Parker EME Setting up Compax3192-120114 N5 C3I22T11 June 2008 137Signal ”position reached” monitors synchronicity.Signal ”position reached” is set if RegSearch was terminated without a reg being foundor Reg was found and RegMove executed.Signal ”position reached” turns into ”velocity reached”.Signal ”position reached” shows that the drive is at a standstill.4.1.9.3 Following error limitThe error reaction upon a following error can be set:Possible settings for the error reaction are: No response downramp / stop Downramp / switch to currentless (standard setting)The following error is a dynamic error.The dynamic difference between the setpoint position and the actual position du-ring a positioning is called the following error. Do not confuse this with the staticdifference which is always 0; the target position is always reached exactly.The change of position over time can be specified exactly using the parametersjerk, acceleration and speed. The integrated Setpoint value generator calculatesthe course of the target position. Because of the delay in the feedback loop, theactual position does not follow the setpoint position exactly. This difference is refer-red to as the following error.In joint operation of several servo controllers (e.g. master controller and slave con-troller), following errors lead to problems due to the dynamic position differences,and a large following error can lead to positioning overshoot.If the following error exceeds the specified following error limit, the ”following errortime” then expires. If the following error is even greater than the following error limitat the end of the following error time, an error is reported.If the following error falls short of the following error limit, a new following error timeis then started.The following error can be minimized with the help of the extended (advanced)control parameters, in particular with the feed forward parameters.Position reachedwith:GearingRegSearch / Reg-MoveVelocitySTOPDisadvantages cau-sed by a followingerrorError messageMinimizing the fol-lowing error
