CL_FKD_SVC

Requests/sets the LM628 Derivative PID coefficient on a ZY.

ZIYRet CL_FKD_SVC(PM_CL_FKD)

Parameters:

All parameters are contained in the PM_CL_FKD structure.

struct PM_CL_FKD

{
  SRVD  sd;
  int   Axis;
  short KD;
};

sd.Name

The name of the ZY.

sd.Flags

The following flags determine how CL_FKD_SVC will execute. They are mutually exclusive:

CL_FKD_READ

If this flag is set, the CL_FKD_SVC RPC function call is requesting the current Derivative value of the specified LM628 axis controller.

CL_FKD_SET

If this flag is set, the CL_FKD_SVC RPC function call is sending a new Derivative value to the specified LM628 axis controller.

sd.ErrorMsg

Not used.

sd.TID

Not used.

sd.TS

Not used.

Axis

The axis number of the LM628 controller. The `Azimuth' axis is axis 0, and the `Elevation' axis is axis 1.

KD

If the flag CL_FKD_SET is set in the data member sd.Flags, then this is the new Derivative value.

Return Value:

A ZIYRet structure, which contains the success code and an error message, if the call failed (see ZIYRet, section 4.2.2.)

Remarks:

The National Semiconductor LM628 axis controller has a digital PID filter. This function allows the client to either read or set the Derivative filter coefficient value. (see the National Semiconductor ``LM628/LM629 Precision Motion Controller'' data sheet.)

Example:

PM_CL_FKD p;


p.sd.Name = "zy10";             // address ZY10
p.sd.ErrorMsg = null_str;       // Keep XDR lib happy
p.sd.Flags = CL_FKD_SET;        // Set a new derivative value
p.Axis = 0;                     // for the `azimuth' LM628
p.KD = 120;                      // New derivative value.

CL->rexec(CL_FKD_SVC, (xdrproc_t)xdr_PM_CL_FKD, (char *)&p,
          (xdrproc_t)xdr_ZIYRet, (char *)&in, sizeof(ZIYRet));

See also:

CL_ABA_SVC, CL_ABV_SVC, CL_FIL_SVC, CL_FKI_SVC, CL_FKP_SVC CL_FLT_SVC, CL_FSI_SVC, PM_CL_FKP