RMP Motion Controller
10.4.4
The RMP Motion Controller APIs
MotionController
Axis
MultiAxis
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RMP
◆
FilterCoeffGet()
[1/2]
double FilterCoeffGet
(
RSIFilterGainPIDCoeff
coeff
,
int32_t
gainTable
)
Description:
FilterCoeffGet returns a filter coefficient such as Kp, Ki, Kd etc.
Parameters
coeff
Use a value in
RSIFilterGainPIDCoeff
or
RSIFilterGainPIVCoeff
.
gainTable
An index, 0-4.
Returns
(double) Value of the coefficient.
Remarks
This function is also available in
RapidSequencer
.
Sample Code:
int32_t coeff = (int32_t)
RSIFilterGainPIDCoeff
.RSIFilterGainPIDCoeffOUTPUT_OFFSET;
int32_t gainTable = 0;
Console.WriteLine(
"Output Offset coefficient %lf in Gain Table %ld\n"
+
axis.FilterCoeffGet(coeff, gainTable));
RapidSetup:
Go to axis screen->Tuning Parameters. Available filter coefficents are shown in image below.
See also
FilterCoeffSet
,
RSIFilterGainPIDCoeff
,
RSIFilterGainPIVCoeff
RSI::RapidCode::RSIFilterGainPIDCoeff
RSIFilterGainPIDCoeff
PID gain coefficients.
Definition:
rsienums.h:1104
RSI
RapidCode
Axis
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