Operational Theory
Xenus XTL User Guide
38
Copley Controls Corp.
2.11.6: Tracking Window Details
Proper Tracking Over Time
As described earlier, position error is the difference between the limited position output of the
trajectory generator and the actual position. Velocity error is the difference between commanded
and actual velocity.
When the position or velocity error exceeds the programmed
tracking window
value, a status word
bit is set. The bit is not reset until the error remains within the tracking window for the programmed
tracking time
.
Velocity Tracking Illustration
The following diagram illustrates the use of tracking window and time settings in velocity mode.
± Tracking Window
Tracking
Time
Limited Velocity
Actual Velocity
Tracking Window
Output
Summary of Contents for Xenus XTL
Page 1: ...Xenus XTL User Guide P N 95 00875 000 Revision 3 June 2008...
Page 2: ...Xenus XTL User Guide This page for notes...
Page 8: ...About this Manual Xenus XTL User Guide 8 Copley Controls Corp This page for notes...
Page 12: ...Introduction Xenus XTL User Guide 12 Copley Controls Corp...
Page 51: ...Xenus XTL User Guide Specifications Copley Controls Corp 51 3 24 Dimensions...
Page 52: ...Specifications Xenus XTL User Guide 52 Copley Controls Corp...
Page 72: ...Wiring Xenus XTL User Guide 72 Copley Controls Corp...
Page 158: ...Regen Resistor Sizing and Configuration Xenus XTL User Guide 158 Copley Controls Corp...
Page 172: ...Xenus Filter Xenus XTL User Guide 172 Copley Controls Corp...
