Class PitchErrorCompensationOptions

Class Documentation

class PitchErrorCompensationOptions

This class contains options for pitch error compensation.

Public Functions

PitchErrorCompensationOptions()

Public Members

double catchUpVelocity

The velocity at which to apply the initial offset when pitch error compensation is started. If this value is 0, the initial offset will be applied instantly, potentially causing the compensated command position to change suddenly. Also see Catch Up Motion (Pitch Error Compensation) and Catch Up Motion (Two-Dimensional Pitch Error Compensation).

double catchUpAcc

The acceleration at which to apply the initial offset when pitch error compensation is started. If this value is 0, the initial offset will be applied instantly, potentially causing the compensated command position to change suddenly.

PitchErrorCompensationOriginPositionType::T originPositionType

The type of pitch origin position that is specified for pitch error compensation. This determines whether the pitchOriginPosition parameter (or the pitchOriginPosition parameter for two-dimensional pitch error compensation) is an absolute position or a relative position (relative to the position of the axis when pitch error compensation is enabled).

PitchErrorCompensationAlignmentType::T alignmentType

The type of alignment of the pitch points. Currently, only AlignBeforeCompensation is available.

bool preventCatchUpMotion

If this option is set to false, when pitch error compensation is started, the initial offset is applied using the specified catchUpVelocity and catchUpAcc. If this option is set to true, when pitch error compensation is started, the axis command position is changed so that the compensated command position that is sent to the servo does not change. Also see Prevent Catch Up Motion (Pitch Error Compensation) and Prevent Catch Up Motion (Two-Dimensional Pitch Error Compensation).