Technical data

Appendix
CPU 317T: Technology Functions
A5E00251798-03
A-31
A.3.4.3 Velocity error monitoring
Velocity error monitoring is relevant only for velocity-controlled axes.
An encoder must be connected to the axis and configured to monitor the velocity
error (setpoint value minus actual value).
The control loop is simulated by means of a PT1 model. The setpoint value is
applied to this model as the input value, and the difference of the output value is
compared with the physical actual value profile. The parameters for this model are
set in the axis configuration data.
Block diagram "Velocity error monitoring"
T1 Tolerance
Errorn_set
n_act
Variable Meaning Associated value in configuration data
n_set Velocity setpoint
n_act Actual velocity
value
T1 Smoothing time
constant
TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicData.velocityTimeConstant
Tolerance Error triggering
limit
TypeOfAxis.NumberOfDataSets.DataSet_1.ControllerDynamic.maxVeloTolerance
Error ErrorID 801F
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