Validity: Rule, Task
By this keyword, you can access to a circular buffer of 32 filtered ideal velocities (iv_f) calculated in the previous samplings.
Syntax |
REAL p_iv_f (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 |
Notes |
It is used by RTE to calculate the servo alarm threshold(ser_cthr) in case filters are used in the position loop closure |
NOTE: By this keyword, it will then be possible to know the previously imposed IVs.
Example
; I read the iv_f of axis 1 of the current sampling returned = p_iv_f (1,0) ; I read the iv_f of axis 20 of the previous sampling returned = p_iv_f (20,1) ; I read the iv_f of axis 5 of previous 31 samplings returned = p_iv_f (5,31) |
NOTE: For a detailed description of the use of the variable p_iv_f see position loop filters.
