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Download III. DELTA DIMA Module
Transcript
Register 1xy019: Tracking Error Function Read Write Value range Description Current tracking error Value after reset: 0 prohibited -8388608 .. +8388607 The register specifies in increments how much the axis differs from the virtual axis. Note: The tracking error is only available in the position controller modes 2 and 3. Register 1xy020: Tracking Error Limit Function Read Write Value range Description Current limit Value after reset: 8388607 (incr.) New tracking error limit 0 .. 8388607 This register defines from which value on an tracking error is recognised and bit 3 of the state register 1xy000 is set. A tracking error is recognised if the value of register 1xy019 is greater than the value in register 1xxy020. If Bit 17 of the state register 1xy000 is reset (bit 17 = 0) and a tracking error is recognised the controller release is cancelled, the axis stops.
