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TPER
Transfer Position Error
Type
Transfers
Syntax
<a_><!>TPER
Units
Reported value represents distance units (scalable by SCLD)
Range
Range of the reported value is ±2,147,483,648
Default
n/a
Response
TPER:
*TPER+0
See Also
ENCCNT, DMODE, DMONAV, DMONBV, DRES, ERES, [ FB ], [ PC ],
[ PE ], [ PER ], SFB, SMPER, TANI, TAS, TFB, TPE, TPC
The
command reports the present position error. The error is reported in feedback device counts and
TPER
is based on the encoder/resolver resolution (
scaling is enabled with the
SCALE1
The position error is the difference between the commanded position and the actual position read by the
feedback device. (
=
TPER
TPC
The position error is calculated every sample period.
Example:
TPC
; Display the commanded position. Example is: *TPC4000
TPE
; Display the actual position.
TPER
; Display position error.
TPMAS
Transfer Current Master Cycle Position
Type
Following; Transfer
Syntax
<a_><!>TPMAS
Units
Reported value represents master counts, scalable by SCLMAS.
Range
n/a
Default
n/a
Response
TPMAS
*TPMAS0
See Also
FMCLEN, FMCNEW, FMCP, FOLMAS, FOLMD, [ FS ], MEPOL, [ NMCY ],
[ PMAS ], SCALE, SCLMAS, TFS
The
command transfers the current position of the master within its current master cycle. The
TPMAS
master must be assigned first (
is unique among position transfers, because master cycle position rolls over to zero each time the
TPMAS
entire master cycle length (
FMCLEN
If scaling is enabled (
SCALE1
scaling is disabled (
), the value returned is in master counts (encoder/resolver counts, commanded
SCALEØ
counts, or analog input counts).
For a complete discussion of master cycles, refer to the Following chapter in the Programmer's Guide.
TPME
Transfer Position of Master Encoder
Type
Transfer
Syntax
<a_><!>TPME
Units
Reported value represents master encoder counts.
Range
n/a
Default
n/a
Response
TPME
*TPME+0
See Also
MEPOL, MESND, [ PCME ], [ PE ], [ PME ], PMECLR, PMESET, TPCME
Use the
command to display the current master encoder position. The master encoder is connected to
TPME
the connector labeled "Master Encoder". If you issue a
value will be offset by the
PMESET
scaled.
). It is scaled by the distance scaling factor (
ERES
command.
-
).
TPE
command) before this command will be useful.
FOLMAS
value) has been traveled.
), the value returned is scaled by the master scaling factor (
PMESET
command value. The
TPME
www.comoso.com
Product
GT6K
GV6K
(applicable only to
servo axes)
Example is: *TPE4004
Example is: *TPER-4
Product
GT6K
GV6K
SCLMAS
Product
GT6K
GV6K
command, the master encoder position
value is always in encoder counts, it is never
Command Descriptions
Rev
n/a
6.0
), if
SCLD
Rev
6.0
6.0
). If
Rev
6.0
6.0
309
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