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