Function Extension:
Safety firmware version V01.05.00.12760 introduced the configurable error response for faults on the external load encoder. With this firmware, additional settings were added (0x287A:013, 0x287A:014) to increase the machine’s uptime in the event of a fault.
Included in the following products:
i950 Extended Safety, starting with Safety Firmware V02.00.01.13212
Application:
If a corrupted actual position signal is detected:
- parameter 0x287A:013 "Position Status Monitoring" determines how the monitored actual position should be handled
- Without extrapolation [0]
- With extrapolation [1]
- Parameter 0x287A:014 "Filter Time Frozen" is used to detect a frozen encoder position.
- min. 0 ms
- Max. 2000 ms
- Default 10 ms
- The position is detected as frozen if the load encoder position remains unchanged for at least this duration while the motor encoder is moving in one direction. A value of 0 disables "monitoring with extrapolation," and the behavior corresponds to Safety Firmware Version V01.04.
