MC-Basic:element.VELOCITYERROR

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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