Lenze ECSCPxxx - Manual (Page 233)

Commissioning
Following error monitoring (C3030, C3031)
6
l
233 EDBCSXP064 EN 8.0
6.23 Following error monitoring (C3030, C3031)
The following error monitoring function is triggered if the drive cannot follow the defined
position setpoint within the tolerances to be set.
Mechanical stiffness may be the reason or the setpoint selection comprises an acceleration
which is too high for the drive power.
v [m/s]
t [s]
 ‚ ƒ
A B
ECSXA416
Fig. 6−58 Following error
0 Setpoint speed profile (the area below the curve corresponds to the path)
1 Profile travelled
 The drive decelerates, a difference between set position and actual position arises.
‚ Following error tolerance is exceeded.
ƒ End of the set profile
For the following error monitoring mode it is checked whether the current following error
(difference between set position and actual position) is higher than the set following error
tolerance. Two following error tolerances can be set which trip different responses:
ƒ Following error warning (C3030):
If the current following error exceeds the tolerance set under C3030, a warning is
output as fault response only, and the movement of the drive is not interrupted. The
warning is to announce an upcoming stiffness so that the master control (PLC) can
initiate a controlled response.
The status bit Stat2.FollowErrWarn is set to "1" as long as the current following error
is higher than the tolerance C3030.
If a profile is being processed ("Positioning" status), the start for the next positioning
profile to be travelled (e.g. sequence profile with touch probe positioning) is not
executed as long as the warning is active.