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[ FB ]
Value of Current Feedback Device
Type
Servo; Assignment or Comparison
Syntax
See below
Units
See below
Range
See below
Default
n/a
Response
n/a
See Also
GOWHEN, [ PE ], PSET, SCALE, SCLD, SFB, TFB,
Use the
operator to assign the value of the selected feedback device to a variable or to make a
FB
comparison. Depending on the configuration of the
encoder or a resolver.
If you issue a
command, the feedback device position value will be offset by the
PSET
If scaling is not enabled, the position values returned will be encoder or resolver counts. If scaling is
enabled (
), the encoder or resolver values will be scaled by the
SCALE1
on scaling, refer to page 16.
Syntax:
where
VARn=FB
n
Example:
SFB1
; Feedback is encoder
VAR6=FB
; Assign position (scalable) of encoder to variable #6
IF(FB<500)
; If position (scalable) of encoder is less than 500,
; do the commands following the IF statement until the NIF command
VAR4=FB+1000
; Set variable #4 equal to current position of encoder plus 1,000
NIF
; End of IF statement
FFILT
Following Filter
Type
Following
Syntax
<a_><!>FFILT<i>
Units
i = filtering level
Range
i = 0, 1, 2, 3, or 4
Default
0
Response
FFILT
*FFILT0
See Also
FMAXA, FMAXV, FPPEN
The
command specifies the bandwidth of the low pass filter applied to the measurements of master
FFILT
position. This command is to be used in these situations:
•
Measurement of master position is contaminated by either electrical noise (when analog input is
the master) or mechanical vibration.
•
Measurement noise is minimal, but the motion that occurs on the master input is oscillatory. In
this case, using the filter can prevent the oscillatory signal from propagating into the follower
axis (i.e., ensuring smoother motion on the follower axis).
The table below shows how the value of the
FFILT Setting
0
1
2
3
4
Example:
FFILT1
; Set filtering bandwidth to 120 Hz
command, the feedback device could be an
SFB
is the variable number, or
FB
command specifies the low pass filter's bandwidth:
FFILT
Low pass Filter Bandwidth
∞ (no filtering) – default setting
120 Hz
80 Hz
50 Hz
20 Hz
www.comoso.com
PSET
value. For more information
SCLD
can be used in an expression such as
Command Descriptions
Product
Rev
GT6K
6.0
GV6K
6.0
command value.
.
IF(FB<6)
Product
Rev
GT6K
6.0
GV6K
6.0
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