Validity: Rule (read in the whole Rule, write limitedly in the block "ref ... end_ref"), Task (read only).
This variable contains the value to be output as a speed reference on the device specified in the RTE.cfg file.
If the user does not compute this variable in the rule REF field then RTE will use the following default formula:
•sref(id_ax) = pro_gai(id_ax) * epos(id_ax) + kff(id_ax) * iv(id_ax)
which corresponds to a pure proportional control with feed forward.
In case the user does not want this type of control he will have to calculate the variable sref in the REF field of the rules with his own formula (see example).
Syntax |
REAL sref (I32 n) |
|---|---|
n |
Axis index. Minimum representable number: 1 Maximum representable number: 32 |
Example
;non-default loop closure real kff_a ref ; the new velocity reference of axis 1 is calculated sref(1)=pro_gai(1)*epos(1) + kff(1)*iv(1) + kff_a*ia(1) end_ref |
