MPIFilterGainPIV

Definition

typedef		struct MPIFilterGainPIV {
    struct {
        double   proportional;                 /* Kpp */
        double   integral;                     /* Kip */
    } gainPosition;
    struct {
        double   proportional;                 /* Kpv */
        double   integral;                     /* Kiv */
    } gainVelocity;
    struct {
        double   position;                     /* Kpff */
        double   velocity;                     /* Kvff */
        double   acceleration;                 /* Kaff */
        double   friction;                     /* Kfff */
    } feedForward;
        double smoothing;                      /*VelocitySmoothingFactor */
    struct {
        double   moving;                       /* MovingIMax */
        double   rest;                         /* RestIMax */
        double   velocityIntegrationMax;       /* VintMax */
    } integrationMax;
    struct {
        double   limitHigh;                    /* OutputTorqueLimitHigh */
        double   limitLow;                     /* OutputTorqueLimitLow */
        double   offset;                       /* OutputOffset */
    } output;
    struct {
        double   filterFFT;                    /* TestSignal */
    } noise;
} MPIFilterGainPIV;

Change History: Modified in 04.00

Description

MPIFilterGainPIV is a structure that defines the filter coefficients for the PIV filter algorithm.

See Also

High/Low Output Limits section for special instructions regarding MPIFilterGainPIV.
MPIFilterGainPIVCoeff