Delta RMC151 - Manual (Page 890)

RMC70/150 and RMCTools User Manual
9.2.1.5. Primary Control
9.2.1.5.1. Position Error
Type: Axis Status Register
RMC70 Address: %MDn.35, where n = 8 + the axis number
RMC150 Address: %MDn.35, where n = 8 + the axis number
System Tag: _Axis[n].PosError, where n is the axis number
How to Find: Axes Status Registers Pane, All tab: Control
Data Type: REAL
Units: position-units (pu)
Description
The Position Error is the difference between the Target Position and Actual Position. If this
value exceeds the Position Error Tolerance while controlling in Position PID, the Following
Error bit will be set. If the Following Error bit is set, a Halt will occur if the Auto Stops are
configured to do so and the Direct Output Status bit is off.
The Position Error Term is useful for troubleshooting when included in a plot.
9.2.1.5.2. Velocity Error
Type: Axis Status Register
RMC70 Address: %MDn.36, where n = 8 + the axis number
RMC150 Address: %MDn.36, where n = 8 + the axis number
System Tag: _Axis[n].VelError, where n is the axis number
How to Find: Axes Status Registers Pane, All tab: Control
Data Type: REAL
Units: position-units per second (pu/s)
Description
The Velocity Error is the difference between the Target Velocity and Actual Velocity. If this
value exceeds the Velocity Error Tolerance while controlling in Velocity PID, the Following
Error bit will be set. If the Following Error bit is set, a Halt will occur if the Auto Stops are
configured to do so and the Direct Output Status bit is off.
The Velocity Error is useful for troubleshooting when included in a plot.
870 Delta Computer Systems, Inc.