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position error
In programming ,how to express the position error rate?what register can I use?THANK YOU!

I believe you're referring to what we call "Following Error". The following error for each motor is calculated every servo cycle and stored in the register D:$000x91/11. The value of the x can be looked up from the table in page 476 of Turbo PMAC Software Reference Manual.

Sina Sattari
Hardware Engineering Manager
Delta Tau Data Systems, Inc.

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