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Motor's commanded position


steveneads
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In my existing UMAC code I use the commanded motor positions located in addresses such as:

 

M161->D:$000088 ; #1 Commanded position (1/[ixx08*32] cts)

 

What is the direct equivalent of this in PowerPMAC? It seems from the manual that Motor[x].DesPos is not really the same (as it includes the master position).

 

How does Motor[x].Desired.Pos relate to this? Is this the desired position at the start of each move? (I don't really understand the description in the manual!)

 

Thanks

Steve

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To get the equivalent of this Mx61 Turbo PMAC register in Power PMAC, use

 

Motor[x].DesPos - Motor[x].ActiveMasterPos - Motor[x].CompDesPos - Motor[x].HomePos

 

Motor[x].Desired.Pos is the position at the start of the present section or segment of commanded motion (i.e. p0 for the present equations of commanded motion.

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