ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 172)

TR - Target Radius
Purpose:
Provides the criterion for deciding that a motion is complete and the motor is
stabilized in place with the required accuracy, defined in terms of target radius and
target time. The target radius is the maximum positioning error allowed for static
stabilization (not to be confused with the ER[N] parameters, which represent the
dynamic stabilization error that is considered a fault). The target time is the minimum
time that the absolute value of the error must be within the target radius in order to
determine that the motor has stabilized in its place after PTP (point-to-point) motion.
TR[1] defines the target radius in counts.
TR[2] defines the target time in milliseconds.
When a target position range is within the target radius (TR[1] command) for at least
the target time (TR[2] command), the MS status is set to 0.
The TR[1] value must be within the limits of the modulo of the position feedback:
(XM[1]…XM[2]) for UM=5 and (YM[1]…YM[2]) for UM=4.
Attributes: Type: Parameter, Integer
Source: Program, RS-232, CANopen
Restrictions: None
Default values:
TR[1]=100, TR[2]=20 (RS), Non-volatile
Range: TR[1]: [0…32,000], TR[2]: [0…100]
Unit modes: UM=4, 5
Activation: Immediate
SimplIQ: Similar
See also:
MS
Application note:
Idle Mode and Motion Status
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
164