User Manual Chapter 5
GFK-1742F Jan 2020
DSM314 to Host Controller Interface 138
2.04 Commanded Position. Commanded Position (user units) is where the axis is
commanded to be at any instant in time. For a Servo Axis, the difference between
Commanded Position and Actual Position is the Position Error value that produces
the Velocity Command to drive the axis. The rate at which the Commanded Position
is changed determines the velocity of axis motion.
If Commanded Position moves past either of the count limits, it will roll over to the
other limit and continue in the direction of the axis motion.
2.05 Actual Position. Actual Position (user units) is a value maintained by the DSM314 to
represent the physical position of the axis. It is set to an initial value by the Set
Position %AQ Immediate command or to Home Position by the Find Home cycle.
When digital absolute encoders are used, Actual Position is automatically set
whenever the encoder reports a valid position. The motion of the axis feedback
device continuously updates the axis Actual Position.
If Actual Position moves past either of the count limits, it will roll over to the other
limit and continue in the direction of the axis motion.
2.06 Strobe 1, 2 Position. Strobe 1 Position and Strobe 2 Position (user units) contain the
axis actual position when a Strobe 1 Input or Strobe 2 Input occurs. When a Strobe
Input occurs, the Strobe 1Flag or Strobe 2 Flag %I bit is set to indicate to the host
controller that new Strobe data is available in the related Strobe 1 Position or Strobe
2 Position status word. The host controller must set the proper Reset Strobe 1 or
Reset Strobe 2 Flag %Q bit to clear the associated Strobe 1,2 Flag %I bit.
Strobe 1, 2 Position will be maintained and will not be overwritten by additional
Strobe Inputs until the Strobe 1, 2 Flag %I bit has been cleared. If the Reset Strobe
Flag %Q bit is left in the
ON state (thus holding the Strobe 1, 2 Flag %I bit in the cleared state), then each
Strobe Input that occurs will cause the axis position to be captured in Strobe 1, 2
Position.
The Strobe 1, 2 Position actual position values are also placed in data parameter
registers for use with motion programs commands. The data parameter register
assignments are as follows:
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