Configuration Manual Owner's manual

Publication 1784-UM003A-EN-P – June 2003
398 Motion Object Attributes
Advanced Drive Gain Attributes The above advanced attributes map directly to SERCOS IDNs. Thus, for a
detailed description of these attributes refer to the corresponding IDN
descriptions found in the SERCOS Interface standard or the AB SERCOS
Drive PISD. Since these attributes are automatically configured to reasonable
default values, manual configuration by the user is not required unless
motivated by a specific application requirement.
Drive Limits
This section covers the various drive attributes that either apply limits to
various servo loop real-time parameters, such as position and output voltage,
or are used in limit checks of servo loop parameters like position error.
Maximum Positive/Negative Travel The Axis Object provides configurable software travel limits via the Maximum
Positive and Negative Travel attributes. If the axis is configured for software
overtravel limit checking by setting the Soft Overtravel Bit in the Drive
Configuration Bit word, and the axis passes outside these maximum travel
limits, a Software Overtravel Fault is issued.
When software overtravel checking is enabled, appropriate values for the
maximum travel in both the Maximum Positive and Maximum Negative Travel
attributes need to be established with Maximum Positive Travel always greater
than Maximum Negative Travel. Both of these values are specified in the
configured Position Units of the axis.
Note: The software travel limits are not enabled until the selected
homing sequence is completed.
Position Error Tolerance The Position Error Tolerance parameter specifies how much position error the
drive tolerates before issuing a Position Error Fault. Like the position lock
tolerance, the position error tolerance is interpreted as a ± quantity.
GSV/SSV Access Attribute Name Data Type Values
SSV/GSV Velocity Droop REAL Position Units / sec.
GSV/SSV Access Attribute Name Data Type Values
SSV/GSV Maximum Positive Travel REAL
Position Units
SSV/GSV Maximum Negative Travel REAL
Position Units
GSV/SSV Access Attribute Name Data Type Values
SSV/GSV Position Error Tolerance REAL
Position Units