, press ENTER
Press ← or → to select next axis.
PM Gain specifies a gain value used to determine correction velocity. The
correction velocity is calculated as “displacement* correction gain” in units
of steps/in. Therefore, the larger the displacement, the faster position
maintenance will attempt to correct position. For example, if the correction
gain is set to 3 and an active displacement of 3200 steps occurs, the
correction velocity will be (3 * 3200) = 9600 steps/sec.