vanandel Posted December 11, 2013 Share Posted December 11, 2013 The documentation for GetMotorVel() included with the 8/19/2013, 1.5.021 IDE states that the returned velocity is 0.0625 * Motor[mtr].FltrVel units. (note that 0.0625 is 1/16) The Power PMAC Software Reference Manual, August 10, 2012 states that Motor[x].FltrVel returns 'Motor units per 16 servo interrupt periods'. Therefore, GetMotorVel() returns Motor Units/servo interrupt period. When I actually use GetMotorVel(), it appears to return Motor Units/ms, NOT Motor Units/servo interrupt period. Please correct the documentation. Is GetMotorVel() documented outside the IDE's online help? Link to comment Share on other sites More sharing options...
steve.milici Posted December 13, 2013 Share Posted December 13, 2013 I have checked the actual C-code and it does return the value in Motor Units/ms. We will correct the documentation on the next IDE release. This is only documented in the IDE Help. Link to comment Share on other sites More sharing options...
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