Validity: Rule, Task
This variable is used by RTE to evaluate the error of the epos position loop that is used to drive the axis (see REF field of rules).
Syntax |
I32 ipp_idx (I32 n) |
|---|---|
n |
Number of the axis involved. Minimum representable number: 1 Maximum representable number: 32 |
Notes |
Default: 1. Previous sampling index ranges from 0 to 31 |
The variable represents the index with which RTE should access the circular buffer p_ip.
RTE for the calculation of the variable epos that contains the position error uses the following formula:
epos(n) = p_ip(n, IPP_IDX(n)) - cp(n)
NOTE: From RTE 33.18, the retentivity of this parameter(DIS_AXES_PAR_RE) can be disabled from the configurator.
Example
; current scan ipp_idx (27) = 0 => p_ip(27,0) = ip(27) ; previous scan ipp_idx (1) = 1 => p_ip(1,1) = ip(1) ; 31 previous scans ipp_idx (12) = 31 => p_ip(12,31) = ip(12) |
