Configure

Configure the algorithm. Channel specific parameter are set using the method ConfigueChannel().

Syntax

Definition:

METHOD Configure : BOOL
VAR_INPUT
    nXtsLength : UDINT;
    fHardwarePosFactor : LREAL;
    fSampleRate : LREAL;
    aFilterOrder : ARRAY[1..4] OF UDINT;
    aFilterTimeConstant : ARRAY[1..4] OF LREAL;
    aUseFilterForExtSignal1 : ARRAY[1..4] OF BOOL;
    aUseFilterForExtSignal2 : ARRAY[1..4] OF BOOL;
END_VAR

Inputs

Name	Type	Description
nXtsLength	UDINT	Length of the given XTS system in millimeters.
fHardwarePosFactor	LREAL	Factor for scaling the input signal in mm.
fSampleRate	LREAL	Sampling rate (samples per second) of the input signal.
aFilterOrder	ARRAY[1…4] OF UDINT	Filter order of the PTn filter for the calculation. Index: 1: Position 2: Velocity 3: Acceleration 4: Jerk
aFilterTimeConstant	ARRAY[1…4] OF LREAL	Filter time constant of the PTn filter for calculation. Index: 1: Position 2: Velocity 3: Acceleration 4: Jerk
aUseFilterForExtSignal1	ARRAY[1…4] OF BOOL	If `TRUE`, the corresponding filter stage is applied to input signal 1. Index: 1: Position 2: Velocity 3: Acceleration 4: Jerk
aUseFilterForExtSignal2	ARRAY[1…4] OF BOOL	If `TRUE`, the corresponding filter stage is applied to input signal 2. Index: 1: Position 2: Velocity 3: Acceleration 4: Jerk

Return value

Name	Type	Description
Configure	BOOL	Returns `TRUE` if successful.