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The
command with a "
SINGO
desired start of oscillation. The
the angle. This represents an abrupt change in master position. If the follower axis is still following when
this occurs, there will be an abrupt change in commanded follower position. To start the follower properly,
move the follower to the desired start position first (using
and finally
.
SINGO
SMPER
Maximum Allowable Position Error
Type
Servo
Syntax
<a_><!>SMPER<r>
Units
r = feedback device counts (scalable with SCLD)
Range
0-200,000,000
(0 = do not monitor position error condition)
Default
4000
Response
SMPER:
*SMPER4000
See Also
[ AS ], [ ER ], ERES, ERROR, ERRORP, SCALE, SCLD, SFB, TANI,
TAS, TER, TERRLG, TFB, TPC, TPE, TPER
determines the maximum position error (in feedback device counts) allowed before an error condition
SMPER
occurs. The position error is the difference between the commanded position and the actual position as read by
the feedback device. When the position error exceeds the value entered by the
condition is latched (see
TAS
The
command re-enables the drive, clears
DRIVE1
position (
) equal to the actual feedback device position (
TPC
position error is monitored once per system update period.
CAUTION: If the
value is set to zero (
SMPER
allowing the position error to accumulate without causing a fault.
You can enable
command bit #12 to continually check for the position error condition, and when it
ERROR
occurs to branch to a programmed response defined in the
this error condition with the
the
and
commands.
TPER
PER
If scaling is enabled (
SCALE1
Example:
ERES4000
SMPER4000
SMVER
Maximum Allowable Velocity Error
Type
Drive Configuration
Syntax
<a_><!>SMVER<r>
Units
r = feedback device revs/sec
(linear motors: see DMEPIT for linear/rotary conversion)
Range
0.000000 to 200.000000 : ±0.000001
Default
0.000000 (do not monitor velocity error condition)
Response
SMVER:
*SMVER10.000000
See Also
DMEPIT, TASX, TVE, TVEL, TVELA
determines the maximum velocity error allowed before an error condition occurs. The velocity error
SMVER
is the difference between the commanded velocity (
exceeds this value, a fault will result in which the drive is shut down (
command re-enables the drive, clears
DRIVE1
You can check the actual velocity error with the
268
Gemini GV6K/GT6K Command Reference
" parameter always starts at the previous angle, which may not be the
1
command will instantly change the angle and corresponding sine of
SINANG
(after conversion to steps)
or
bit #23 and
bit #12) and the drive faults (issues a shutdown –
AS
TER
bit #23 and
TAS
), the position error condition is not monitored,
SMPERØ
,
,
, and
commands. You can check the actual position error with
TAS
AS
TER
ER
), the
value is multiplied by the
SMPER
; Set feedback resolution to 4000 counts/rev
; Set maximum allowable position error to 1 rev before
; a fault condition will occur.
TVEL
bit #9, and sets
TASX
command.
TVE
www.comoso.com
), then issue
MC0
D
GO
SINANG
,
,
SMPER
bit #12, and sets the commanded
TER
). Incremental devices will be zeroed. The
TPE
program. You can check the status of
ERRORP
value.
SCLD
) and estimated actual velocity (
) and
DRIVE0
TASX
equal to
TVEL
TVELA
, then
,
,
MC1
GO1
Product
Rev
GT6K
n/a
GV6K
6.0
(applicable only to
servo axes)
command, an error
)
DRIVE0
Product
Rev
GT6K
n/a
GV6K
6.0
(applicable only to
servo axes)
). If the error
TVELA
bit #9 is set. The
.
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