IAI America E-Con - Manual (Page 80)

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Example: The Start Input Position 2 is executed during movement towards Position 1 during Push Mode and
the actuator moves to a position that is 10 mm away from the Input Position 1.
(3) Accumulation Error Due to Consecutive Relative Transfer
The position data only recognizes a minimum resolution. The minimum resolution is specified according to
lead and number of encoder pulses. Therefore, an error may occur between the value input for the position
and the corresponding movement of the actuator. When a relative transfer is executed consecutively, this
error will accumulate.
The maximum error width is the value which divided the lead value of an actuator by 16384.
(On the RCS-RB7530/RB7535, the maximum error width is the value calculated by dividing the lead by
3072. On the RCS-R10/R20/R30 and RCS-G20, it is calculated by dividing the lead by 4096.)
To clear the accumulated errors, an absolute coordinate command must be issued before the allowable
error limit is exceeded.