Technical data

Configuration
CPU 317T: Technology Functions
A5E00251798-03
4-63
4.5.8.3 Dynamic following error monitoring
Dynamic following error monitoring can be enabled in the "Following error
monitoring" tab of the Axis > Monitoring functions dialog box.
Following error monitoring of a position-controlled axis is based on the calculated
following error. Any offset between the actual and setpoint position values higher
than the configured limit of the following error triggers error 8016 at the axis. The
permitted following error depends on the velocity setpoint of the axis in this case.
At velocity values lower than the configured minimum, the permitted following error
is constant and is configured at the "constant following error" parameter. Above this
limit, the following error increases linearly up to a maximum value which is defined
by the "maximum permitted following error" parameter at maximum velocity. The
permissible maximum following error is reached when the axis has reached
maximum velocity.
The "Enter velocity value" input box allows the user to verify the set values of
following error monitoring in order to determine the permissible maximum following
error at the set velocity.
The "Following error monitoring" tab is shown for position-controlled physical axes.