ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 130)

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 shortest 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 shortest 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
SimplIQ: Similar
See also:
XM[N] , YM[N] , ER[N] , MF , UM
Application note:
The position controller
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
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