Copley Controls Xenus Plus Series User Manual page 54

Xenus Plus User Guide 16-01344 Rev 06
2.7.6: Tracking Window Details
Proper Tracking Over Time
As described earlier, position error is the difference between the limited position output of the
trajectory generator and the actual position. Velocity error is the difference between commanded
and actual velocity.
When the position or velocity error exceeds the programmed tracking window value, a status word
bit is set. The bit is not reset until the error remains within the tracking window for the programmed
tracking time.
Velocity Tracking Illustration
The following diagram illustrates the use of tracking window and time settings in velocity mode.
Actual Velocity
Limited Velocity
± Tracking Window
Tracking
Time
Tracking Window
Output
Copley Controls 54