User guide

Faults CME 2 User Guide
92 Copley Controls
9.3.6: 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