User guide

Xenus Plus User Guide Operational Theory
Copley Controls 50
2.12: Position and Velocity Errors
2.12.1: Error-Handling Methods
In position mode, any difference between the limited position output of the trajectory generator and
the actual motor position is a position error. The drive’s position loop uses complementary
methods for handling position errors: following error fault, following error warning, and a position-
tracking window.
Likewise, in velocity or position mode, any difference between the limited velocity command and
actual velocity is a velocity error. The drive’s velocity loop uses a velocity tracking window method
to handle velocity errors. (There is no velocity error fault.)
2.12.2: Following Error Faults
When the position error reaches the programmed fault threshold, the drive immediately faults. (The
following error fault can be disabled.)
For detailed information, see Following Error Fault Details (p.51).
2.12.3: Following Error Warnings
When the position error reaches the programmed warning threshold, the drive immediately sets
the following error warning bit in the status word. This bit can be read over the CAN network. It can
also be used to activate a digital output.
2.12.4: Position and Velocity Tracking Windows
When the position error exceeds the programmed tracking window value, a status word bit is set.
The bit is not reset until the position error remains within the tracking window for the programmed
tracking time.
A similar method is used to handle velocity errors.
For detailed information, see Tracking Window Details (p. 52).