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Recording Following Error Magnitude


windell747
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When the Motor[x].FeFatal goes high, I would like to record the magnitude of the offending following error. Right now I'm storing the following error in my C program, but I realize that I am catching it too late since my C program loops at only about 1 kHz and the servo loop runs much faster.

 

Can someone tell me how I could record the magnitude of the offending following error at the time that the FeFatal flag goes high? I know it should be whatever I've sent the limit to, but I just want to make sure.

 

Thank you,

Windell

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