Operating instructions

100 Application manual Positioning 04/08
4.8.5 Contouring error supervision
Contouring errors may occur, for example, if the acceleration and deceleration
ramps are not adjusted to the moment of inertia of the load and the drive cannot
follow the specified reference values. With the contouring error threshold, you can
define a maximum deviation between the current position and the required position.
If this limit is exceeded for a user-defined time, the drive will respond as defined in
parameter
Fault Reaction 1120.
Fault Reaction 1120
Function
0 - Disabled
Factory setting. No evaluation of contouring error thre-
shold.
1 - Error-Switch-Off
The drive is switched off and error message "F0404 Con-
trol Deviation Position Controller" is output, if the
Error
Threshold
1106 was exceeded by the time defined in
Contouring Error Time 1119.
2 - Shutdown, Error
The drive is stopped at the current deceleration ramp
1)
and error message "F0404 Control Deviation Position Con-
troller" is output, if the
Error Threshold 1106 was ex-
ceeded by the time defined in
Contouring Error Time
1119.
3 -
Emergency-Stop,
Error
The drive is stopped at the current emergency ramp
2)
and
error message "F0404 Control Deviation Position Control-
ler" is output, if the
Error Threshold 1106 was exceeded
by the time defined in
Contouring Error Time 1119.
1)
Deceleration ramp:
In JOG mode, the drive is stopped based on the values for parameters
Decelera-
tion
1177, Ramp Fall Time 1178.
When motion blocks are processed, the drive is stopped based on the values for
Deceleration 1206 and Ramp Fall Time 1207.
2)
Emergency ramp: The drive is stopped based on the value for parameter Emer-
gency ramp
1179.
If the range defined by parameter
Warning Threshold 1105 is left, the following is
performed:
− Signal "604 – Warning Position Controller" is set.
− The warning is available via "61 - Warning Deviation of Position" and "161 - inv.
Warning Deviation of Position" for digital outputs.
−
Parameter
Application Warnings 273 reads "A0020 CONT".
If the range defined by parameter
Error Threshold 1106 is left, the drive responds
as defined in
Fault Reaction 1120.
Via parameter
Contouring Error Time 1119, you can define how long the Error
Threshold
1106 may be exceeded before the Fault Reaction 1120 is triggered.
Parameter Setting
No. Description Min. Max. Fact. sett.
1105 Warning Threshold 0 u 2
31
-1 u 32 768 u
1106 Error Threshold 0 u 2
31
-1 u 65 536 u
1119 Contouring Error Time 0 u 65 535 ms 10 ms
Application manual Positioning 04/08100