a | b/trunk/SM3_Drive_RaspiStepper/SM3_Drive_RaspiStepper/Function Blocks/AXIS_REF_RaspiStepper/process IO data/PrepareOutputs/svnobj | ||
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1 | Gx_l U !0…jüo„ ×i:Y © Û^bV S y s t e m . S t r i n g L{ f 8 a 5 8 4 6 6 - d 7 f 6 - 4 3 9 f - b b b 8 - d 4 6 0 0 e 4 1 d 0 9 9 } I m p l e m e n t a t i o n L{ 3 b 8 3 b 7 7 6 - f b 2 5 - 4 3 b 8 - 9 9 f 2 - 3 c 5 0 7 c 9 1 4 3 f c } T e x t D o c u m e n t L{ f 3 8 7 8 2 8 5 - 8 e 4 f - 4 9 0 b - b b 1 b - 9 a c b b 7 e b 0 4 d b } T e x t L i n e s L{ a 5 d e 0 b 0 b - 1 c b 5 - 4 9 1 3 - a c 2 1 - 9 d 7 0 2 9 3 e c 0 0 d } I d |
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2 | l o n g T a g T e x t hh e s ( b H i g h : = b L i m i t P o s , b L o w : = b L i m i t N e g , A x i s : = T H I S ^ ) ; ^S M C _ C h e c k S e t P o s i t i o n F o r R e s i d u a l s ( p D r i v e : = T H I S ) ; d i : = S M C _ C o n v e r t S e t P o s i t i o n F o r R e s i d u a l s ( f : = f S e t P o s i t i o n , p D r i v e : = T H I S ) ; c o n t r o l l e r ( 0 f D e l t a T i m e : = f T a s k C y c l e , f K p : = f K p , . f D e a d T i m e : = f D e a d T i m e , & d i S e t P o s i t i o n : = d i , 8 f S e t V e l o c i t y : = f S e t V e l o c i t y , Z d i A c t P o s i t i o n : = D W O R D _ T O _ D I N T ( d w A c t P o s i t i o n ) , 8 b R e g u l a t o r O n : = b R e g u l a t o r O n , N f I n c T o V e l : = f T a s k C y c l e * f S c a l e f a c t o r ) ; f P o s E r r o r : = f L a s t S e t P o s i t i o n + ( f L a s t O f f s e t - f O f f s e t P o s i t i o n ) - f A c t P o s i t i o n ; 2I F i M o v e m e n t T y p e = 0 T H E N L I F f P o s E r r o r > |