ID 70607

Cyclic telegram of function Improved Position Control contains no additive command velocity.

Description

The Improved Position Control function outputs a weighted additive velocity.

Here, the additive velocity must be configured in the cyclic telegram.

For SERCOS, the S-0-0037 parameter. Must be configured. For CANopen, the parameter “Additive velocity command value” must be configured in the process data.

Response

Class

7

Controlled halt of the axis, the control loop is closed. The Improved Position Control function is deactivated.

Solution

Class

6

Check and modify the parameterisation for the additive velocity in the cyclic chart

Parameter

%1:

Current value [-]

Logical axis number P-AXIS-00016 of concerned axis.

%2:

Drive type [-]

Drive type P-AXIS-00020 of the affected axis.

%3:

Current value [-]

Operation mode P-AXIS-00320 of concerned axis.

%4:

Error value [-]

Check whether an additive velocity is configured.

%5:

Status [-]

The Improved Position Control function is deactivated by P-AXIS-00758.

Error type

11, Error message from position controller.