Elmomc SimplIQ Command Reference Bedienungsanleitung PDF herunterladen (Seite 120)

PE - Position Error

Purpose:

Returns the present position tracking error, in counts.

 In main feedback position mode (UM=5), PE reads:

PE = DV[3] – PX.

PE is read modulo-XM[N], taken the shorter way.

For example, if XM[1]=-500, XM[2]=500, DV[3]=400 and PX=-400, PE will read 200.

 In auxiliary feedback position mode (UM=4), PE reads:

PE = DV[3] – PY.

PE is read modulo-YM[N], taken the shorter way.

For example, if YM[1]=-500, YM[2]=500, DV[3]=400 and PY=-400, PE will read 200.

If the absolute value of PE exceeds ER[3], motion is aborted and the motion fault code

MF=256 (0x100) is set. If MO=0, or if the position controller is not used (UM=1, 2 or 3),

PE returns 0.

Attributes: Type: Status report, Integer

Source: Program, RS-232, CANopen

Restrictions: None

Unit modes: 4, 5

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Elmomc SimplIQ Command Reference Bedienungsanleitung Seite 120