ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 69)

ER[N] - Maximum Tracking Error
The Tracking Error is the difference between the command and its feedback.
Purpose:
ER[2] defines the maximum allowed velocity error (abs(DV[2]-VX)) in
counts/second. If the error exceeds this value, the motor is automatically disabled
and the Error Limit fault is activated. ER[2] affects speed control only. ER[2] is
inactive for position feedback modes (UM=4, UM=5).
ER[3] defines the maximum allowed position error in counts:
for UM=5: abs(DV[3]-PX)
for UM=4: abs(DV[3]-PY)
If the error exceeds this value, the motor is automatically disabled and the Error
Limit fault is activated.
Attributes: Type: Parameter, Integer
Source: Program, RS-232, CANopen
Restrictions: ER[2]: None
ER[3] - Refer to note below
Default values: ER[2]=400,000, ER[3]=400,000 (RS),
Non-volatile
Range: [0…20,000,000]
Index range: [2,
3]
Unit modes: UM=2 for ER[2], UM=4, 5 for ER[3]
Activation: Immediate
SimplIQ: Similar
The ER[3] value is restricted to modulo settings. The values ranges are:
For UM=5: [0..(XM[2]-XM[1])/4-1]
For UM=4: [0..(YM[2]-YM[1])/4-1]
In case of failure, an error is set during the next motor enabling (MO=1).
Typical applications:
Decrease ER[N] as much as possible in order to use it as a protection mechanism in
case of control failure, such as when the feedback signal is lost.
See also:
MF , MO , SR
Application notes:
ER[2]: The Speed Controller
ER[3]: The Position Controller
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
61