Validity: Rule, Task
This keyword permits to define the constant to calculate the dynamic part in the calculation of the threshold to generate the servo alarm (code 11).
Syntax |
REAL ser_gai (I32 n) |
|---|---|
n |
Axis index. Minimum representable number: 1 Maximum representable number: 32 |
Notes |
It is required in case the position loop is adjusted only by the proportional component (pro_gai, kff). Default: up to RTE < 33.20 = 1e99 from RTE >= 33.20 = 0 (zero). Therefore, the threshold results to be composed only of the static threshold ser_thr |
RTE uses the following formula to calculate the servo alarm threshold, which is compared sampling by sampling with the following error (which coincides with the epos variable only if sa_ip_idx = ipp_idx) calculated as follows:
current following error(n) = p_ip(n, sa_ip_idx(n)) - cp(n)
•Up to RTE < 33.20
if (ser_gai = 0) ser_cthr(n) current = infinite else ser_cthr(n) current = ser_thr(n) + p_iv(n, sa_iv_idx(n)) / ser_gai(n) endif |
•From RTE >= 33.20
if (ser_gai = 0) ser_cthr(n) current = ser_thr(n) else ser_cthr(n) current = ser_thr(n) + p_iv(n, sa_iv_idx(n)) / ser_gai(n) endif |
If the following error (epos) of the axis exceeds the threshold (ser_cthr) RTE generates alarm 11 (Following Error).
NOTE: From RTE 33.18, the retentivity of this parameter (DIS_AXES_PAR_RE) can be disabled from configurator.
Example
; ser_gai variable of axis 3 is set to the value 15.2 ser_gai(3) = 15.2 |
