Parker EME Setting up Compax3192-120101 N11 C3I11T11 November 2007 954.1.9.3 Following error limitThe error reaction upon a following error can be set:Possible settings for the error reaction are: No response downramp / stop Downramp / stromlos schalten (standard setting)The following error is a dynamic error.The dynamic difference between the setpoint position and the actual positionduring 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 isreferred to as the following error.In joint operation of several servo controllers (e.g. master controller and slavecontroller), following errors lead to problems due to the dynamic positiondifferences, 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.1: Tracking error limit2: Tracking error timeNO ERROR: O0: no errorQUIT: I2: Quit (on positive edge)4.1.9.4 Maximum operating speedThe speed limitation is derived from the maximum operating speed. In order toensure control margins, the speed is limited to a higher value.The speed setpoint value is actively limited to 1.1 times the given value.If the speed actual value exceeds the preset maximum speed by 21% (=”switchingoff limit speed”), error 0x7310 is triggered.Disadvantagescaused by afollowing errorError messageMinimizing thefollowing error
