Newport MM4005 - Page 119

EDH0162En1040 – 06/99 3.36
MM4005 DF — Read following error
Usage  IMM  PGM  MIP
Syntax xxDF
Parameters
Description xx
[int] — Axis number.
Range xx — 1 to 4.
Units xx
— None.
Defaults xx Missing: 0.
Out of range: Error B.
Floating point: Error A.
Description This command reads the following error on an axis. The following error is
defined as the instantaneous difference between the real position, reported
by the encoder, and the theoretical position, calculated by the controller
according to the desired trajectory. Reading the following error for an axis
is important in determining its performance and tuning the servo loop.
If the axis parameter
xx is 0 or missing, the controller reads the following
error for all axes simultaneously and returns all four values.
If the command is used inside a program, make sure a host computer is
ready to receive and store the returned data.
Returns xxDFnn or xx
1
DFnn
1
, xx
2
DFnn
2
, xx
3
DFnn
3
, xx
4
DFnn
4
xx, xx
1
, xx
2
, xx
3
, xx
4
— Axis number.
nn, nn
1
, nn
2
, nn
3
, nn
4
— Following error, in pre-defined units.
Errors A — Unknown message code.
B — Incorrect axis number.
S — Communication time-out.
Rel. Commands FE — Set maximum following error.
TF — Read filter parameters.
XF — Read maximum following error.
Example 2PA15 | Move axis #2 to absolute position 15.
2WP10 | Wait for axis #2 to reach position 10.
2DF | Read following error of axis #2.
2DF0.003
| Controller returns a following error for axis #2 of 0.003.
2WS | Wait for motion to stop on axis #2.
WT200 | Wait 200ms for motion to settle.
2DF | Read following error at stop on axis #2.
2DF0.001
| Controller returns a following error for axis #2 of 0.001.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com