Modbus Motion Interface
Write_Double(<AxisPage>_+_ErrorLimit_d,0);
Read_Double(<AxisPage>_+_ErrorLimit_d);
Description
Error Limit is used to describe how far a physical axis's Actual Position can lag behind the Commanded Position without that lagging being considered an error. In the ideal case the motor's Actual Position exactly follows the Commanded Position but system dynamics and transient response of the motion control law often make this goal impossible. However, the error can be minimized for profiles without acceleration. Systems which undergo high acceleration and deceleration are likely to incur hysteresis if the power system saturates. If the difference between the Actual Position and Commanded Positions exceeds the Error Limit that was set, the axis will perform a Motor Off.
Escapes
The Set Error Limit registers does not produce any escapes.
Examples
This command sets the error limit to 1 percent of the user units being used:
Write_Double(Axis1_+_ErrorLimit_d,0.01);
This command reads the current error limit setting:
Value:=Read_Double(Axis1_+_ErrorLimit_d);
Related Topics