When the drive's trigger input is used, the input delay is approximately 50 µs (see also Motion control hardware). Speed-dependent error is compensated with corresponding hardware support.
If a different input is used, then the respective documented input delay and evaluation of the input status must be taken into account in the 400 µs cycle of the drive.
SPT connection in ACOPOS drives
An absolute deviation can be determined using two LATCH SPT function blocks.
The comparator serves as an expansion to map an event source as a level.
At the interval start of the master axis or "IntervalSourceParID", the current position of the slave axis is captured in the LATCH interval and sent to the function block in the cyclic data.
When a trigger event occurs, the current position of the axis is captured in the RM LATCH and sent to the function block in the cyclic data.
Fig.: SPT connection in ACOPOS drives
For the LATCH interval, any (jerk-free) event can be linked as a reference for the absolute deviation calculation (CURVE and CAMCON are both possible).
With a fixed master interval, a CAMCON is used instead of CMP in the respective mode. In this case, the master interval and the master axis / master ParID must be specified for the MC_BR_RegMarkCalc001 function block (e.g. virtual axis).