What is the accuracy on the UNITS / REP_DIST?
Q: What is the
accuracy on the UNITS / REP_DIST?
UNITS = 2^23*3/360 ' Counts/deg
REP_DIST = 180 ' deg
REP_OPTION = 0
As UNITS is
approx. 69905.0667 then what will happen when I have run the system for several
loose accuracy over time?
A: The motion operates
in counts and all the values are stored as Integers. (64 bit on the
UNITS is used to
present engineering values to the user and to the programs. Therefore when you set
REP_DIST = 180, the value that is stored is INT(180 * UNITS). When the axis
parameters or program reads back REP_DIST it shows the internal repdist /
UNITS is a
float. So your UNITS is 2^23 * 3/360 = 69,905.0666667. The
recurring decimal is a sign that you may get errors over a long time, but let’s
check the REP_DIST;…
REP_DIST = 180 is
stored as 180 * 69,905.0666667 = 12582912. That is an exact
integer. However there is always a chance that the FP maths could have a
small error that could make it 12582911.999999 and the integer would be
The safest way is
to set the REP_DIST with UNITS 1 using the exact counts.
UNITS = 1
REP_DIST = 12582912
REP_OPTION = 0
UNITS = 2^23*3/360
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