FE set maximum following error threshold
IMM PGM MIP
USAGE ♦ ♦ ♦
SYNTAX xxFEnn or xxFE?
PARAMETERS
Description xx [ int ] - axis number
nn [float] - maximum allowed following error
Range xx - 1 to MAX AXES
nn - 0 to(2e9 * encoder resolution),
or ? to read current setting
Units xx - none
nn - predefined units
Defaults xx missing: error 37, AXIS NUMBER MISSING
out of range: error 9, AXIS NUMBER OUT OF RANGE
nn missing: error 38, COMMAND PARAMETER MISSING
out of range: 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. If , for any axes and any servo
cycle, 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 - set following error event configuration
EXAMPLE 3FE ? | read maximum following error for axis # 3
0.5 | controller returns for axis # 3 following error of 0.5 unit
3FE 1.0 | set maximum following error for axis # 3 to 1 unit
Section 3 – Remote Mode 3-59
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