BASIC commands
PROGRAMMING MANUAL
96
Revi
si
on 3.0
3.2.146 I_GAIN
/i
3.2.147 IDLE
See
WAIT IDLE
.
3.2.148 IEEE_IN
/i
3.2.149 IEEE_OUT
/i
Example
HW_PSWITCH(2)
This command will clear FIFO queue if loaded previously.
See also
AXIS
Type
Axis parameter
Syntax
I_GAIN
Description
The
I_GAIN
parameter contains the integral gain for the axis. The integral out-
put contribution is calculated by multiplying the sums of the Following Errors
with the value of the
I_GAIN
parameter. The default value is 0.
Adding integral gain to a servo system reduces positioning error when at rest
or moving steadily. It can produce or increase overshooting and oscillation and
is therefore only suitable for systems working on constant speed and with slow
accelerations.
Note: In order to avoid any instability the servo gains should be changed only
when the
SERVO
is off.
Arguments
N/A
Example
No example.
See also
D_GAIN
,
I_GAIN
,
OV_GAIN
,
P_GAIN
,
VFF_GAIN
.
Type
Mathematical function
Syntax
IEEE_IN(byte0,byte1,byte2,byte3)
Description
The
IEEE_IN
function returns the floating point number represented by 4
bytes which typically have been received over a communications link.
Arguments
•
byte0
- byte3
Any combination of 8 bit values that represents a valid IEEE floating point
number.
Example
VR(20) = IEEE_IN(b0,b1,b2,b3)
See also
N/A
Type
Mathematical function
Syntax
byte_n = IEEE_OUT(value, n)
Description
The
IEEE_OUT
function returns a single byte in IEEE format extracted from
the floating point value for transmission over a bus system. The function will
typically be called 4 times to extract each byte in turn.
Note: Byte 0 is the high byte of the 32 bit IEEE floating point format.
Arguments
•
value
Any BASIC floating point variable or parameter.
•
n
The byte number (0 - 3) to be extracted.
Example
V=MPOS AXIS(2)
byte0 = IEEE_OUT(V, 0)
byte1 = IEEE_OUT(V, 1)
byte2 = IEEE_OUT(V, 2)
byte3 = IEEE_OUT(V, 3)
See also
N/A
I52E-EN-03.book Seite 96 Freitag, 29. Juni 2007 11:55 11
