Validity: Rule, Task
Through this keyword, you can access to a circular buffer of 32 ideal quotas(ip) calculated in previous samplings.
Syntax |
REAL p_ip (I32 n, I32 num) |
|---|---|
n |
Axis index (1-32) |
num |
Number of previous samplings (0-31). If number is 0 = current sampling, if 1 = previous sampling |
Attributes |
Read only |
Result |
Returns the desired ip |
Notes |
It is used by RTE to calculate the position error(epos). Use the predefined variable ipp_idx for setting the number parameter |
NOTE: By this keyword, it will then be possible to know the IPs set previously.
Example
; I read the ip of axis 1 of the current sampling returned = p_ip (1,0) ; I read the ip of axis 20 of the previous sampling returned = p_ip (20,1) ; I read the ip of axis 5 of 31 previous samplings returned = p_ip (5,31) |
