Velocity Error Tolerance

Type:	Axis Parameter Register
RMC70 Address:	Fn:59, where n = 12 + the axis number
RMC150 Address:	Fn:59, where n = 24 + the axis number
System Tag:	_Axis[n].VelErrorTolerance, where n is the axis number
How to Find:	Axes Parameters Pane, Setup tab: Primary Control Setup
Data Type:	REAL
Units:	pu/s
Range:	≥ 0
Default Value:	1

Description

In velocity control (when the Current Control Mode status register is velocity), the Velocity Error Tolerance specifies how large the Velocity Error may become before the Following Error status bit is set. If the Following Error bit is set, a Halt will occur if the Auto Stops are configured to do so and the Direct Output Status bit is off.

The Velocity Error Tolerance applies only when controlling in Velocity PID.

Note:
Notice that the Following Error status bit will be set due to exceeding the Velocity Error Tolerance only in velocity control. If you issue a Move Velocity command in position control, the Following Error bit will not be set due to exceeding the Velocity Error Tolerance! It will only be set due to exceeding the Position Error Tolerance.