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feedback MS150 Reference Manual

Modular servo workshop
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  • Page 2 MS150 Modular Servo Workshop Reference Manual 33-008-2M5 Feedback Feedback Instruments Ltd, Park Road, Crowborough, E. Sussex, TN6 2QR, UK. Telephone: +44 (0) 1892 653322, Fax: +44 (0) 1892 663719. email: feedback@fdbk.co.uk World Wide Web Homepage: http://www.fbk.com Manual: 33-008-2M5 Ed01 980930 Printed in England by Fl Ltd, Crowborough Feedback Part No.
  • Page 3 Notes...
  • Page 4 While we provide the fullest possible user information relating to the proper use of this equipment, if there is any doubt whatsoever about any aspect, the user should contact the Product Safety Officer at Feedback Instruments Limited, Crowborough. This equipment should not be used by inexperienced users unless they are under supervision.
  • Page 5 Should this equipment be used outside the classroom, laboratory study area or similar such place for which it is designed and sold then Feedback Instruments Ltd hereby states that conformity with the protection requirements of the European Community Electromagnetic Compatibility Directive (89/336/EEC) may be invalidated and could lead to prosecution.

  • Page 6: Table Of Contents

    MODULAR SERVO Reference Manual Contents Table of contents Introduction Description of the toolbox functions GetAlgNo GetBaseAddress GetChan1Filt, GetChan2Filt, GetChan3Filt, GetChan4Filt, GetChan5Filt, GetChan6Filt GetDataSource GetDivider GetHistory GetModelP 2-14 GetNoOfSamples 2-15 GetP 2-16 GetPW 2-17 GetSampleTime 2-18 GetV2Velocity 2-19 LoadLibrary 2-20 ResetEncoder 2-22 ResetTime 2-23...
  • Page 7 MODULAR SERVO Reference Manual Contents Notes TOC 2 33-008-2M5...

  • Page 8: Introduction

    The RTK provides a mechanism of real-time measurements and control of the MS150 unit in the Windows 95 and Windows NT environments. It has the form of dynamic linked library (DLL). It is written in the closed form. No modifications are necessary. RTK contains all functions required for control and data collection in real-time.
  • Page 9 The description of the demonstration files is given in the Modular Servo Workshop Getting Started manual – 33-008-1M5 External interface for the MS150 system offers the way to extend capabilities of the software. Although the RTK and MATLAB interface create a complete, self contained environment for real-time experiments its applicability is limited to a fixed number of embedded controllers.
  • Page 10 CHAPTER 1 MODULAR SERVO Reference Manual Introduction 33-008-2M5...
  • Page 11 Potentiometer Digital encoder External position excitation M S150 M odular Servo - software - software controlled (*) - user defined by External Interface software - hardware Figure 1-1: Digital control of the MS150 system (hardware and software configuration) 33-008-2M5...

  • Page 12: Description Of The Toolbox Functions

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions Description of the Toolbox Functions All functions desired for communication between the Real-Time Kernel (RTK) and MATLAB environment have the following general form: ReturnValue = es_call( FunctionName, [ Argument ] ) where: ReturnValue - value returned by the function, es_call -...

  • Page 13: Getalgno

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions GetAlgNo Purpose : Get the number of the currently active control algorithm. Synopsis : AlgNo = es_call( 'GetAlgNo' ) Description : The function returns the number of the algorithm currently active in the RTK.

  • Page 14: Getbaseaddress

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions GetBaseAddress Purpose : Get the base address of the input/output board from the RTK. Synopsis : BaseAddr = es_call( 'GetBaseAddress' ) Description : The function is called to obtain the base address of the RT-DAC or the PCL-812 interface board defined in the RTK.
  • Page 15 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions Example 2 : The base address equal to zero can be used to test the software. This operating mode is useful to test real-time software or to test MATLAB m-scripts and Simulink models.

  • Page 16: Getchan1Filt, Getchan2Filt, Getchan3Filt, Getchan4Filt, Getchan5Filt, Getchan6Filt

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions GetChan1Filt, GetChan2Filt, GetChan3Filt, GetChan4Filt, GetChan5Filt, GetChan6Filt Purpose : Get the parameters of the digital filters. Synopsis : fi = es_call( 'GetChan1Filt' ) fi = es_call( 'GetChan2Filt' ) fi = es_call( 'GetChan3Filt' ) fi = es_call( 'GetChan4Filt' ) fi = es_call( 'GetChan5Filt' ) fi = es_call( 'GetChan6Filt' )
  • Page 17 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions All filters implemented in RTK have parameter set to one and all others parameters set to zero, as default. It gives the transfer function for the filter equal to 1 (the output signal is equal to the input signal). The return variable fi is a 2-by-9 matrix in the form: ...

