Feedback Parameters

Feedback parameters are parameters related to feedback data and statuses. These parameters are set using functions such as SetParam and SetFeedbackParam.

This page contains explanations for the following feedback parameters:

• In Pos Width

• In Pos Width 2

• In Pos Width 3

• In Pos Width 4

• In Pos Width 5

• Velocity Monitor Source

• Pos Set Width

• Delayed Pos Set Width

• Delayed Pos Set Milliseconds

In Pos Width
Variable Name:	inPosWidth
Type:	double
Unit:	user unit
Minimum Value:	0
Maximum Value:	274877906943
Default Value:	1000

The width of a window centered at the target position of the current motion command. When the feedback position falls within this window, the axis is considered to be in position.

For a detailed discussion of the in position status that this parameter affects, see the discussion of the in position status at In Pos.

In Pos Width 2
Variable Name:	inPosWidth2
Type:	double
Unit:	user unit
Minimum Value:	0
Maximum Value:	274877906943
Default Value:	1000

This parameter is the same as the In Pos Width parameter, except it affects the In Pos 2 status instead of the In Pos status.

In Pos Width 3
Variable Name:	inPosWidth3
Type:	double
Unit:	user unit
Minimum Value:	0
Maximum Value:	274877906943
Default Value:	1000

This parameter is the same as the In Pos Width parameter, except it affects the In Pos 3 status instead of the In Pos status.

In Pos Width 4
Variable Name:	inPosWidth4
Type:	double
Unit:	user unit
Minimum Value:	0
Maximum Value:	274877906943
Default Value:	1000

This parameter is the same as the In Pos Width parameter, except it affects the In Pos 4 status instead of the In Pos status.

In Pos Width 5
Variable Name:	inPosWidth5
Type:	double
Unit:	user unit
Minimum Value:	0
Maximum Value:	274877906943
Default Value:	1000

This parameter is the same as the In Pos Width parameter, except it affects the In Pos 5 status instead of the In Pos status.

Velocity Monitor Source
Variable Name:	velocityMonitorSource
Type:	VelocityMonitorSource
Default Value:	UseVelocityFeedback

This parameter determines whether the Actual Velocity status is calculated from the position feedback, or is obtained directly from the servo velocity feedback.

For most servos, obtaining the velocity feedback directly from the servo is more accurate and is more responsive to changes in velocity. However, some servos are unable to return velocity feedback. The Velocity Feedback Support status can be checked to see whether the servo is configured to return velocity feedback. If this parameter is set to UseVelocityFeedback but the servo is not configured to return velocity feedback, the Actual Velocity will be calculated from the position feedback.

To obtain the actual velocity from the servo, the servo must support this feature and the system must be configured to receive this data. For additional information, refer to the section explaining the Platform Module in use.

The servo velocity feedback is limited to a range that can be expressed by a 32-bit integer when converted to units of pulses per second (not user units per second), which is between +2147483647 p/s to -2147483648 p/s. When this parameter is set to UseVelocityFeedback and the velocity feedback is outside this range, the Actual Velocity status will not return an accurate value. (As an example, if the gear ratio set by the Gear Ratio Numerator and Gear Ratio Denominator parameters is 10, the velocity feedback must be between +214748364.7 user units/s to -214748364.8 user units/s for the Actual Velocity status to return an accurate value.)

Pos Set Width
Variable Name:	posSetWidth
Type:	double
Unit:	user unit
Minimum Value:	0
Maximum Value:	274877906943
Default Value:	1000

The width of a window centered at the target position of the current motion command. When the feedback position falls within this window and the cyclic command position is equal to the target position (the command generation has finished), the Pos Set status is set to TRUE.

Delayed Pos Set Width
Variable Name:	delayedPosSetWidth
Type:	double
Unit:	user unit
Minimum Value:	0
Maximum Value:	274877906943
Default Value:	1000

The width of a window centered at the target position of the current motion command. After the cyclic command position becomes equal to the target position (the command generation has finished), when the feedback position falls within this window for Delayed Pos Set Milliseconds amount of time continuously, the Delayed Pos Set status is set to TRUE.

Delayed Pos Set Milliseconds
Variable Name:	delayedPosSetMilliseconds
Type:	double
Unit:	milliseconds
Minimum Value:	0
Maximum Value:	274877906943
Default Value:	0

The amount of time that the feedback position must be within the Delayed Pos Set Width of the target position continuously before the Delayed Pos Set status is set to TRUE.

If this parameter is set to 0, the Delayed Pos Set status is set to TRUE immediately when the feedback position goes within the Delayed Pos Set Width of the target position after the command generation has finished.