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Method Name: replace_control_parameters_method

Method ID: 0x4673

Method Label: Replace Control Parameters

Method Help: Replace Control Parameters- Control parameters are replaced by PID parameters determined by Actuator Size and Friction Level.


  • {
  • char status[3];
  • int iActSize;
  • int iFricLevel;
  • _set_all_resp_code(0);
  • _set_xmtr_all_resp_code(0);
  • _set_device_status(0xFF,0);
  • _set_xmtr_device_status(0xFF,0);
  • send_trans(164,1,status);
  • if (status[0])
  • {
  • display_response_status(164,status[0]);
  • DELAY(3,literal_string(1650));
  • process_abort();
  • }
  • if (ope_authority_sts != 1)
  • {
  • ACKNOWLEDGE(literal_string(1662));
  • process_abort();
  • }
  • ACKNOWLEDGE(literal_string(1663));
  • ACKNOWLEDGE(literal_string(1708));
  • iActSize = 0;
  • iFricLevel = 0;
  • iActSize = SELECT_FROM_LIST(literal_string(1709),literal_string(1710));
  • iFricLevel = SELECT_FROM_LIST(literal_string(1711),literal_string(1712));
  • ACKNOWLEDGE(literal_string(1713));
  • if (iActSize == 0)
  • {
  • if (iFricLevel == 0)
  • {
  • _fassign(16434,0.20);
  • _fassign(16435,3.40);
  • _fassign(16436,0.30);
  • _fassign(16437,5.0);
  • send_trans(145,0,status);
  • if (status[0])
  • {
  • display_response_status(145,status[0]);
  • DELAY(3,literal_string(1650));
  • process_abort();
  • }
  • _fassign(16438,0.38);
  • _fassign(16439,3.40);
  • _fassign(16440,0.30);
  • _fassign(16441,1.0);
  • send_trans(145,1,status);
  • if (status[0])
  • {
  • display_response_status(145,status[0]);
  • DELAY(3,literal_string(1650));
  • process_abort();
  • }
  • _fassign(16442,1.10);
  • _fassign(16443,15.00);
  • _fassign(16444,0.30);
  • send_trans(145,2,status);
  • if (status[0])
  • {
  • display_response_status(145,status[0]);
  • DELAY(3,literal_string(1650));
  • process_abort();
  • }
  • }
  • else
  • if (iFricLevel == 1)
  • {
  • _fassign(16434,0.20);
  • _fassign(16435,3.00);
  • _fassign(16436,0.28);
  • _fassign(16437,5.0);
  • send_trans(145,0,status);
  • if (status[0])
  • {
  • display_response_status(145,status[0]);
  • DELAY(3,literal_string(1650));
  • process_abort();
  • }
  • _fassign(16438,0.38);
  • _fassign(16439,3.30);
  • _fassign(16440,0.20);
  • _fassign(16441,1.0);
  • send_trans(145,1,status);
  • if (status[0])
  • {
  • display_response_status(145,status[0]);
  • DELAY(3,literal_string(1650));
  • process_abort();
  • }
  • _fassign(16442,1.10);
  • _fassign(16443,9.00);
  • _fassign(16444,0.25);
  • send_trans(145,2,status);
  • if (status[0])
  • {
  • display_response_status(145,status[0]);
  • DELAY(3,literal_string(1650));
  • process_abort();
  • }
  • }
  • else
  • if (iFricLevel == 2)
  • {
  • _fassign(16434,0.20);
  • _fassign(16435,2.80);
  • _fassign(16436,0.25);
  • _fassign(16437,5.0);
  • send_trans(145,0,status);
  • if (status[0])
  • {
  • display_response_status(145,status[0]);
  • DELAY(3,literal_string(1650));
  • process_abort();
  • }
  • _fassign(16438,0.38);
  • _fassign(16439,3.20);
  • _fassign(16440,0.15);
  • _fassign(16441,1.0);
  • send_trans(145,1,status);
  • if (status[0])
  • {
  • display_response_status(145,status[0]);
  • DELAY(3,literal_string(1650));
  • process_abort();
  • }
  • _fassign(16442,1.20);
  • _fassign(16443,6.00);
  • _fassign(16444,0.15);
  • send_trans(145,2,status);
  • if (status[0])
  • {
  • display_response_status(145,status[0]);
  • DELAY(3,literal_string(1650));
  • process_abort();
  • }
  • }
  • }
  • else
  • if (iActSize == 1)
  • {
  • if (iFricLevel == 0)
  • {
  • _fassign(16434,0.22);
  • _fassign(16435,8.00);
  • _fassign(16436,0.27);
  • _fassign(16437,5.0);
  • send_trans(145,0,status);
  • if (status[0])
  • {
  • display_response_status(145,status[0]);
  • DELAY(3,literal_string(1650));
  • process_abort();
  • }
  • _fassign(16438,0.55);
  • _fassign(16439,6.50);
  • _fassign(16440,0.25);
  • _fassign(16441,1.0);
  • send_trans(145,1,status);
  • if (status[0])
  • {
  • display_response_status(145,status[0]);
  • DELAY(3,literal_string(1650));
  • process_abort();
  • }
  • _fassign(16442,1.20);
  • _fassign(16443,45.00);
  • _fassign(16444,0.30);
  • send_trans(145,2,status);
  • if (status[0])
  • {
  • display_response_status(145,status[0]);
  • DELAY(3,literal_string(1650));
  • process_abort();
  • }
  • }
  • else
  • if (iFricLevel == 1)
  • {
  • _fassign(16434,0.23);
  • _fassign(16435,8.00);
  • _fassign(16436,0.26);
  • _fassign(16437,5.0);
  • send_trans(145,0,status);
  • if (status[0])
  • {
  • display_response_status(145,status[0]);
  • DELAY(3,literal_string(1650));
  • process_abort();
  • }
  • _fassign(16438,0.60);
  • _fassign(16439,5.50);
  • _fassign(16440,0.22);
  • _fassign(16441,1.0);
  • send_trans(145,1,status);
  • if (status[0])
  • {
  • display_response_status(145,status[0]);
  • DELAY(3,literal_string(1650));
  • process_abort();
  • }
  • _fassign(16442,1.25);
  • _fassign(16443,15.00);
  • _fassign(16444,0.25);
  • send_trans(145,2,status);
  • if (status[0])
  • {
  • display_response_status(145,status[0]);
  • DELAY(3,literal_string(1650));


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