Validity: Rule, Task
This keyword allows defining the static component in the threshold calculation for generating the code 11 tracking alarm (servo alarm).
Syntax |
REAL ser_thr (I32 n) |
|---|---|
n |
Axis index. Minimum representable number: 1 Maximum representable number: 32 |
Notes |
Its units are Units |
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)
current ser_cthr(n) = ser_thr(n) + p_iv(n, sa_iv_idx(n))/ser_gai(n)
If the following error of 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 the configurator.
Example
; the static component of the threshold for axis 3 is set to 2300.27 ser_thr(3) = 2300.27 |
