Parker EME Setting up Compax3I11 T11 192-120101 N6 - March 2004 53No position monitoring takes place in status START (E1=24VDC).Therefore reset the start signal to 0 after the START flank.O1 is set to "0" after Power OnO1 goes to "1" after the machine zero run (after position 0 has been reached)START: I1: START SignalPOS: O1: Position reachedSequence:PLC Reaction Compax3START of a positioning Position reached goes to "0"From position reached = "0" follows:START = 0Positioning finished " Position reached ="1"From position reached = "1" follows:Next START can take placePosition reached goes to "0"4.1.7.3 Tracking error limitThe tracking error is a dynamic error.The dynamic difference between the target position and the actual position during apositioning process is referred to as the tracking error - not to be confused with thestatic difference, which is always 0. The destination position is always approachedexactly.The change of position over time can be specified exactly using the parametersjerk, acceleration and speed. The integrated target value generator calculates thecourse of the target position. Because of the delay in the feedback loop, the actualposition does not follow the target position exactly. This difference is referred to asthe tracking error.In joint operation of several servo controllers (e.g. master controller and slavecontroller), tracking errors lead to problems due to the dynamic positiondifferences, and a large tracking error can lead to positioning overshoot.Behaviour of"Position reached"after Power OnHandshake with PLCfor smallpositioningsDisadvantagescaused by a trackingerror