  • Page 18: Getdatasource

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions GetDataSource Purpose : Get information about data collected in the internal data acquisition buffer. Synopsis : src = es_call( 'GetDataSource' ) Description : The function returns the six-elements vector containing information about data collected in the internal data acquisition buffer.

  • Page 19: Getdivider

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions GetDivider Purpose : Get the divider of the auxiliary clock. Synopsis : Div = es_call( 'GetDivider' ) Description : The function returns the divider of the basic RTK clock. This function allows to define a sampling period different then set by SetSampleTime function.

  • Page 20: Gethistory

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions GetHistory Purpose : Get content of the internal RTK buffer. Synopsis : Hist = es_call( 'GetHistory' ) Description : The function returns the Hist matrix containing the history of an experiment and sets the buffer to zero.
  • Page 21 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions See : GetNoOfSamples, StartAcq Example : Read 250 data points and display the data. es_call( 'SetDataSource', [ 8 9 10 11 12 13 ] ); es_call( 'SetPW', [ 1 1 1 1 1 -0.5 -0.3 0.2 0.5 zeros(1, 11 ) ] ); es_call( 'SetAlgNo', 1 );...
  • Page 22 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions The figure above shows the angle vs. time diagram. Notice that the plot starts from approximately 94 seconds. This means that the experiment was started after 94 seconds from the moment when es_call library was loaded to the memory.
  • Page 23 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions - 2 0 - 4 0 - 6 0 1 0 0 1 0 2 1 0 4 1 0 6 1 0 8 The following command plots the control value for the DC drive: plot( Hist( 1, :), Hist( 8, : ) ) 0 .5 0 .4...
  • Page 24 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions 33-008-2M5 2-13...

  • Page 25: Getmodelp

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions GetModelP Purpose : Return the parameters of the built-in mathematical model. Synopsis : Ret = es_call( 'GetModelP' ) Description : The function returns the vector containing four numbers. The elements of the vector corresponds to the mathematical model of the DC servo motor given by the following equations: ...

  • Page 26: Getnoofsamples

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions GetNoOfSamples Purpose : Get the number of samples available in the buffer. Synopsis : Hist = es_call( 'GetNoOfSamples' ) Description : The function returns the number of samples currently available in the buffer.

  • Page 27: Getp

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions GetP Purpose : Get the parameters of the control algorithm. Synopsis : Par = es_call( 'GetP' ) Description : The function returns the vector containing the parameters of the control algorithm currently active in the RTK.

  • Page 28: Getpw

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions GetPW Purpose : Get the parameters of the internal excitation source. Synopsis : Par = es_call( 'GetPW' ) Description : The function returns the vector containing the parameters of the internal signal generator currently active in the RTK.

  • Page 29: Getsampletime

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions GetSampleTime Purpose : Get the basic sampling time. Synopsis : SmplT = es_call( 'GetSampleTime' ) Description : The function returns the period of the basic RTK clock. The period is given in seconds.

  • Page 30: Getv2Velocity

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions GetV2Velocity Purpose : Get coefficient which is used to calculate velocity of the DC motor shaft based on the voltage generated by the tachogenerator. Synopsis : v2 = es_call( 'GetV2Velocity' ) Description : The function returns a scaling coefficient used to calculate velocity of the motor shaft based on the voltage generated by the tachogenerator.

  • Page 31: Loadlibrary

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions LoadLibrary Purpose : Load RTK to memory. Synopsis : Count = es_call( 'LoadLibrary' ) Description : The function loads the RTK to the memory. If you wish to finish the RTK, you should use the UnloadLibrary function.
  • Page 32 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions All lines in the es_par.ini file which begin with the ' %' character are comments, Can not find BaseAddress parameter in the ES_PAR.INI file - the es_par.ini file is corrupted. See message above for details, Windows NT Couldn't access RTKIO device , or Can not start IO access - these two messages can appear in the...

  • Page 33: Resetencoder

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions ResetEncoder Purpose : Set the incremental encoder to the initial position. Synopsis : es_call( 'ResetEncoder' ) Description : The function defines the initial position of the DC servo. The function is called while the system is in a steady-state.

