LagError
Display of the resulting lag error. If the lag error is too high for the application, it is recommend for the MOVIKIT® Robotics addon PreControl add-on to be used.
The software module calculates the setpoint positions of the joints. It takes a few milliseconds – referred to as the delay – for the setpoint positions to reach the inverter and the drive, and for the actual positions associated with these calculated setpoint positions to return to the software module. To calculate the lag error, the setpoint position is delayed by this delay. The lag error corresponds to the difference between the actual values and the delayed setpoints. The delay in turn depends on the combination of inverter and MOVI-C® CONTROLLER.
The following variable can be adapted to adapt this in a way that is graduated according to the drive:
MyRobot.stIn_LagError_TEMPORARY.alrDeadTimeOfActualValues_Cycles (specification in HighPrio cycles of the MOVI-C® CONTROLLER).
For reasons related to the runtime, the calculation is deactivated by default. To activate, set the MyRobot.stIn_LagError_TEMPORARY.xCalculateActualPositionAndLagError variable to "TRUE".
Variable name | Description |
|---|---|
alrJoint | Data type: ARRAY [1..6] OF LREAL |
Lag error of the driven joints | |
alrTCP_Translation | Data type: ARRAY [1..6] OF LREAL |
Translational lag error at the tool center point (in x, y, z direction) | |
lrTCP_Translation_Total | Data type: LREAL |
Amount of the translational lag error at the tool center point | |
lrTCP_TangentialToPath | Data type: LREAL |
Proportion of the translational lag error at the tool center point tangential to the path | |
PerpendicularToPath | Data type: LREAL |
Proportion of the translational lag error at the tool center point perpendicular to the path |
