Axis Positions Data

Actual Position

This is the position of the axis read from the drive interface, which is read from the feedback device.

This is the command position (without modulo and in the axis' user units) sent to the drive interface to command an axis.

This position is tied to the Status output of the MC_Power function block:

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

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

This is the set of positions of an axes group read from the axis interface:

Figure 1: How Actual Position is Calculated

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

This is the command position generated by the Phasing Interpolator when interpolating a MC_Phasing master phase shift.

It is incorporated in the generation of the NormalCmdPos when interpolating a slave move.

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

Figure 2: Calculated PLCopen Axis Position Data