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Register for actual position


DT-Europe
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Which register to use to know the actual position of motor? When we perfom a homing of a motor, the position window of IDE is showing zero, but the different registers that we tested: Motor[1].ActPos Motor[1].DesPos Motor[1].Pos Motor[1].Pos2 are showing a different value than zero. The value showned by the above registers seemS to be the Motor[1].HomePos register. So, do we have always to substact the Motor[1].HomePos value to know the actual or desired position of a motor?
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[quote=DT-Europe] Which register to use to know the actual position of motor? When we perfom a homing of a motor, the position window of IDE is showing zero, but the different registers that we tested: Motor[1].ActPos Motor[1].DesPos Motor[1].Pos Motor[1].Pos2 are showing a different value than zero. The value showned by the above registers seemS to be the Motor[1].HomePos register. So, do we have always to substact the Motor[1].HomePos value to know the actual or desired position of a motor? [/quote] This is correct. In Power PMAC the structure of the RT OS is different from Turbo PMAC so we needed to change the way the Home Offset works.
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