Validity: Rule, Task
This variable will contain the index of the previous samplings (0-31) of p_ip that RTE uses in calculating the position error for alarm following error handling (code 11).
Syntax |
I32 sa_ip_idx (I32 n) |
|---|---|
n |
Axis index. Minimum representable number: 1 Maximum representable number: 32 |
Notes |
Default value: 0 |
The calculation of position error is done as follows:
following error(n) current = p_ip(n, sa_ip_idx(n)) - cp(n)
NOTE: It coincides with epos only if sa_ip_idx = ipp_idx.
NOTE: From RTE 34.06.05 is imposed by RTE = ipp_idx.
Operations performed by RTE:
•step 1: calculation of following error(n) current = p_ip(n, sa_ip_idx(n)) - CP(n) {from RTE 34.06.05 = EPOS}
•step 2: calculation of alarm threshold ser_cthr(n) current = ser_thr(n) + p_iv(n, sa_iv_idx(n)) / ser_gai(n)
•step 3: if the axis following error exceeds the threshold (ser_cthr) generation of alarm 11 (Following Error)
NOTE: From RTE 33.18, from configurator it is possible to disable the retentivity of this parameter(DIS_AXES_PAR_RE).
Example
; in the file autoexec.stp ; index of the previous samplings for axis 3 is set to 4 sa_ip_idx(3)= 4 |
Example
If sa_ip_idx of axis 1 is set to the value 0: => p_ip(1,0) = ip(1) current scan (after it has been updated) If sa_ip_idx of axis 21 is set to value 1: => p_ip(21,1) = ip(21) previous scan If sa_ip_idx of axis 31 is set to value 31: => p_ip(31,31) = ip(31) 31 previous scans |
