Type 4: velocity independent method

Description

If feedforward is used for an axis position lag is almost zero independently from the velocity if feedforward is set up correctly and 100 % feedforward is used.

For these axes the types of feedforward monitoring described in the former sections calculate especially for high axis velocities a position lag limit that is to big.

To have position lag monitoring also for these axes with type 4 the position lag limit value is constant for a moving axis.

This method is selected by setting P-AXIS-00172 to 4.

If the axis is in standstill the position lag limit value is P-AXIS-00169, if the axis is moving the position lag limit value is P-AXIS-00168.

Type 4: velocity independent method 1:

This method is only useful for axes that use permanently 100 % feedforward.