Validity: Rule, Task
This keyword gives access to the real quota detected by the transducer (defined in rte.cfg TRD).
Syntax |
REAL cp (I32 n) |
|---|---|
n |
Index of the axis whose real position is to be read/imposed. Minimum representable number: 1 Maximum representable number: 32 |
Imposing the real CP quota will also result in updating the ideal ip quota of the corresponding axis, otherwise a servo alarm would be generated. This update is done by the RTE firmware transparently to the user.
Figure:
Example
; stores the quota of axis 3 in real register 17 rr(17) = cp(3) ; resets the real quota of axis 4 to zero. cp (4) = 0 |
NOTE: RTE's updating of the ideal IP quota by imposing a real quota can be disabled using the predefined variable dis_ip_adj.
