Validity: Rule, Task
This keyword gives access to the possibly filtered axis position error value.
Syntax |
REAL epos_f (I32 n) |
|---|---|
n |
Index of the axis whose filtered position error is to be read. Minimum representable number: 1 Maximum representable number: 32 |
Attributes |
Read only |
Notes |
The unit is: Units [(value * kbit2unit)] |
NOTE: See position loop filters for a detailed description of the use of the epos_f variable.
Example
; if the filtered position error of axis 23 ; is less than K_EPSILON, then.. if (epos_f(23) < K_EPSILON) ... ... ; in a rule ax = 1 idx = 3 ref epos(ax) = p_ip_f(ax, idx) - cp(ax) sref(ax) = epos_f(ax) * pro_gai(ax) + iv_f(ax) * kff(ax) end_ref |
