ElmoMC SimplIQ Command Reference - Manual (Page 156)

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 the absolute value of the
error must be within the target radius in order to determine that the motor is stabilized in
place after PTP (point-to-point) motion.
ƒ
TR[1] defines the target radius in counts.
ƒ 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 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
Reference chapter in the SimplIQ Software Manual:
Chapter 12, “The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing
MAN-SIMCR (Ver. 4.5)
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