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Axis Positions Data

ActualPosition: is the position of the axis read from the drive interface which is read from the feedback deviceA process whereby some proportion of the output signal of a system is passed (fed back) to the input. In automation, a device coupled to each motor to provide indication of the motor's shaft angle, for use in commutating the motor and controlling its speed and position

feedback device

drive interface

ActualPosition

CommandPosition: is the command position that is sent to the drive interface to command the axis.
This position is tied to the Status output of the MC_Power function block:

When the Status = 1 the command position is a combination of the Normal, Superimposed and Phasing commands
When the Status = 0 the command position tracks the Actual Position

CoordinatedMotionCmdPos + NormalCmdPos + SuperimposedCmdPos + PhaseCmdPos+ the accumulated command deltas of all superimposed axes

CommandPosition

CoordinatedMotionCmdPos: is the command position generated by the Coordinated Motion Interpolator when interpolating coordinated motion moves.

MC_MoveCircAbs
MC_MoveCircRel
MC_MoveDirAbs
MC_MoveDirRel
MC_MoveLinAbs
MC_MoveLinRel

Coordinated Motion Interpolator

CoordinatedMotionCmdPos

NormalCmdPos: is the command position generated by the Normal Interpolator when interpolating a single axis move or a slave move

MC_MoveAbsolute
MC_MoveRelative
MC_MoveAdditive
MC_MoveVelocity
MC_Halt
MC_CamOut
MC_GearOut
MC_Stop

Normal Interpolator

NormalCmdPos

When interpolating a slave move, the PhaseCmdPos is incorporated in the generation of the NormalCmdPos.

MC_GearIn
MC_GearInPos
MC_CamIn

(MasterActualPos + PhaseCmdPos)
* (gear ratio or cam profile)

NormalCmdPos

SuperimposedCmdPos: is the command position generated by the Superimposed Interpolator when interpolating a MC_Superimp move

MC_Superimp

Superimposed Interpolator

SuperimposedCmdPos

PhaseCmdPos: is the command position generated by the Phasing Interpolator when interpolating a MC_Phasing master phase shift

MC_Phasing

Phasing Interpolator

PhaseCmdPos