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PROGRAMMING MANUAL 261
Revision 1.0
And therefore:
From this equation, we can derive the values for Pn202, Pn203 and UNITS,
given the following restrictions and recommendations:
1. Pn202 and Pn203 are integers.
2. UNITS must not have an infinite number of decimal digits. This can
create rounding errors that result in small position errors that add up to
large accumulative position errors.
3. For reasons of stability, it is necessary to avoid situations where Pn202/
Pn203 is less than 0.01 or greater than 100. It is recommended that
Pn202/Pn203 is approximately 1.
We can now rewrite the last equation to:
One solution to this equation is:
When we consider the third recommendation from the above list (avoid
situations where Pn202/Pn203 is less than 0.01 or greater than 100), we can
rewrite the last equation to:
This gives us the solution:
Pn202
Pn203
UNITS =
.
2
13
10
360
.
Pn202
Pn203
UNITS
10
360
= 2
13
.
Pn202 = 10
Pn203 = 360
UNITS = 2
= 8192
13
Pn202
Pn203
UNITS·
10
360
= 2
13
2
36
= 2
8
32
36
= 2
8
5
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