MC-Basic:element.VELOCITYERROR
| Language: | English |
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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 PE and 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