I want to know that whether the value of positioningState.commandPosition will retain after power on? And whether the value of positioningState.commandPosition will become zero after positioning process ended?

jacek d

 

LasseHamerHedeby

Hi

The basicMotion.position is the interpolated position. That is the calculated position of the controller. The other is the actual position from the encoder. There is always a difference between the interpolated position and the actual position because the interpolator is a bit in front of the encoder. That is called the following error.

Regards,

Lasse

 Whatever you have in mind by "interpolated position" the closest variable is probably the positioningState.commandPosition. However, the most present position command you can obtain is servoData.symmetricServoCommandPosition.

In Simotion you have possibility to superimpose 2 motions on one axis. So basicMotion.position is the position calculated for the basic motion (contrary to the superimposed).

Anyway, for the HMI purposes any of them will do. (even basicMotion.position unless you use superimposed motions)

------------------------------------------------------------------------------------------
Split from the system variables of "position ".