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Appendix
CPU 317T: Technology Functions
A5E00251798-03
A-31
A.3.4.3 Velocity error monitoring
Velocity error monitoring is relevant only for velocity-controlled axes.
An encoder must be connected to the axis and configured to monitor the velocity
error (setpoint value minus actual value).
The control loop is simulated by means of a PT1 model. The setpoint value is
applied to this model as the input value, and the difference of the output value is
compared with the physical actual value profile. The parameters for this model are
set in the axis configuration data.
Block diagram "Velocity error monitoring"
T1 Tolerance
Errorn_set
n_act
Variable Meaning Associated value in configuration data
n_set Velocity setpoint
n_act Actual velocity
value
T1 Smoothing time
constant
TypeOfAxis.NumberOfDataSets.DataSet_1.DynamicData.velocityTimeConstant
Tolerance Error triggering
limit
TypeOfAxis.NumberOfDataSets.DataSet_1.ControllerDynamic.maxVeloTolerance
Error ErrorID 801F
Technology DB
- A5E00251798-03 1
- Safety Guidelines 2
- Qualified Personnel 2
- Correct Usage 2
- Trademarks 2
- Preface 3
- Further Support 5
- Training Centers 5
- Technical Support 6
- Contents 7
- Extended project data volume 13
- 2 Application and usage 17
- PROFIBUS DP(DRIVE) 19
- DP-V0 slaves on DP(DRIVE) 20
- Positioning drive POSMO A 20
- Operating conditions 21
- 2.6.1 Hardware components 22
- 2.6.2 Engineering tools 23
- Technology DBs 25
- Technology objects 25
- Technology DB 27
- MCDevice DB 27
- Trace DB 27
- Application and usage 28
- 2-12 A5E00251798-03 28
- 3 Technology objects 29
- Special operating modes 30
- 3.1.2 Axis types 31
- 3.1.6 Homing 36
- Homing modes 37
- absolute 38
- 3.1.8 Data set changeover 39
- Operating modes 40
- Functions 40
- Positioning 41
- Synchronization compound 45
- Control value coupling 46
- Cam disk coupling 46
- Superimposing synchronism 47
- 3.4.3 Gearing 48
- = offset 48
- 3.4.4 Camming 50
- Superimposed motion 54
- Coordinates 54
- Monitoring 55
- 3.5.1 Normalization 57
- 3.5.2 Using a cam disk 58
- 3.5.3 Scaling and Offset 59
- 3.5.4 Interpolation 59
- Interpolation modes 60
- Interconnections 61
- 3.6.1 Position-based cam 63
- Switching response 64
- Inverted output 64
- 3.6.2 Switching cams 65
- 3.6.3 Time-based cam 66
- Response 67
- Effective direction 67
- 3-40 A5E00251798-03 68
- 3.6.5 Hysteresis 69
- Hysteresis 70
- Enabling / disabling 73
- 3.7.2 Measuring range 74
- Interconnection 75
- Examples 75
- 4 Configuration 77
- HW Config 78
- 4-4 A5E00251798-03 80
- Basic procedure 82
- Toolbar 88
- Working area 88
- Starting S7T Config 89
- 4.4 Using S7T Config 92
- Navigator 93
- Detail view 94
- Title bar 94
- Menu bar 94
- Status bar 95
- 4.5 Configuring axes 96
- 4-22 A5E00251798-03 98
- Configuration 100
- 4-24 A5E00251798-03 100
- Configuration 101
- 4-28 A5E00251798-03 104
- Introduction 105
- Requirements 105
- Adding a new data record 106
- 4.5.2 Configuration - Axis 109
- 4.5.4 High resolution 112
- 4.5.5 Default 113
- Stop time 114
- Velocity profile 114
- 4.5.6 Limits 115
- Connection 116
- Traversing range 116
- Release motion 116
- Safety range 117
- 4.5.6.4 Dynamic response 118
- 4.5.6.5 Fixed end stop 119
- Torque over maximum 120
