Enables or disables the unit conversion. Changing the unit affects the position and velocity. You need to update MinimumFollowingError, MaximumFollowingError in McProfileSettings and MinimumOutput, MaximumOutput in McPidSettings.
Namespace: IntervalZero.KINGSTAR.Base.Class
Assembly: IntervalZero.KINGSTAR.Base.Class (in IntervalZero.KINGSTAR.Base.dll) Version: 4.4.0.0
Syntax
bool UnitConversion { get; set; }Property UnitConversion As BooleanProperty Value
Type: bool
Remarks
- The default is the count (pulse) system. In the count system, the position unit is count and the velocity unit is count per second.
- In the real-world system, KINGSTAR Subsystem converts the methods to count units using the conversion ratio defined in the Unit and SecondEncoder property.
- To use this class, first you need to change the numerator and denominator. Second, you need to update the PID gain values and motion interpolation parameters to match the user-defined unit. This can only be done when the axis is disabled.
See also