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Kinematic Positions


dholden
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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

pread

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
PREAD
ReportActPosX = D6		// Actual X
ReportActPosY = D7		// Actual Y
DREAD
ReportDesPosX = D6		// Desired X
ReportDesPosY = D7		// Desired Y

 

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

597488579_preadtable.thumb.png.c19511512a868c7c67646f43e432c9ca.png

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