Axis::PositionErrorGet() returning the difference between RMP’s commanded and actual positions, or the position error in the motor’s PID loop?
For example Yaskawa motors have their own position deviation settings that can result in alarms.
(Sigma-7S EtherCAT Manual_SIEP_S800001_55G_6_0.pdf; Section 8.3.3)
Is RMP reporting something about this internal value, or the difference between its own actual and commanded positions? And, is RMP’s limit error (
Axis::ErrorLimitActionSet()) based on this value?
We’re trying to come up with some sensible values for limit error and need to decide if it’s based on internal properties of the motor or on RMP-level things, like PUU actual/cmd differences or motion buffer sizes.