- Approach to fixed end stop 120
- 4.5.7 Homing 121
- 4.5.7.1 Introduction 121
- 4.5.7.2 Active homing 121
- 4.5.7.4 Direct homing 134
- 4.5.7.5 Position correction 134
- 4.5.8 Monitoring functions 136
- Positioning axis monitoring 137
- Positioning monitoring 138
- Standstill monitoring 138
- 4.5.8.4 Standstill signal 140
- 4.5.9 Control 142
- 4.5.9.1 Position control 142
- Fine interpolator 143
- View in the Navigator 147
- Further procedure 147
- 4-74 A5E00251798-03 150
- 4.6.3 Synchronization 152
- Advanced synchronization 156
- Retarded synchronization 156
- 4.6.4 Synchronization 157
- Effective immediately and 158
- Synchronization direction 159
- 4.6.5 Desynchronization 161
- 4.6.6 Monitoring functions 162
- 4.7 Configuring cam disks 163
- 4.7.1 Inserting a cam disk 164
- 4.7.2 Defining cam disks 166
- 4.7.3.1 Interpolation 168
- Correction options 170
- Overlapping segments 170
- 4.7.3.2 Interpolation (2) 171
- 4.7.3.3 Scaling 172
- Example 173
- 4.7.5 Motion laws to VDI 175
- Motion transitions 176
- Defining the working ranges 177
- Creating motion transitions 177
- References 177
- 4.8 Configuring cams 178
- 4.8.2 Configuration 180
- HW address 181
- Logical operation 181
- 4-110 A5E00251798-03 186
- 4-112 A5E00251798-03 188
- 4-114 A5E00251798-03 190
- 4-116 A5E00251798-03 192
- 4-118 A5E00251798-03 194
- 4-120 A5E00251798-03 196
- 5 Programming 199
- Control cycles 200
- Runtime model 204
- Programming model 205
- Acknowledging errors 210
- Acknowledging warnings 211
- 6 Technology functions 217
- Technology functions 218
- 6-2 A5E00251798-03 218
- Purpose 219
- Applicable to 219
- Overriding commands 219
- Input parameters 220
- Output parameters 220
- • DriveEnable 221
- • FollowUpControl 221
- • Simulation 221
- MC_Power, MC_Reset - Example 223
- Corresponding signal diagram 224
- MC_Power - ErrorIDs 225
- 6-10 A5E00251798-03 226
- Override characteristics 228
- MC_Home - Example 232
- MC_Home - ErrorIDs 233
- 6-18 A5E00251798-03 234
- MC_Stop - Example 238
- MC_Stop - ErrorIDs 239
- 6-24 A5E00251798-03 240
- MC_Halt - Example 244
- MC_Halt - ErrorIDs 245
- 6-30 A5E00251798-03 246
- Data record changeover time 249
- Encoder calibration 249
- MC_ChangeDataset - Example 250
- MC_ChangeDataset - ErrorIDs 251
- 6-36 A5E00251798-03 252
- Phase "a" 256
- Phase "b" 256
- Technology functions 257
- Reversal 264
- MC_MoveAbsolute - ErrorIDs 266
- 6-56 A5E00251798-03 272
- 6-58 A5E00251798-03 274
- Current speed > new speed 275
- 6-60 A5E00251798-03 276
- Current speed new speed 277
- 6-62 A5E00251798-03 278
- 6-64 A5E00251798-03 280
- MC_MoveRelative - ErrorIDs 281
- 6-66 A5E00251798-03 282
- MC_MoveAdditive - Example 286
- Signal profile 286
- 6-72 A5E00251798-03 288
- 6-78 A5E00251798-03 294
- Phase - relative positioning 302
- MC_MoveVelocity - ErrorIDs 304
- Dynamic parameter Velocity 309
- MC_MoveToEndPos - Example 309
- 6-94 A5E00251798-03 310
- MC_MoveToEndPos - ErrorIDs 311
- 6-96 A5E00251798-03 312
- MC_SetTorqueLimit - ErrorIDs 315
- 6-100 A5E00251798-03 316
- Parameter Mode = 1 320
- 6-108 A5E00251798-03 324
- MC_GearIn - ErrorIDs 325
- the leading and 329
- MC_GearOut - ErrorIDs 330
- 6-122 A5E00251798-03 338
- 6-124 A5E00251798-03 340
- 6-126 A5E00251798-03 342
- Sequence 343
- MC_CamIn - ErrorIDs 346
- MC_CamOut - Example 350
