User guide

Faults CME 2 User Guide
90 Copley Controls
9.3: Position and Velocity Error Notes
9.3.1: 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 amplifier’s position loop
uses complementary methods for handling position errors: following error fault, following
error warning, and a position-tracking window.
To set position error handling parameters for servo amplifiers, see Enter Basic Position
Loop (p. 124). For stepper amplifiers, see Set Position Limits in Stepper Mode (p. 140).
Likewise, in velocity or position mode, any difference between the limited velocity
command and actual velocity is a velocity error. The amplifier’s velocity loop uses a
velocity tracking window method to handle velocity errors. (There is no velocity error fault.)
To set parameters for velocity error handling, see Enter basic Velocity Loop settings (p.
120).
9.3.2: Following Error Faults
When the position error reaches the programmed fault threshold, the amplifier
immediately faults. (The following error fault can be disabled.)
For detailed information, see Following Error Fault Details (p. 91).
9.3.3: Following Error Warnings
When the position error reaches the programmed warning threshold, the amplifier
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.
9.3.4: 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. 92).