Validity: Rule, Task
This keyword is used by RTE to contain the axis position error in case the position loops are closed with a predefined formula.
Syntax |
REAL epos (I32 n) |
|---|---|
n |
Axis number. Minimum representable number: 1 Maximum representable number: 32 |
Notes |
The unit is in Units |
They can be freely used by the user for their own loop closure if the formula is explicitly written in the ref field.
From RTE 33.5.5 this variable is updated even if the ref-end_ref field is present in the rule.
RTE uses the following formula to calculate the epos variable that contains the position error:
epos(n) = p_ip(n, ipp_idx(n)) - cp(n).
NOTE: In case Planar Table Compensation is enabled via bit 12 of SYS_CFG the position error will be calculated as follows: epos(n) = p_ip_c(n, ipp_idx(n)) - cp(n).
Example
; If the position error of axis 23 is less than K_EPSILON if (epos(23) < K_EPSILON) ... ... ; in a rule ref end_ref |
