Control functions

Application heartbeat

Timeout

If communication between the MOVI-C^® CONTROLLER and the lower-level members is interrupted for the set time, the members stop with the specified fault response. The fault response is defined in the member under [Functions] > [Monitoring functions] > [Overview of fault responses] in the parameter "Response timeout application heartbeat" (index 8622.21) and executed at a timeout time >0.

Default value: 0.2s

Monitoring window

Lag error window

Window of the actual lag error (in user units). No lag error is created when the setting is "0".

Default value: One motor rotation (in user unit)

Index: 50012.03

IEC name: Controller.PositionController.Config.lrLagErrorWindow

Skew error window

Position window for the permitted skew error between the axis group members (in user units).

If this window is exceeded, a fault will be issued and the set fault response will be performed.

Default value:
With torque: 0
For skew: See lag error window

Index: 50011.24

IEC name: Controller.MAC.Config.SkewLeveling.lrSkewErrorWindow

Skew window

Position window for current skew. If this is within the window, Controller.MAC.Out.SkewLeveling.xInSkewWindow or PI 10:10 is set.

Default value:
With torque: 0
For skew: Lag error window/2

Index: 50011.26

IEC name: Controller.MAC.Config.SkewLeveling.lrSkewWindow