EDH0162En1040 – 06/99 3.56
MM4005 FE — Set maximum following error
Usage IMM PGM MIP
Syntax xxFEnn
Parameters
Description xx
[int] — Axis number.
nn [float] — Maximum allowed following error.
Range xx — 1 to 4.
nn
— 2 x encoder resolution to maximum device travel.
Units xx
— None.
nn — Preset units in SETUP mode.
Defaults xx Missing: Error B.
Out of range: Error B.
Floating point: Error A.
nn Missing: Error C.
Out of range: Error C.
Description This command sets the maximum allowed following error for an axis. This
error is defined as the difference between the real position and the theoret-
ical position of a motion device. The real position is the one reported by
the position sensing device (encoder, scale, etc.) and the theoretical posi-
tion 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 stops motion on all axes and turns power off
to all motors.
The command can be sent at any time but it has no effect until the UF
(update filter) is received.
Returns None.
Errors A — Unknown message code.
B — Incorrect axis number.
C — Parameter out of limits.
Rel. Commands TF — Read filter parameters.
UF — Update servo filter.
XF — Read maximum following error.
Example 3FE0.1 | Set maximum following error for axis #3 to 0.1.
… |
… |
… |
3UF |
Update PID filter; only now the FE command takes effect.
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