MC-Basic:element.VELOCITYERROR

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 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

See Also

• element.POSITIONERROR