Description
MOVE.POSCOMMAND contains the current position command from the trajectory generator.
The value of MOVE.POSCOMMAND is affected by MOVE.POSMODULO and MOVE.POSPOLARITY.
MOVE.POSCOMMAND can be used to determine the position being commanded. You can write to MOVE.POSCOMMAND at any time; to establish a new home position (where MOVE.POSCOMMAND = 0). Writing to MOVE.POSCOMMAND will not affect motor motion.
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MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE = 5.
Example
'set electrical home position when DIN1.STATE goes to 0. '-------------------------------------- MOVE.DIR = 0 : MOVE.RUNSPEED = 100 : MOVE.GOVEL When DIN1.STATE = 0, Continue MOVE.ABORT While MOVE.MOVING : Wend MOVE.POSCOMMAND = 0
General Information
|
Type |
R/W |
|
Units |
Depends on UNIT.PROTARY or UNIT.PLINEARUNIT.ACCLINEAR Rotary: counts, rad, deg, (Custom Units), 16-bit counts Linear: counts, mm, µm, (Custom Units), 16-bit counts |
|
Range |
N/A |
|
Default Value |
N/A |
|
Data Type |
Integer |
Variants Supported
This parameter is only supported on AKD BASIC drives.
Fieldbus Information
|
Fieldbus |
Index/Subindex |
Is 64 bit? | Attributes | Signed? |
Object Start Version |
|---|---|---|---|---|---|
|
Modbus |
1120 |
Yes | 64 bit | Yes |
M_01-05-11-000 |