  • Page 34: Resettime

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions ResetTime Purpose : Set the experiment time to zero. Synopsis : es_call( 'ResetTime' ) Description : The function sets the time counter of the RTK to zero. Time is calculated from the first call of the es_call function.

  • Page 35: Setalgno

    Stop experiment - set control to zero Open loop excitation. Uses internal generator as control signal sources PID controller. state feedback controller time optimal External controller The PID controller uses the data available in the first input channel (see GetHistory and SetDataSource functions) as the variable which is stabilised and the data available in the third channel of the data acquisition buffer as the reference value.
  • Page 36 PID controller may be used to stabilise the position or the velocity . The state feedback controller uses the data available in the first input channel of the data acquisition buffer as position of the motor shaft, the...
  • Page 37 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions Example 2: Set the PID controller parameters and start a close-loop experiment. es_call( 'SetDataSource', [ 8 9 13 1 1 1 ] ); es_call( 'SetPW', [ 1 2 2 2 2 -50 -50 50 50 zeros( 1, 11 ) ] ); es_call( 'SetAlgNo', 0 );...

  • Page 38: Setbaseaddress

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions SetBaseAddress Purpose : Define in the RTK the base address of the RT-DAC or the PCL-812 board. Synopsis : es_call( 'SetBaseAddress', Address ) Description : The function is called to define the base address of the PCL-812 or the RT-DAC board.
  • Page 39 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions Note : There is a GUI interface available, which may be used to set new value of the base address. To call it execute the es_sad command. The result is shown below.

  • Page 40: Setchan1Filt, Setchan2Filt, Setchan3Filt, Setchan4Filt, Setchan5Filt, Setchan6Filt

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions SetChan1Filt, SetChan2Filt, SetChan3Filt, SetChan4Filt, SetChan5Filt, SetChan6Filt Purpose : Set the parameters of the digital filters. Synopsis : ret = es_call( 'SetChan1Filt', fi ) ret = es_call( 'SetChan2Filt', fi ) ret = es_call( SetChan3Filt', fi ) ret = es_call( 'SetChan4Filt', fi ) ret = es_call( 'SetChan5Filt', fi )
  • Page 41 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions All filters implemented in RTK have a parameter set to one and all others parameters set to zero as default. It gives the transfer function for the filter equal to 1 (the output signal is equal to the input signal). If you need other filter transfer function the fi variable must be set.
  • Page 42 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions -100 -150 -200 2080 2082 2084 2086 2088 2090 2092 Notice the difference in the velocity data after the following commands: fi = [ 0.125 0.125 0.125 0.125 0.125 0.125 0.125 0.125 ; ... 0 0 0 0 0 0 0 0 ];...

  • Page 43: Setdatasource

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions SetDataSource Purpose : Define the source of data collected in the internal data acquisition buffer. Synopsis : src = es_call( 'SetDataSource', data_source ) Description : The function accepts the six-elements vector defining the source of data collected in the internal data acquisition buffer.
  • Page 44 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions voltage of the signal connected to the analogue input channel 15 of the I/O board expressed in [V] angle expressed in [deg] - signal connected to the analogue input channel 11 of the I/O board angle expressed in [deg] maesured from incremental encoder sensor...
  • Page 45 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions Note : The user can use the es_src MATLAB function to set data source using MATLAB GUI interface. The appropriate window is shown below: 2-34 33-008-2M5...

  • Page 46: Setdivider

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions SetDivider Purpose : Set the clock divider. Synopsis : es_call( 'SetDivider', Div ) Description : The function sets an auxiliary clock of RTK. This function allows the definition of a control period different from the value defined by the SetSampleTime function.
  • Page 47 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions Example 3: The following sequence of commands: % select open-loop control es_call( 'SetDivider', 1 ); % set triangle open-loop excitation es_call( 'SetPW', [2 1 2 -1 1 zeros( 1, 15 ) ] ); es_call( 'SetDataSource', [8 1 1 1 1 1 ] );...
  • Page 48 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions After the commands: es_call( 'SetDivider', 2 ) es_call( 'StartAcq' ); pause( 5 ) h = es_call( 'GetHistory' ); stairs( h( 1, : )-h( 1, 1 ),h( 2, : ) ); the picture changes (see figure below).

  • Page 49: Setinitcond

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions SetInitCond Purpose : Set the initial conditions for the mathematical model. Synopsis : Ret = es_call( 'SetInitCond', par ) Description : The function sets the initial conditions for the mathematical model built into the RTK.

