User guide

3. Drive functions
3−22
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Following error or tolerance monitoring (SPOS.DEV)
The bit SPOS.DEV (deviation" = control fault) indicates that
the control fault (i.e. SET/ACTUAL deviation) has exceeded a
certain value. The permissible deviation depends on the
movement status of the drive.
 During positioning (MC = 0): Following error
 After reaching Motion Complete: Tolerance window
There is no difference between the behaviour of position and
force control. Only the parameters and signals used are dif
ferent. The following figure shows the principle. The designa
tions refer to position control.
1 Target setpoint value
2 Reference setpoint
value
3 Actual value
4 Position tolerance
5 Following error toler
ance
6 Control faults
7 Motion Complete
(SPOS.MC, B2)
8 Deviation
(SPOS.DEV, B5)
9 Following error
aJ Outside of position
ing tolerance
1
2
3
4
5
6
7
9
8
4
5
4
5
4
5
aJ
Fig.3/6: Following error or tolerance monitoring