MC-Basic:element.ACCELERATIONERROR

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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