flex_read_follow_err_rtn |
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.