Tracking error window
Warn or stop when an axis falls too far behind its position target.
less than a minute
The tracking error window watches how far the axis is from where it should be: the position target minus the actual position. A large error means the axis is blocked, has hit something, or the drive or controller is not doing what it should.
| What | Details |
|---|---|
| Path | actuatorControlLoopNN/positionErrorWindowDetector |
| Watches | actuatorPositionError, in rad or m |
| Standard robot configuration | Present but disabled; high at 0.02 and tooHigh at 0.15 |
To choose the levels, plot actuatorPositionError in Desk during the fastest moves you make. Set high and low a margin beyond the largest error you see, and tooHigh and tooLow further out.