◆ FilterGainTableGet()

virtual int32_t FilterGainTableGet ( )
pure virtual

Gets which gain table is currently in use by the axis.

ℹ This function is avaliable in RapidCode and RapidSequencer

Description:
FilterGainTableGet gets which gain table is currently in use by the axis. Gain tables are very useful if you want to set different filter coefficents (Ki, Kp, Kd, etc.) during different periods of time.
Gain tables are very useful if you want to set different filter coefficents (example: Ki, Kp, Kd, etc) all at once instead of setting various filter coefficients individually using FilterCoeffSet().
For example, if you have a vertical axis that requires different filter coefficients when moving in the positive direction versus the negative direction (due to gravity). All you would need to do is use gain table 0 for positive direction, and then switch to gain table 1 for negative direction.
You can use up to 5 gain tables per axis.
Notes:
If you would like to set different gain tables for different areas of your motion profile such as acceleration, deceleration, constant velocity, and no motion, you should look into GainScheduling.
Returns
(int32_t) Value ranges from 0 to 5.
Sample Code:
if (axis.FilterGainTableGet() == 0)
{
Console.WriteLine("This axis is using gain table 0");
}
RapidSetup:
Go to axis screen->Tuning Parameters. Gain table is on the top right in image below.
Axis_Filter.jpg
See also
FilterGainTableSet