Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 394 of 909
EA
Error Actual
APPLICATION: Motion control
DESCRIPTION: Get current position error in real time
EXECUTION: Updated once each PID sample
CONDITIONAL TO: Servo active (MP, MV, etc., not MT mode)
LIMITATIONS: N/A
READ/REPORT: REA
WRITE: Read only
LANGUAGE ACCESS: Formulas and conditional testing
UNITS: Encoder counts
RANGE OF VALUES: Output: -2147483648 to 2147483647
TYPICAL VALUES: Magnitude limited to user set value of EL
DEFAULT VALUE: 1000
FIRMWARE VERSION: 5.x and later
COMBITRONIC: REA:3, x=EA:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The EAcommand provides the current position error in real time. Position error is the
difference in encoder counts between the desired trajectory position and the measured
position. If the absolute value of EA exceeds the user value EL, the fault reaction is performed
and Be (Position Error) status bits will be set to 1, within that PID servo sample. When the
servo is off, EA reverts to zero because there is no longer a desired position.
NOTE: As acceleration (AC) is increased, a larger value of EL may be required. EL
is unsigned, but EA may be positive or negative.
EXAMPLE:
IF EA<1234 'test value of EA
'then do something
ENDIF
WHILE EA<1234 LOOP 'Loop while EA is less than 1234
'Then continue with program
Part 2: Commands: EA
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