Parker Hannifin 88-021610-01G - Manual (Page 144)

Parker Hannifin
144 Aries User Guide
position error exceeds the value entered by the SMPER command, an error
condition is latched (ERROR bit #44) and the Aries drive issues a shutdown
and sets its analog output command to zero volts. The DRIVE1 command re-
enables the drive, clears ERROR bit #44, and sets the commanded position
(TPC) equal to the actual feedback device position (TPE) – incremental
devices will be zeroed.
If the SMPER value is set to zero (SMPERØ), the position error condition is not
monitored, allowing the position error to accumulate without causing a fault.
When SMPER is set to a non-zero value, the maximum position error acts as
the servo system fault monitor; if the system becomes unstable or loses
position feedback, the drive detects the resulting position error, shuts down
the drive, and sets an error status bit.
SMVER Maximum Allowable Velocity Error
Type Servo Product Rev
Syntax <a_>SMVER<i> Aries 2.0
Units i = Rev/Sec
Range Ш.ШШ to 4ШШ.ШШ
Default Ш.ШШ
Response SMVER: <*>Ш.ШШ
See Also ERES , TPE , TVEL , TVELA , TVER
This command is only valid in DMODE4 (velocity mode). SMVER determines
the maximum velocity error allowed before an error condition occurs. The
velocity error is the difference between the commanded velocity (TVEL) and
estimated actual velocity (TVELA). If the error exceeds this value, a fault will
result in which the drive is shut down (DRIVEØ) and ERROR bit #45 is set.
The DRIVE1 command re-enables the drive, clears ERROR bit #45, and sets
TVEL equal to TVELA.
You can check the actual velocity error with the TVER command.
If the SMVER value is set to zero (SMVERØ), the velocity error condition is not
monitored, allowing the velocity error to accumulate without causing a fault.