User Manual Chapter 5
GFK-1742F Jan 2020
DSM314 to Host Controller Interface 139
2.07 Position Error. Position Error (user units) is the difference between Commanded
Position and Actual Position. In the servo control loop, Position Error is multiplied by
a gain constant to provide the servo velocity command.
2.08 Commanded Velocity. Commanded Velocity (user units/sec) is a value generated by
the DSM314 axis command generator. Commanded Velocity indicates the
instantaneous velocity command that is producing axis motion. At the beginning of
a move it will increase at the acceleration rate, and once the programmed velocity
has been reached, it will stabilize at the programmed velocity value.
In Follower mode, Commanded Velocity only represents the output of the axis
command generator. The Follower Master Axis input or the Follower Acceleration
Ramp controller does not affect Commanded Velocity.
2.09 Actual Velocity. Actual Velocity (user units/sec) represents the axis velocity derived
from the Feedback device and is updated by the DSM314 once every 128
milliseconds.
2.10 User Selected Data 1. There is one of these words for each of the four axes. The
information reported in User Selected Data 1 is determined by module
configuration (see Chapter 4) or the Select Return Data 1 %AQ command (see
Section 4, “%AQ Immediate Commands,” in this chapter).
2.11 User Selected Data 2. There is one of these words for each of the four axes. The
information reported in User Selected Data 2 is determined by module
configuration (see Chapter 4) or the Select Return Data 2 %AQ command (see
Section 4, “%AQ Immediate Commands,” in this chapter). Refer to Section 4 “%AQ
Immediate Commands” for additional information.
5.3 Section 3: %Q Discrete Commands
The %Q Outputs listed in Table 44 represent Discrete Commands that are sent automatically
to the DSM314 from the CPU each host controller sweep. A command is executed by turning
on its corresponding Output Bit. The actual addresses of the Discrete Command bits depend
on the starting address configured for the %Q references. See Table 40, “Settings Tab.” The
Bit Offsets listed in the following table are offsets to this starting address. Numbers in the
“Ref” columns pertain to sections in this chapter.
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