  • Page 50: Setmodelp

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions SetModelP Purpose : Set the parameters of the built-in mathematical model. Synopsis : Ret = es_call( 'SetModelP', par ) Description : The function sets the parameters of the mathematical model. The model is used by the internal system simulator and is given in the form of the following linear equations: ...

  • Page 51: Setp

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions SetP Purpose : Set the parameters of the controller. Synopsis : es_call( 'SetP', Par ) Description : The function is called to set parameters of the controller. Next, the number of the algorithm should be selected ( SetAlgNo ).
  • Page 52 Par( 3 ) is equal to the Kd parameter, Par( 4 ) is equal to the Imax parameter, Par( 5 ) is equal to the Umax parameter, • for algorithm number 3 (state feedback controller) the control value is calculated due to the following algorithm: ε...
  • Page 53 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions The elements of the Par vector are equal respectively: Par( 1 ) is equal to the K1 parameter, Par( 2 ) is equal to the K2 parameter, Par( 3 ) is equal to the Umax parameter, •...

  • Page 54: Setpw

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions SetPW Purpose : Set the parameters of the internal excitation. Synopsis : es_call( 'SetPW', Par ) Description : The function sets the parameters of the internal signal source. The internal signal source is used as: •...
  • Page 55 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions Par( 1 ) = 1: square wave. In this case (Figure 2-2): Par( 2 ), Par( 3 ), Par( 4 ), Par( 5 ) - time periods, Par( 6 ), Par( 7 ), Par( 7 ), Par( 8 ) - appropriate levels of the signal, Level Par(6) Par(7)
  • Page 56 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions Figure 2-3: Triangle excitation. Par( 1 ) = 3: sinusoidal wave. In this case (Figure 2-4): Par( 2) - time period, Par( 3 ), Par( 4 ) - maximum and minimum values of the signal, Level Par(3) Par(2)
  • Page 57 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions Level Par(3) Par(2) time [s] Par(4) Figure 2-5: Random excitation. See : GetPW, SetAlgNo Example : Set the internal excitation source to generate a sinusoidal wave: period equals to 4 seconds, minimum value is -0.3, maximum value is 0.9. Par = es_call( 'GetPW' );...

  • Page 58: Setsampletime

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions SetSampleTime Purpose : Set the basic clock. Synopsis : es_call( 'SetSampleTime', Period ) Description : The function sets the basic clock of the RTK. The sampling period of A/D converters is set by this function. The controller output rate (D/A) can be equal to or greater than the basic clock frequency.

  • Page 59: Setv2Velocity

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions SetV2Velocity Purpose : Set coefficient used to calculate velocity of the motor shaft based on the voltage generated by the tachogenerator. Synopsis : ret = es_call( 'SetV2Velocity', coeff ) Description : The function sets the coefficient used to calculate velocity of the motor shaft based on the voltage generated by the tachogenerator.

  • Page 60: Startacq

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions StartAcq Purpose : Clear the content of the data acquisition buffer. Synopsis : es_call( 'StartAcq' ) Description : The function erases the content of the buffer. The action is similar to that of the GetHistory function, but does not return the content of the buffer.

  • Page 61: Stoppractical

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions StopPractical Purpose : Stop the practical. Synopsis : es_call( 'StopPractical' ) Description : The function is called to stop the practical. It suspends the currently active RTK control algorithm and sets control values for DC motor to zero. The action is similar to es_call( 'SetAlgNo', 0 ) .
  • Page 62 CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions The Stop Practical block is masked. The mask of the Subsystem block sets the inscription of the function inside the block. It is shown below. To join the StopPractical block with the StopPractical action the following MATLAB command must be executed: set_param( 'untitled/Subsystem', 'OpenFcn' , ...

  • Page 63: Unloadlibrary

    CHAPTER 2 MODULAR SERVO Reference Manual Description of the Toolbox Functions UnloadLibrary Purpose : Remove the RTK library from memory. Synopsis : Count = es_call( 'UnloadLibrary' ) Description : The function removes immediately the RTK library from the memory. The termination of MATLAB removes the RTK from the memory. See : LoadLibrary 2-52...

  • Page 64: Information Flow Between Simulink Models And The Real-Time Kernel

    CHAPTER 3 MODULAR SERVO Information Flow Between Reference Manual Simulink Models and the Real-Time Kernel 3 Information Flow Between Simulink Models and the Real-Time Kernel This section describes an example of an S-function executing information exchange between the SIMULINK model and the Real-Time Kernel. S-functions were developed to give SIMULINK the ability to make generic simulation block to handle in one standard form different roles, like continuous simulation, discrete simulation, system embedding within systems, and so on.

