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Kinematic Positions


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The process of getting axis positions is described in the pread/dread sections of the software reference. This starts on the bottom of page 1304 with the newest version from October 20.



Ldata.Coord=Coordinate System Number


Axis actual positions are now stored in D variables according to the attached table.


A position reporting PLC can be used to put these axis positions into global variables.


Ldata.coord = 1		// Select coordinate system 1
ReportActPosX = D6		// Actual X
ReportActPosY = D7		// Actual Y
ReportDesPosX = D6		// Desired X
ReportDesPosY = D7		// Desired Y


For motor positions, just look at Motor[x].Pos, Motor[x].ActPos, or Motor[x].DesPos.


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