MC-Basic:element.ACCELERATIONERROR

Language:	English

This property returns the acceleration following error, which is the difference between acceleration command and the acceleration 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 acceleration feedback is subtracted from the command issued a number of cycles previously, as defined in the POSITIONERRORDELAY property.

• In an axis, the acceleration error is the difference between the acceleration command and acceleration feedback.
• In a group, the acceleration error is the square root of the sum of squares of all axes acceleration errors.
• In a robot, the acceleration error is calculated using the position part (only XYZ values, orientation part is not used) of the difference between acceleration command and feedback of the tool-tip:

SQRT((AccelCmd{1}-AccelFbk{1})² + (AccelCmd{2}-AccelFbk{2})² +(AccelCmd{3}-AccelFbk{3})²)

Short form

<element>.AE

Syntax

?<element>.AccelerationError

Availability

0.4.20.4

Type

Double

Range

±MaxDouble

Units

User units

• <Axis> - deg/sec² or mm/sec²
• <Group> - deg/sec² and/or mm/sec²
• <Robot> - mm/sec²

Default

0

Scope

Task or Terminal

Limitations

Read only

Examples

Axis
?A1.AE

Group
?G1.AE

Robot
?R1.AE

See Also

• element.POSITIONERROR
• element.VELOCITYERROR