374 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
used by gearing and camming functions. Generally this value should be set to 0
since the device applies the command position according to the associated time
stamp. A non-zero value would have the effect of phase advancing or retarding the
axis position relative to a master axis.
See also
Motion Control Status Attributes on page 341
Absolute Position Recovery on page 43
These are the motion planner output attributes associated with a Motion Control
Axis.
Planner Command Position - Integer
Usage Access Data Type Default Min Max Semantics of Values
Required - FPV
Get/
GSV
DINT - - - Planner Counts
This attribute value is the integer component of Motion Planner generated
command position in planner counts. The command position data type is
represented internally as a 64-bit floating point value that Motion Task restricts to
a signed 32-bit integer range. The resulting range restricted Double Floating point
value can therefore be expressed as two 32-bit attributes to preserve precision. This
is accomplished by representing the command position (compos) as x + y, where x
is the signed integer component (this attribute) and y is the signed floating point
fractional component. x and y are defined using the following equations:
x = (int)compos
y = (float)(compos – x)
Planner Command Position - Fractional
Usage Access Data Type Default Min Max Semantics of Values
Required - FPV
Get/
GSV
REAL - - - Planner Counts
This attribute value is the fractional component of Motion Planner generated
command position in planner counts. Representing the command position
(compos) x + y, where x is the signed integer component and y is the signed
floating point fractional component (this attribute). x and y are defined using the
following equations:
x = (int)compos
Attributes
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