Overview of motion-related data types
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 633
The OUTPUT_COMPENSATION data type defines the details for each output
bit by setting the characteristics of each actuator.
OUTPUT_COMPENSATION contains the following members.
Mnemonic Data Type Description
Offset REAL Offset provides position compensation for both the latch and unlatch operations.
LatchDelay REAL Latch delay, programmed in seconds, provides time compensation for the latch operation.
UnlatchDelay REAL Unlatch delay, programmed in seconds, provides time compensation for the unlatch operation.
Mode DINT The mode determines the behavior of the output bit. The available mode options are:
0 = Normal - The output bit is set for the latch operation and is reset for the unlatch operation.
1 = Inverted - The output bit is reset for the latch operation and set for the unlatch operation.
2 = Pulsed - The output bit is set for the latch operation and for the on-duty state of the pulse and is reset for
the unlatch operation and for the off-duty state of the pulse.
3 = Inverted and Pulsed - The output bit is reset for the latch operation and for the on-duty state of the pulse
and is set for the unlatch operation and for the off-duty state of the pulse.
A value of less than 0 or greater than 3 results in an Illegal Output Compensation error and a mode of Normal is
used.
CycleTime REAL Pulse time in seconds. If the mode is Pulsed or Inverted and Pulsed, and CycleTime is less than or equal to 0, an
Illegal Output Compensation error results and a mode of Normal is used.
DutyCycle REAL The percent of CycleTime in which the pulse is to be turned on (i.e., on-duty). A value of 50 represents 50
percent on-duty. A value of less than 0 or greater than 100 returns an Illegal Output Compensation error and
DutyCycle is limited to either 0 or 100.
Structure
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