Float axisgetfeedbackvel(void), Float axisgetfgain(void), Float axisgetigain(void) – Rockwell Automation 2098-IPD-xxx Ultra5000 C Programming using the Motion Library User Manual
Page 45: Float axisgetkff(void), Float axisgetkp(void), Float axisgetlowercurlimit(void), Float axisgetpgain(void), Long axisgetposerror(void), Float axisgetuppercurlimit(void)
Publication 2098-PM001E-EN-P — July 2002
Referencing the Motion Library
2-5
float AxisGetFeedbackVel(void);
Returns the feedback velocity of the axis in counts/second.
Note: Velocity error is calculated by subtracting this value from the
command velocity.
float AxisGetFGain(void);
Returns the acceleration feedforward gain of the velocity loop.
float AxisGetIGain(void);
Returns the integral gain of the velocity loop in units of 1/second.
float AxisGetKff(void);
Returns the velocity feedforward gain of the position loop.
float AxisGetKp(void);
Returns the proportional gain of the position loop in units of 1/
second.
float AxisGetLowerCurLimit(void);
Returns the lower current limit in Amps.
float AxisGetPGain(void);
Returns the proportional gain of the velocity loop in units of 1/
second.
Returns the position error in counts.
Note: Position error is calculated by subtracting the feedback position
from the command position.
float AxisGetUpperCurLimit(void);
Returns the upper current limit value in Amps.