Chapter 8 Motion Control Function
3. Position tracking error
(1) It is a function to output an error when driving axis is in position operation, or the actual position read from the axis is
further beyond tracking tolerance than the target position of the position operation instruction profile.
(2) Position tracking tolerance of each driving axis can be set by using software package or axis parameter change function
(3) Whether to set abnormality to a warning or an alarm in case of the occurrence of tracking error can be set in Tracking
Error Level of expansion parameter.
Motions according to the set value are as follows.
- ‘0: warning’
When tracking error occurs, 「Above deviation alarm(_AXxx_DEV_WARN)」flag becomes On, and tracking
error warning error (error code: 0x101D) occurs. The axis continues to operate without stopping.
- ‘1: alarm’
When tracking error occurs, 「Above deviation alarm(_AXxx_DEV_ERR)」flag becomes On, and tracking
error alarm error (error code: 0x101C) occurs. The axis makes a sudden stop at 「Sudden stop
deceleration」.
(4) Inspection on tracking error is not performed in the following cases.
• In case 「Tracking error exceeding value」is 0
• In case of operation with homing or torque control
(5) Relevant parameter setting
Tracking error
exceeding value
Set the value to detect more
than the position deviation
Long Real(LREAL) Positive
Set the above deviation error
level
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