flex_read_follow_err_rtn

Device Compatibility Device Compatibility 7330 Y 7340 Y 7344 Y 7350 Y 7390 Y NI SoftMotion Controller for CANopen—Xenus Y NI SoftMotion Controller for CANopen—Accelnet Y

Read Following Error Return

Usage

status = flex_read_follow_err_rtn(u8 boardID, u8 axisOrVectorSpace, i16* followingError);

Purpose

Reads the instantaneous following error for an axis or vector space.

Parameters

Name	Type	Description
boardID	u8	assigned by Measurement & Automation Explorer (MAX)
axisOrVectorSpace	u8	axis or vector space to read
followingError	i16*	instantaneous following error for an axis or vector space in counts

Parameter Discussion

axisOrVectorSpace is the axis or vector space to read. Valid values are NIMC_AXIS1 through NIMC_AXIS30 or NIMC_VECTOR_SPACE1 through NIMC_VECTOR_SPACE15. On motion controllers that support fewer than thirty axes, reading non-existent axes or vector spaces returns error –70006 (NIMC_badResourceIDOrAxisError). Refer to Axes and Vector Spaces for axis and vector space resource IDs.

followingError is the instantaneous difference between the commanded trajectory position and the actual feedback position in counts for servo systems and steps for stepper systems.

Using This Function

This function returns the instantaneous following error for the axis or vector space specified. For vector spaces, following error is the root-mean-square of the following errors for the individual axes that make up the vector space.