Channel parameter

P-CHAN-00324

Default offset time to calculate future states

Description

At a set time greater than 0, the

  • path velocity
  • attempts to calculate axis position, velocity and acceleration

at the parameterised point in the future.

Parameter

esa.time[i] where i = 0 ... 9

Data type

REAL64

Data range

0 ≤ time[i] ≤ MAX_REAL64

Dimension

s

Default value

0.0

Remarks

The maximum possible number of entries is limited to 10.

Axis position, velocity and acceleration only estimated with the entry esa.time[0].

P-CHAN-00325

Precalculation mode

Description

This parameter sets the precalculation mode.

  • Mode 1: Precalculation of path velocity at up to 10 future points in time
  • Mode 2: in addition to Mode 1, the precalculation of axis positions, velocities and accelerations of all the axes in the channel is conducted for the first time entry

Parameter

esa.mode

Data type

UNS32

Data range

1 / 2

Dimension

----

Default value

1

Remarks