Rockwell-automation 2098-IPD-xxx Ultra5000 C Programming using the Mot Manual do Utilizador descarregar pdf (Página 45)

Publication 2098-PM001E-EN-P — July 2002

Referencing the Motion Library 2-5

float AxisGetFeedbackVel(void);

Returns the feedback velocity of the axis in counts/second.

Note: Velocity error is calculated by subtracting this value from the

command velocity.

float AxisGetFGain(void);

Returns the acceleration feedforward gain of the velocity loop.

float AxisGetIGain(void);

Returns the integral gain of the velocity loop in units of 1/second.

float AxisGetKff(void);

Returns the velocity feedforward gain of the position loop.

float AxisGetKp(void);

Returns the proportional gain of the position loop in units of 1/

second.

float AxisGetLowerCurLimit(void);

Returns the lower current limit in Amps.

float AxisGetPGain(void);

Returns the proportional gain of the velocity loop in units of 1/

second.

long AxisGetPosError(void);

Returns the position error in counts.

Note: Position error is calculated by subtracting the feedback position

from the command position.

float AxisGetUpperCurLimit(void);

Returns the upper current limit value in Amps.

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