Validity: RC3E v33.5.8-7 (or later).
This keyword allows a variable of type STRU_MASTERF (STRUCT_P) to be defined.
It is used by the master_filter() function.
It consists of the following information:
Field |
Type |
Description |
|---|---|---|
velFilterTime |
REAL |
Filtering speed time constant limited to be >= SI |
errRecoveryTime |
REAL |
Error recovery time constant limited to be >= SI |
filteredVel |
REAL |
Filtered speed (function storage, to be typically initialized to 0) |
posErr |
REAL |
Position error (function storage, to be initialized typically to 0) |
masterPos |
REAL |
Real position of the master (to be set only if NAX = 0) |
mastervel |
REAL |
Master's actual speed (to be set only if NAX = 0) |
pos |
REAL |
Position regenerated (must be initialized to current position. Subsequently read-only) |
vel |
REAL |
Speed regenerated (must be initialized to 0. Subsequently read-only) |
acc |
REAL |
(Read only) |
Example of use:
|
