Product manual

Machine Data, Modes and Traversing Programs IP 266
Figure 5-7. Following Error in Dependence on Setpoint and Actual Value
s
t
0
tt
1
s
a
b
a: Setpoint characteristic
b: Actual characteristic
s: Following error
t
0
: Start of positioning
t
1:
The following error has
reached its maximum range
limit
t
2
: Following error is brought
back into range
t
2
The following error changes in direct proportion to the traversing speed in
accordance with the following equation:
v
s = [mm]
kv
If the actual value stops changing during a positioning operation, for instance
because
• the encoder failed or
• the power section was switched off,
the following error continually increases.
s = s
set
- s
act
The driving voltage for the power section increases in proportion to the increase
in the following error. If the voltage exceeds 5 V, the current operation is aborted
with "Position control loop interrupted". The IP 266 automatically switches to
follow-up mode, a mode in which the position controller is disabled.
5-14 EWA 4NEB 812 6057-02