Validity: Rule, Task
This keyword is used by RTE to store the proportional gain of the axis position loop in case the position loops are closed by default formula.
Syntax |
REAL pro_gai (I32 n) |
|---|---|
n |
Axis number. Minimum representable number: 1 Maximum representable number: 32 |
If axes are driven via canbus and the position loop is closed by the drive, this variable will not be used.
They are at the user's disposal if the formula is written in the ref field.
NOTE: From RTE 33.18, from configurator it is possible to disable the retentivity of this parameter(DIS_AXES_PAR_RE).
Example
; the proportional gain of the position loop of axis 1 ; is set to the value 0.345 pro_gai(1) = 0.345 ; the formula for closing the loop of axis 1 ; uses the variable pro_gai(1) ref sref(1) = pro_gai(1) * epos(1) end_ref |
