Float axisgetvelerror(void), Long axissetfeedbackoffset(long offset), Long axissetfgain(float fgain) – Rockwell Automation 2098-IPD-xxx Ultra5000 C Programming using the Motion Library User Manual
Page 46: Long axissetigain(float igain), Long axissetkff(float kff), Long axissetkp(float kp), Long axissetlowercurlimit(float limit), Long axissetpgain(float pgain)
Publication 2098-PM001E-EN-P — July 2002
2-6
Referencing the Motion Library
Returns the velocity error in counts/second.
Note: Velocity error is calculated by subtracting the value of feedback
velocity from the command velocity.
long AxisSetFeedbackOffset(long offset);
Sets the feedback offset of the axis. Offset is programmed in counts.
Returns 0 if successful, or -1 on an error.
long AxisSetFGain(float fgain);
Sets the acceleration feedforward gain.
Returns 0 if successful, or -1 on an error.
long AxisSetIGain(float igain);
Sets the integral gain of the velocity loop in units of 1/second.
Returns 0 if successful, or -1 on an error.
long AxisSetKff(float kff);
Sets the velocity feedforward gain of the position loop.
Returns 0 if successful, or -1 on an error.
long AxisSetKp(float kp);
Sets the proportional gain of the position loop in units of 1/second.
Returns 0 if successful, or -1 on an error.
long AxisSetLowerCurLimit(float limit);
Sets the lower current limit in Amps.
Returns 0 if successful, or -1 on an error.
long AxisSetPGain(float pgain);
Sets the proportional gain of the velocity loop in units of 1/second.
Returns 0 if successful, or -1 on an error.