How to check Tracking Error in digital form?

In Tracking mode,

Set Pr.589=3, then Pr.590~Pr.595 are used to check the Position Loop status.

Pr.591/590 : Position Command value(32bits Hex)

Pr.593/592 : Position Feedback value(32bits Hex)

Pr.595/594 : Position Error value(32bits Hex)

Normally, check Pr.594 is well enough.

How to check Tracking Error in analog form?

We can also use analog output to verify the tracking error waveform, assume AO1 is used as
the output pin.

1. Select Pr.210=12, then AO1 will show the Position Error waveform while Tracking.

2. Set Pr.570=N, where N is the desired full scale error pulses.

Then, observe AO1 waveform while tracking in process.

ex. When AO1output is +10Volts, means motor position lag N pulses.

Note: All AOx have 10ms time delay.