Validity: Rule (read and write), Task (read only).
This keyword gives access to the ideal axis acceleration value.
Syntax |
REAL ia (I32 n) |
|---|---|
n |
Index of the axis whose ideal acceleration has to be imposed/read. Minimum representable number: 1 Maximum representable number: 32 |
Attributes |
Rule: read and write. Task: read only |
Notes |
Its unit of measurement is (value * kbit2unit)/sec2 |
Example
; in Task and Rule ; in rr(11) is stored the ideal acceleration of axis 1 rr(11) = ia(1) ; only in Rule: ; the ideal acceleration of axis 1 is imposed equal to ; ideal velocity of axis 1, divided by the value of rr(73) plus 12.5 |