- MC_CamOut - ErrorIDs 351
- MC_Phasing - Example 355
- MC_Phasing - ErrorIDs 356
- 6-146 A5E00251798-03 362
- 6-148 A5E00251798-03 364
- 6-150 A5E00251798-03 366
- 6-154 A5E00251798-03 370
- 6-168 A5E00251798-03 384
- 6-176 A5E00251798-03 392
- MC_CamClear - ErrorIDs 394
- Relative 399
- MC_CamSectorAdd - ErrorIDs 401
- 6-190 A5E00251798-03 406
- MC_GetCamPoint - ErrorIDs 410
- MC_CamSwitchTime - ErrorIDs 417
- 6-202 A5E00251798-03 418
- MC_MeasuringInput - ErrorIDs 421
- 6-210 A5E00251798-03 426
- MC_Reset - ErrorIDs 429
- 6-214 A5E00251798-03 430
- MC_WriteParameter - ErrorIDs 440
- MC_ReadPeriphery - ErrorIDs 445
- MC_WritePeriphery - ErrorIDs 450
- MC_ReadRecord - ErrorIDs 453
- 6-238 A5E00251798-03 454
- MC_WriteRecord - ErrorIDs 457
- 6-242 A5E00251798-03 458
- Parameter Data 460
- Start value Description 460
- 6-246 A5E00251798-03 462
- 6-250 A5E00251798-03 466
- Parameter value 469
- Meaning 469
- Range of REAL values 470
- 7 Technology DBs 473
- Variable ErrorStatus.xxx 474
- Variable Statusword.xxx 475
- Value Function Comments 486
- Variable ActualPosition 490
- Value Function 496
- Variable DoneFlag[1..32] 499
- Variable DIStatus[0..3] 499
- Variable DOStatus[0..7] 499
- Warnings 502
- Technology DBs 503
- 7-32 A5E00251798-03 504
- • The velocity was out of 505
- S7T Config* 506
- 7-38 A5E00251798-03 510
- 7-40 A5E00251798-03 512
- • The velocity was too 512
- 7-42 A5E00251798-03 514
- 7-46 A5E00251798-03 518
- 7-48 A5E00251798-03 520
- 7-50 A5E00251798-03 522
- 7-56 A5E00251798-03 528
- 7-58 A5E00251798-03 530
- 8.1 Connecting the PG / PC 531
- Assignment of system clocks 538
- 8.6 Testing with breakpoints 540
- 8.8 Testing with TraceTool 542
- 8.8.3 Starting TraceTool 543
- Function Description 544
- "Trace" toolbar 546
- Function Control 547
- Meaning/description 547
- 8-18 A5E00251798-03 548
- Function Meaning/description 549
- 8.8.8 "Trace" tab 550
- Field / button Description 551
- Isochronous recording 551
- Comment: 552
- Trigger 553
- 8-24 A5E00251798-03 554
- Field Description 558
- Name Control 561
- Tool Description 564
- and overlaying each 565
- Command Control 571
- Description 571
- Warning: 572
- A Appendix 575
- A.2 FAQs, Tips & Tricks 581
- Converting the technology 583
- Appendix 584
- A-10 A5E00251798-03 584
- Appendix 585
- Creating new technology DBs 586
- A.3.1 Using the Expert list 593
- Calling the expert list: 594
- Effect of ONLINE changes 595
- Effect of OFFLINE changes 595
- A.3.2 Axis settings 596
- A.3.2.3 Torque settings 598
- Extrapolation 599
- Filtering 599
- Display 600
- Actual value smoothing 600
- A.3.4 Monitoring functions 604
- A.4 Technology parameters 606
- Activation 607
- A-34 A5E00251798-03 608
- A-36 A5E00251798-03 610
- A-38 A5E00251798-03 612
- A-40 A5E00251798-03 614
- A-42 A5E00251798-03 616
- 3041 Configuration Measuring 617
- A-44 A5E00251798-03 618
- A-46 A5E00251798-03 620
- A-48 A5E00251798-03 622
- A-50 A5E00251798-03 624
- Technology parameters - Cams 625
- A-52 A5E00251798-03 626
- TypeOfAxis. Encoder_1 627
- A-54 A5E00251798-03 628
- Technology parameters – Cams 629
- A-56 A5E00251798-03 630
- 33 7 632
- 34 16 632
- A-60 A5E00251798-03 634
- A-62 A5E00251798-03 636
- Index-2 A5E00251798-03 650
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