Newport ESP6000, Руководство пользователя

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esp_set_vel_feedforward Set Velocity Feedforward Gain
esp_get_vel_feedforward Report Velocity Feedforward Gain Setting
Synopsis: #include “esp6000.h”
int esp_set_vel_feedforward(long axis, float vff)
int esp_get_vel_feedforward(long axis, float *vff)
Arguments: long axis
axis number from 1-6
float vff
velocity feedforward gain
Library Location: \esp6000.dll
Description: esp_set_vel_feedforward() sets the velocity feedforward gain for the specified servo axis.
esp_get_vel_feedforward() reports the present velocity feedforward gain setting for the
specified servo axis.
NOTE
If necessary, use the ESP-tune utility to optimize servo PID and feedforward
parameters.
Returns: ESPOK, ESPERROR
Hint:
Usage Example:
#include “esp6000.h”
main()
{
long error, servotick;
if (!esp_init_system() )
{
printf(“ESP6000 Not Initialized! \r\n”);
exit(-1);
}
/* set PID gain */
esp_set_kp(1,100.0);
esp_set_kd(1,200.0);
esp_set_ki(1,50.0);
esp_set_il(1,50.0);
/* set velocity feedforward */
esp_set_vel_feedforward(1,75);
/* set acceleration feedforward */
esp_set_acc_feedforward(1,100);
/* transfer PID to working registers */
esp_update_filter();
/* save parameters to ESP6000 Flash EPROM */
esp_save_parameters();
/* check error status */
esp_get_error_num(&error,&ServoTick) ;
if (error) printf(“Error %d Reported!”, error);
}
See Also: esp_set_acc_feedforward(), esp_update_filter()
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