Following Error Monitoring - Siemens SIMATIC S7-1500 Function Manual
Update 3
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Also See for SIMATIC S7-1500:
- System manual (523 pages) ,
- Function manual (362 pages) ,
- Manual (188 pages)
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3.16.3
Following error monitoring
The following error in the positioning axis/synchronous axis technology object is monitored
based on a velocity-dependent following error limit. The permissible following error depends
on the setpoint velocity.
A constant permissible following error can be specified for velocities less than an adjustable
velocity low limit.
Above this lower velocity limit, the permissible following error increases in proportion to the
setpoint velocity. The maximum permissible following error may be reached at the maximum
velocity.
Calculation of the following error
The following error is the difference between the position setpoint and the actual position
value. The transmission times of the setpoint to the drive, and of the actual position value to
the controller, are taken into account in the calculation of the following error, i.e., subtracted
out.
Warning limit
A warning limit can be specified for the following error. The warning limit is input as a
percentage value and operates relative to the current permissible following error. If the
warning limit of the following error is reached, then technology alarm 522 is output. This is a
warning and contains no alarm response.
Exceedance of the permissible following error
If the permissible following error is exceeded, then technology alarm 521 is output, and the
technology object is disabled (alarm response: remove enable).
S7-1500 Motion Control V13 Update 3
Function Manual, 07/2014, A5E03879256-AC
3.16 Position-related monitoring
Basics
63
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