RadiusErrorThreshold Parameter
Default Value: 5.0
Minimum Value: -1.0
Maximum Value: None
Units: None
Type: double
Use the RadiusErrorThreshold parameter to specify the maximum error that can exist between the specified radius at the starting point and ending point of a MoveCw() or MoveCcw() function before a task error occurs. The units of this parameter are specified in percent (%) that you can calculate with the equation that follows.
Where:
Start Point Radius is the distance from the start point to the arc center of the circle.
End Point Radius is the distance from the end point to the arc center of the circle.
All circular radius errors that have a magnitude greater than the value of the RadiusErrorThreshold parameter generate a Circular Radius Error. Circular radius errors that have a magnitude less than the value of this parameter do not cause an error, and the controller continues the motion by using one of the methods that follow.
Adjust Method
A new center point is calculated to make the specified end point and radius correct. The controller usually uses this method.
Jerk Method
The axis suddenly jerks to a new start point at the beginning of the move to make the specified center, end point, and radius correct. The controller uses this method if either of the conditions that follow are true:
- The value of the RadiusErrorThreshold parameter is the special flag value of -1.
- The angle of the arc is less than the value of the RadiusCorrectionThreshold parameter.
To prevent all circular radius errors, use one of the continuation methods that follow:
- To disable all circular radius errors and use the Jerk continuation method, set the RadiusErrorThreshold parameter to -1.
- To disable all circular radius errors and use the Adjust continuation method, set the RadiusErrorThreshold parameter to a very large value such as 1,000,000.
If you do not set the RadiusErrorThreshold parameter to -1 or a large value such as 1,000,000, the controller selects the continuation method based on the value that you set for the RadiusCorrectionThreshold Parameter.
IMPORTANT: The Circular Radius Error test occurs only when you specify arcs, such as MoveCw() or MoveCcw(), by their center point. Let this test run until your program is fully debugged. If you stop the test before it completes, the controller can supply invalid arguments to the MoveCw() and MoveCcw() functions without generating a warning.
