RMP Motion Controller
10.5.2
The RMP Motion Controller APIs
MotionController
NetworkNode
Axis
MultiAxis
IOPoint
Cartesian
RsiError
Contact
Support
RMP
◆
FilterAlgorithmGet()
RSIFilterAlgorithm
FilterAlgorithmGet
(
)
Description:
FilterAlgorithmGet returns the algorithm used to control this axis.
This value defines the closed-loop control algorithm that the controller's filter object will execute every servo cycle.
Returns
(
RSIFilterAlgorithm
) Filter algorithm for axis control.
Remarks
This function is also available in
RapidSequencer
.
Sample Code:
if
(axis.FilterAlgorithmGet() ==
RSIFilterAlgorithm
.RSIFilterAlgorithmPID) {
Console.WriteLine(
"This axis is using a PID algorithm"
);
}
RSI::RapidCode::RSIFilterAlgorithm
RSIFilterAlgorithm
Filter algorithms.
Definition
rsienums.h:1095
Notes:
This is typically RSIFilterAlgorithmPID or RSIFilterAlgorithmPIV.
RapidSetup:
Go to axis screen->Tuning Parameters. Algorithm is shown in image below and is currently set to PID.
See also
FilterAlgorithmSet
RSI
RapidCode
Axis
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