Command
<axis> RLL
Description
The Rotor Lead Lag command is used in tracking mode to indicate how much the motor field has moved to keep the motor from stalling. If a torque is applied to the motor shaft beyond the available motor torque the rotor will be moved away from the desired position. Normally in this condition a stepper motor would stall however the closed loop effect moves the motor field so that the motor continues to apply maximum torque. Rotor Lead Lag is a signed value indicating whether the motor is ahead of or behind the desired position. When the external torque is less than the motor torque the motor will return to the desired position and the reporter Rotor Lead Lag will go to 0. Rotor Lead Lag is reported in User Units.
Rotor Lead Lag is different from Deflection. Rotor Lead Lag indicates how much the motor field has rotated to prevent the motor from stalling. Deflection is how much the rotor has been moved within a single step.
Escapes
Reading the Rotor Lead Lag does not produce any escapes.
Examples
This shows the rotor lead lag indicating a value of 0.
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