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FM-3 Programming Module Reference Manual
Control Loop Limit
This parameter shows the lowest measured time difference (in microseconds) between the
Trajectory Update Rate and the time taken to process the control loop since the last reset.
Certain features in the FM-3 require more time to process (i.e. PLS, Capture, Compound
Indexes), and therefore will cause lower limits. The software records the lowest measured
value and displays it as the limit. To reset the limit to the average and continue tracking the
lowest value, the user can click on the Limit button. If the Limit reaches 0, a fault will be
generated. If a Limit of less then 75 - 100 usec is seen, it is recommended to switch the update
rate to the next higher value.
Margin Average
This parameter shows a running average of the difference (in microseconds) between the
Trajectory Update Rate and the time taken to process the control loop since the Status Online
tab was brought up. The higher the value, the more time available to run user programs. For
Averages less than 150 usec, it is recommended to switch the update rate to the next higher
value.
Master Feedback Group
Master Position
Used for synchronized motion, this displays the position of the master encoder in units
defined on the Master Units Setup View.
Encoder Position
This displays the position of the master encoder in counts.
Master Velocity
This displays the velocity of the master encoder in master units/second.
Torque Group
Torque Command
This displays the torque command value before it is limited. The torque command may be
limited by either the Torque Limit (if the Torque Limit Enable destination is active) or current
foldback. Units for this parameter are defined in the Torque Group on the User Units View.
Limited Torque
This is the actual torque commanded to the motor. This value is the result after the
TorqueCommand is limited by the current foldback or the TorqueLimit value (if enabled).