Danfoss MCO 305 Design Manual page 170

MCO 305 Design Guide
TRACKERR
Summary
Syntax
Return Value
Description
Command Group
Cross Index
Syntax Example
Sample
170
__ Software Reference __
Queries actual position error of the axis
res = TRACKERR
res = actual trailing of the axis in UU
Queries the difference
between the CPOS and
APOS, i.e., it tracks the
error occurring.
It is to be noted that the
actual position need not
be the same as the com-
manded position and they
are not automatically
compensated.
I/O
APOS, CPOS, par. 32-67 Max. Tolerated Position Error
PRINT TRACKERR /* query actual position error of the axis */
POSA 500
WHILE(1) DO
{
PRINT "Command Position", CPOS
PRINT "Actual Position", APOS
PRINT "Error", TRACKERR
WAITT 10
}
ENDWHILE
Output:
Command Position 100
Actual Position 98
Error 2
Command Position 200
Actual Position 199
Error 1
Command Position 300
Actual Position 297
Error 3 ...
Command Position 500
Actual Position 500
Error 0
... and so on
The gray shaded region between the CPOS and the APOS at the time interval can
be thus readout using TRACKERR. To read all the error throughout the positioning,
TRACKERR should be in a loop to actually track to the error
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