  • Page 65: Guide For S-Functions (Example)

    We shall discuss the S-function of the PID Controller block. This block belongs to the main MS150 window called by the es command from the MATLAB Command Window. The SIMULINK model executed after a double click on PID Controller block is shown in Figure 3-1.
  • Page 66 CHAPTER 3 MODULAR SERVO Information Flow Between Reference Manual Simulink Models and the Real-Time Kernel Double click on the Real-Time Task block and you will see the following dialogue box (Figure 3-2). Figure 3-2: Real-Time Task dialogue box. The window shown in Figure 3-2 sets the parameters of the SIMULINK model. The parameters are passed to the S-function during the execution of the model (after the Start command from the Simulation menu).
  • Page 67 CHAPTER 3 MODULAR SERVO Information Flow Between Reference Manual Simulink Models and the Real-Time Kernel es_pidsf Inport out_1 SERVO Real-Time Task Figure 3-3: Unmasked Real-Time Task block. The Real-Time Task block contains one main block: S-function labelled as Real-Time Task . The blocks Inport and Outport from Figure 3-3 are required for masking.

  • Page 68: S-Function

    CHAPTER 3 MODULAR SERVO Information Flow Between Reference Manual Simulink Models and the Real-Time Kernel Figure 3-5: Mask definition for the Real-Time Task block. S-function The content of the es_pidsf S-function is described in the following part of this section. The lines written in italics are statements of the es_pidsf.m file.
  • Page 69 CHAPTER 3 MODULAR SERVO Information Flow Between Reference Manual Simulink Models and the Real-Time Kernel The stop_pract variable is used to stop experiment after the Simulink simulation is terminated. This function reads history of the experiment and transfers samples to the output of S-function block (1 point for every Downsampling ratio points).
  • Page 70 CHAPTER 3 MODULAR SERVO Information Flow Between Reference Manual Simulink Models and the Real-Time Kernel sizes.NumSampleTimes = 1; sys = simsizes(sizes); Set the initial values of the control algorithm. First set the control of the DC motors to zero (control algorithm number 0). Then set the sampling time, set the parameters of the controller and activate control algorithm number 2.
  • Page 71 CHAPTER 3 MODULAR SERVO Information Flow Between Reference Manual Simulink Models and the Real-Time Kernel Wait for the first sample which may be sent to the output while ( es_call( 'GetNoOfSamples', 0 ) <= downsamp ) end; history = es_call( 'GetHistory', 0 )'; % initialize the initial conditions str = [];...
  • Page 72 CHAPTER 3 MODULAR SERVO Information Flow Between Reference Manual Simulink Models and the Real-Time Kernel Calculate the next discrete time point (see body of the es_sfntp.m file for details) [ sys, downsamp, history ] = es_sfntp( downsamp, history ); case 9, % Terminate % change background color of Real Time Task block after simulation stop set_param('es_pid/RealTimeTask','BackgroundColor','green');...
  • Page 73 CHAPTER 3 MODULAR SERVO Information Flow Between Reference Manual Simulink Models and the Real-Time Kernel Notes 3-10 33-008-2M5...

  • Page 74: Quick Reference Table

    CHAPTER 4 MODULAR SERVO Reference Manual Quick Reference Table 4 Quick Reference Table Function Name Description 1. RTK communication GetAlgNo number of algorithm GetBaseAddress get base address of the I/O board GetChan1Filt, get parameters of the filters GetChan2Filt, GetChan3Filt, GetChan4Filt, GetChan5Filt, GetChan6Filt GetDataSource...
  • Page 75 StopPractical stop practical UnloadLibrary remove RTK DLL library from memory 2. Demo (Simulink models) start main demo es_open open-loop control es_pid PID control algorithm es_topt time-optimal control algorithm es_stflq state feedback controller es_mracm adaptive controller 33-008-2M5...
  • Page 76 CHAPTER 4 MODULAR SERVO Reference Manual Quick Reference Table 3. GUI windows es_src define source of input data es_sad set base address es_cpar set controller parameters es_egen set parameters of excitation generator es_stet stethoscope GUI window es_test basic tests of the hardware es_tune calibration of the 33-301 box es_model...
  • Page 77 CHAPTER 4 MODULAR SERVO Reference Manual Quick Reference Table Notes 33-008-2M5...

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