ST_AxisExtrapolateParameters
Configuration structure for FB_AxisExtrapolateValues.
TYPE ST_AxisExtrapolateParameters :
STRUCT
fMaxPositionDiff : LREAL := 0;
bUseAccForExtrapolation : BOOL := TRUE;
fT1factorPos : LREAL := 3.0;
fT1factorVelo : LREAL := 3.0;
fBlendingTime : LREAL := 0.06;
nSysCmd : DWORD := 1;
END_STRUCT
END_TYPE
fMaxPositionDiff : Maximum permitted deviation of the received position from the calculated position in [velocity * s] (e.g. in mm if the velocity is specified in mm/s). For fMaxPositionDiff:=0 the position deviation is _not_ monitored. Otherwise E_Sync_Extrapolate_Error_MaxPosDiffExceeded is issued if the limit is exceeded, and the system switches to the configured FallBackMode (see FB_AxisExtrapolateValues).
bUseAccForExtrapolation : If TRUE, the set acceleration is used for extrapolating the set velocity. This is the default and must be deactivated for encoder or NCI path axes, for example.
fT1factorPos : Time constant of the PT1 filter for the set position, specified in multiples of the fTaskCycleTime.
fT1factorVelo : Time constant of the PT1 filter for the set velocity, specified in multiples of the fTaskCycleTime.
fBlendingTime : Time during which linear interpolation is used between the calculated set positions for switching between PT1 filter to sync mode and vice versa. [s]
nSysCmd : reserved