Download ESP301 - Newport Corporation

ESP301
FE
Integrated 3-Axis Motion Controller/Driver
set maximum following error threshold
USAGE
IMM
♦
SYNTAX
xxFEnn or xxFE?
PARAMETERS
Description
PGM
♦
MIP
♦
xx [ int ] nn [float] -
axis number
maximum allowed following error
Range
xx
nn
-
Units
xx
nn
-
1 to MAX AXES
0 to(2e9 * encoder resolution),
or ? to read current setting
none
predefined units
Defaults
xx
missing:
out of range:
error 37, AXIS NUMBER MISSING
error 9, AXIS NUMBER OUT OF RANGE
nn
missing:
out of range:
error 38, COMMAND PARAMETER MISSING
error xx2, PARAMETER OUT OF RANGE
DESCRIPTION
This command sets the maximum allowed following error threshold for an axis.
This error is defined as the difference between the real position and the
theoretical position of a motion device. The real position is the one reported by
the position sensing device (encoder, scale, etc.) and the theoretical position is
calculated by the controller each servo cycle (400 µs). If , for any axes and any
servo cycle (400 µs), the following error exceeds the preset maximum allowed
following error, the controller invokes the following error event handling process
which is defined with the ZF command. By default motor power is turned OFF.
Note
Using the ZF command each axis can be individually configured to either turn
motor power OFF, abort motion using e-stop deceleration, or ignore the error.
RETURNS
If the “?” sign takes the place of nn value, this command reports the current
setting.
REL. COMMANDS
ZF
EXAMPLE
3FE ?
0.5
3FE 1.0
-
set following error event configuration
| read maximum following error for axis # 3
| controller returns for axis # 3 following error of 0.5 unit
| set maximum following error for axis # 3 to 1 unit
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EDH0235En1030 — 08/15