Difference between revisions of "MC-Basic:element.POSITIONERROR"
| Line 1: | Line 1: | ||
{{Languages|MC-Basic:element.POSITIONERROR}} | {{Languages|MC-Basic:element.POSITIONERROR}} | ||
| − | {{MC- | + | {{MC-BasicfckLR|SHORT FORM=fckLR<''element''>.PEfckLRfckLR|SYNTAX=fckLR?<''element''>.PositionErrorfckLRfckLR|AVAILABILITY=fckLRAll versionsfckLRfckLR|DESCRIPTION=fckLRThis property returns the position following error, which is the difference between position command and the position feedback. The calculation takes the SERCOS delay into account, such that the position feedback is subtracted from the command issued two cycles previously. It is calculated every sample time and compared to [[[[MC-Basic:element.POSITIONERRORMAX|maximum position error (PEMAX)]]. If it exceeds the value of PEMAX, the element is brought to an immediate stop. If the element is at rest when the error is detected, the drive is disabled.fckLRfckLRThe following error is at a minimum when the drive is properly tuned. An additional servo delay is added when microinterpolation is enabled on the CDHD drive. In this case, the position error calculated by the softMC is slightly larger, but the motion is smoother.fckLRfckLRThe calculation takes into account the position error delay, such that the position feedback is subtracted from the command issued a number of cycles previously, as defined in the POSITIONERRORDELAY property.fckLRfckLR'''For Robot''' - Returns actual distance between position parts of SetPoint and Here: <br> fckLRSQRT((SetPoint{1}-Here{1})<sup>2</sup> + (SetPoint{2}-Here{2})<sup>2</sup> +(SetPoint{3}-Here{3})<sup>2</sup>)fckLRfckLR|TYPE=fckLRDoublefckLRfckLR|RANGE=fckLR0 to MaxDoublefckLRfckLR|UNITS=fckLRUser axis position units, as given by <''axis''>.POSITIONFACTOR. ot mmfckLRfckLR|DEFAULT=fckLR0fckLRfckLR|SCOPE=fckLRTask or TerminalfckLRfckLR|LIMITATIONS=fckLRRead onlyfckLRfckLR|EXAMPLE=fckLR'''Axis''' <br> fckLR?''A1''.PE <br> fckLRfckLR'''Group''' <br> fckLR?''G1''.PE <br> fckLRfckLR'''Robot''' <br> fckLR?''R1''.PEfckLRfckLRfckLR|SEE ALSO=fckLR* [[MC-Basic:element.POSITIONERRORMAX|POSITIONERRORMAX]]fckLR* [[MC-Basic:axis.POSITIONFACTOR|axis.POSITIONFACTOR]]fckLRfckLRfckLR}} |
| − | |SHORT FORM= | ||
| − | <''element''>. | ||
| − | |||
| − | |SYNTAX= | ||
| − | ?<''element''>. | ||
| − | |||
| − | |AVAILABILITY= | ||
| − | |||
| − | |||
| − | |DESCRIPTION= | ||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | '''For Robot''' - Returns actual distance between position parts of SetPoint and Here: <br> | ||
| − | |||
| − | |||
| − | |TYPE= | ||
| − | |||
| − | |||
| − | |RANGE= | ||
| − | |||
| − | |||
| − | |UNITS= | ||
| − | |||
| − | |||
| − | |DEFAULT= | ||
| − | |||
| − | |||
| − | |SCOPE= | ||
| − | |||
| − | |||
| − | |LIMITATIONS= | ||
| − | |||
| − | |||
| − | |EXAMPLE= | ||
| − | '''Axis''' <br> | ||
| − | ?''A1''.PE <br> | ||
| − | |||
| − | '''Group''' <br> | ||
| − | ?''G1''.PE <br> | ||
| − | |||
| − | '''Robot''' <br> | ||
| − | ?''R1''. | ||
| − | |||
| − | |||
| − | |SEE ALSO= | ||
| − | * [[MC-Basic:element.POSITIONERRORMAX|POSITIONERRORMAX]] | ||
| − | * [[MC-Basic:axis.POSITIONFACTOR|axis.POSITIONFACTOR]] | ||
| − | |||
| − | |||
| − | }} | ||
Revision as of 06:13, 28 May 2020
| Language: | English • 中文（简体） |
|---|
{{MC-BasicfckLR|SHORT FORM=fckLR<element>.PEfckLRfckLR|SYNTAX=fckLR?<element>.PositionErrorfckLRfckLR|AVAILABILITY=fckLRAll versionsfckLRfckLR|DESCRIPTION=fckLRThis property returns the position following error, which is the difference between position command and the position feedback. The calculation takes the SERCOS delay into account, such that the position feedback is subtracted from the command issued two cycles previously. It is calculated every sample time and compared to [[maximum position error (PEMAX). If it exceeds the value of PEMAX, the element is brought to an immediate stop. If the element is at rest when the error is detected, the drive is disabled.fckLRfckLRThe following error is at a minimum when the drive is properly tuned. An additional servo delay is added when microinterpolation is enabled on the CDHD drive. In this case, the position error calculated by the softMC is slightly larger, but the motion is smoother.fckLRfckLRThe calculation takes into account the position error delay, such that the position feedback is subtracted from the command issued a number of cycles previously, as defined in the POSITIONERRORDELAY property.fckLRfckLRFor Robot - Returns actual distance between position parts of SetPoint and Here:
fckLRSQRT((SetPoint{1}-Here{1})2 + (SetPoint{2}-Here{2})2 +(SetPoint{3}-Here{3})2)fckLRfckLR|TYPE=fckLRDoublefckLRfckLR|RANGE=fckLR0 to MaxDoublefckLRfckLR|UNITS=fckLRUser axis position units, as given by <axis>.POSITIONFACTOR. ot mmfckLRfckLR|DEFAULT=fckLR0fckLRfckLR|SCOPE=fckLRTask or TerminalfckLRfckLR|LIMITATIONS=fckLRRead onlyfckLRfckLR|EXAMPLE=fckLRAxis
fckLR?A1.PE
fckLRfckLRGroup
fckLR?G1.PE
fckLRfckLRRobot
fckLR?R1.PEfckLRfckLRfckLR|SEE ALSO=fckLR* POSITIONERRORMAXfckLR* axis.POSITIONFACTORfckLRfckLRfckLR}}