5 telegram failure recognition and monitoring, Telegram failure recognition and monitoring – Lenze E94AxHE Technology Application CiA402 Device profile User Manual
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9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Parameterisable additional functions
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EDS94TA11010xxxx EN 1.2 - 03/2010
3.17.3
Dynamic change of the proportional gain Vp of the speed controller
The dynamic change of the speed controller gain during operation can be parameterised as
a function of the desired speed by a characteristic.
The characteristic is defined by the parameters C04100 ... C04102 of the function block
which is an instance of the function block L_TbCurve.
3.17.4
Dynamic change of the proportional gain Vp of the angle/position controller
The dynamic change of the angle or position controller gain during operation can be
parameterised as a function of the desired speed by a characteristic.
The characteristic is defined by the parameters C04103 ... C04105 of the function block
which is an instance of the function block L_TbCurve.
3.17.5
Telegram failure recognition and monitoring
When a telegram failure is recognised, an extrapolation of the setpoints (position, speed
and torque) is carried out. Based on the positon a square-law extrapolation algorithm is
taken as a basis.
Telegram failure counter
The telegram failures which ocurred during operation are evaluated in the application.
The number of the single errors is stored in C03011 and the number of the multiple
errors (more than 1 telegram failure in a row) is stored in C03012.
Via C03013 you can reset the error counter.
Telegram failure monitoring
If the number of telegram failures in a row exceeds the limit value set in C03010 (Lenze
setting: 1), the error response set in C05902/2 is triggered (Lenze setting: Information) and
the "Maximum value for telegram failure exceeded" error response is entered into the
logbook (module ID: 999, error ID: 8002).
Note!
This function is currently only supported when using the EtherCat as MotionBus.