Axis Positions Data

CommandPosition is the command position (without modulo and in the axis' User Units) that is sent to the drive interface to command an 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 is the command position generated by the Coordinated Motion Interpolator when interpolating coordinated motion moves.

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

PhaseCmd Pos is the command position generated by the Phasing Interpolator when interpolating a MC_Phasing master phase shift. It is also incorporated in the generation of the NormalCmdPos when interpolating a slave move.

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

Figure 5-47: Graphic of how PLCopen axis position data is calculated.

Actual Position is the position of the axis read from the drive interface, which is read from the feedback device A 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,

Group Actual Position is the set of positions of an axes group read from the axis interface,

Figure 5-48: How Actual Position is calculated.

See Also