4. Motion Control Instructions 4.4.18. DMC_PositionLag Explanation of the Instruction: OutOfRange output of the instruction changes to ON once the absolute deviation between the command position and feedback position has been greater than the set value of Lag during a period of time specified by Hold Time. OutOfRange output of the instruction changes to OFF once it is detected that the absolute deviation between the command position and feedback position is less than or equal to the set value of Lag.
As the set value of Hold Time is 0, OutOfRange output of the instruction changes to ON once the absolute deviation between the command position and feedback position is greater than the set value of Lag; OutOfRange output of the instruction changes to OFF once it is detected that the absolute deviation between the command position and feedback position is less than or equal to the set value of Lag. Explanation of input and output parameter of the instruction:
DVP-MC operating manual 4-55 API DMC PositionLag _ Detect deviation between the command position and feedback position Applicable Model 10MC11T Parameter Available Explanation Data type name device Axis Node ID of the servo drive UINT Constant, D Enable This instruction is executed when “Enable” is ON. BOOL M,I,Q, Constant Lag Specify the allowed value of the absolute deviation between the command position and feedback position. Unit: unit. The parameter value should be no less than 0. REAL Constant, D Hold Time Specify the time during which the Lag value is being exceeded Unit: second. 0.001 stands for 1ms. The parameter value is no less than 0.
REAL Constant, D OutOfRange OutOfRange is ON while Enable is ON and the absolute deviation between the command position and feedback position has been greater than Lag value during the time specified by Hold Time. OutOfRange is OFF when it is detected that the absolute deviation is less than Lag value. BOOL M,Q