Difference between revisions of "AXY:MC-Basic:axis.POSITIONERRORDELAY"
m (Text replace - "motion-bus" to "motion bus") |
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Typically this delay includes: | Typically this delay includes: | ||
| − | * at least one motion | + | * at least one motion bus sample for sending the command position to the drive |
* time used for motion preparation (micro-interpolation), typically it is one sample but could be less depends on the drive manufacturer | * time used for motion preparation (micro-interpolation), typically it is one sample but could be less depends on the drive manufacturer | ||
* at least one sample for sending the feedback position from the drive.<br/> | * at least one sample for sending the feedback position from the drive.<br/> | ||
| Line 24: | Line 24: | ||
This properly must be explicitly changed when switching the micro interpolation mode on the drives. Otherwise, an erroneous position error is calculated. | This properly must be explicitly changed when switching the micro interpolation mode on the drives. Otherwise, an erroneous position error is calculated. | ||
| − | Depending on drive manufacturer and type of the motion | + | Depending on drive manufacturer and type of the motion bus the sending and receiving delays can vary. |
| − | {{Note| It is important to note that the timing of internal feedback sampling inside the drive is not taken into account In all of the calculation we assume that position feedback is taken at the start of the motion | + | {{Note| It is important to note that the timing of internal feedback sampling inside the drive is not taken into account In all of the calculation we assume that position feedback is taken at the start of the motion bus sample, although it might be not true.}} |
|TYPE= | |TYPE= | ||
Revision as of 11:13, 21 August 2014
This property returns the delay, as a number of AnyBus cycles, between a position command and the position feedback for the calculation of the position error.
Typically this delay includes:
- at least one motion bus sample for sending the command position to the drive
- time used for motion preparation (micro-interpolation), typically it is one sample but could be less depends on the drive manufacturer
- at least one sample for sending the feedback position from the drive.
If using micro interpolation on the drive, this delay may change from 2 cycles (no micro interpolation) to 3 (with micro interpolation).
This properly must be explicitly changed when switching the micro interpolation mode on the drives. Otherwise, an erroneous position error is calculated.
Depending on drive manufacturer and type of the motion bus the sending and receiving delays can vary.
 | NOTE |
| It is important to note that the timing of internal feedback sampling inside the drive is not taken into account In all of the calculation we assume that position feedback is taken at the start of the motion bus sample, although it might be not true. |
Short form
<axis>.PEDel
Syntax
<axis>.PositionErrorDelay = <value>
?<axis>.PositionErrorDelay
Availability
All versions
Type
Long
Range
1 to 9
Units
SERCOS cycle times
Default
2 (Assuming no microinterpolation)
Scope
Task or Terminal
Limitations
To set the value within a task, the axis must be attached to that task (using the ATTACH command) and disabled (Axis.ENABLE = 0)
Examples
A1.PEDel = 3