Position reporting from a PLC

[JohnR]

For the Turbo PMAC there was an Technical Note "Position Reporting PLC programs.pdf" that described how to calculate net position from all of the position offsets.

 

see below :

Mtr1NetPos=Mtr1ActPos+Mtr1PosBias+Mtr1CompCorr-Mtr1MastPos*Mtr1OfsMode

 

What would be the equivalent formular for the PPMAC position reporting ?

 

-John

 

 

[Omron Forums Support]

In Power PMAC, the net position for Motor x (I will call it "Motor[x].NetPos" although there is no structure name for that) is as follows:

 

Motor[x].NetPos = Motor[x].ActPos - Motor[x].HomePos - Motor[x].MasterPos*((Motor[x].MasterCtrl & 2) >> 1)

 

Please note that Motor[x].ActPos in Power PMAC differs from Turbo PMAC in that position compensation is included in the register; i.e.:

 

Motor[x].ActPos = Motor[x].Pos + Motor[x].CompPos

 

Note that you can dynamically write to Motor[x].CompPos for algorithmic compensation if desired.

 

Furthermore, ((Motor[x].MasterCtrl & 2) >> 1) is the offset mode bit; i.e., bit 1 of Motor[x].MasterCtrl (please refer to the description of Motor[x].MasterCtrl in the Power PMAC Saved Data Structure Elements manual for more details).