Difference between revisions of "MC-Basic:element.VELOCITYERROR"
(Created page with "{{Languages|MC-Basic:element.VELOCITYERROR}} {{MC-Basic |SHORT FORM= <''element''>.VE |SYNTAX= ?<''element''>.VelocityError |AVAILABILITY= 0.4.20.4 |DESCRIPTION= This pro...") |
|||
| Line 11: | Line 11: | ||
|DESCRIPTION= | |DESCRIPTION= | ||
| − | This property returns the velocity following error, which is the difference between [[MC-Basic:element.VELOCITYCOMMAND|velocity command]] and the [[MC-Basic:element.VELOCITYFEEDBACK|velocity feedback]]. This property is used for query only. There is no checking against a max threshold, unlike [[MC-Basic:element.POSITIONERRORMAX|PEmax]]. | + | This property returns the velocity following error, which is the difference between [[MC-Basic:element.VELOCITYCOMMAND|velocity command]] and the [[MC-Basic:element.VELOCITYFEEDBACK|velocity feedback]]. This property is used for query only. There is no checking against a max threshold, unlike [[MC-Basic:element.POSITIONERROR|PE]] and [[MC-Basic:element.POSITIONERRORMAX|PEmax]]. |
The calculation uses the [[MC-Basic:element.POSITIONERRORDELAY|position error delay]], such that the velocity feedback is subtracted from the command issued a number of cycles previously, as defined in the POSITIONERRORDELAY property. | The calculation uses the [[MC-Basic:element.POSITIONERRORDELAY|position error delay]], such that the velocity feedback is subtracted from the command issued a number of cycles previously, as defined in the POSITIONERRORDELAY property. | ||
Latest revision as of 06:12, 28 May 2020
| Language: | English |
|---|
This property returns the velocity following error, which is the difference between velocity command and the velocity feedback. This property is used for query only. There is no checking against a max threshold, unlike PE and PEmax.
The calculation uses the position error delay, such that the velocity feedback is subtracted from the command issued a number of cycles previously, as defined in the POSITIONERRORDELAY property.
- In an axis, the velocity error is the difference between the velocity command and velocity feedback.
- In a group, the velocity error is the square root of the sum of squares of all axes velocity errors.
- In a robot, the velocity error is calculated using the position part (only XYZ values, orientation part is not used) of the difference between velocity command and feedback of the tool-tip:
SQRT((VCmd{1}-VFb{1})2 + (VCmd{2}-VFb{2})2 +(VCmd{3}-VFb{3})2)
Short form
<element>.VE
Syntax
?<element>.VelocityError
Availability
0.4.20.4
Type
Double
Range
±MaxDouble
Units
User units
- <Axis> - deg/sec or mm/sec
- <Group> - deg/sec and/or mm/sec
- <Robot> - mm/sec
Default
0
Scope
Task or Terminal
Limitations
Read only
Examples
Axis
?A1.VE
Group
?G1.VE
Robot
?R1.VE