Motion Planner Output Attributes
These are the motion planner output attributes associated with a Motion Control Axis.
Planner Command Position - Integer
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
---|---|---|---|---|---|---|
Required - FPV | Get/ GSV | DINT | - | - | - | Planner Counts |
This attribute value is the integer component of Motion Planner generated command position in planner counts. The command position data type is represented internally as a 64-bit floating point value that Motion Task restricts to a signed 32-bit integer range. The resulting range restricted Double Floating point value can therefore be expressed as two 32-bit attributes to preserve precision. This is accomplished by representing the command position (compos) as
x
+ y
, where x
is the signed integer component (this attribute) and y
is the signed floating point fractional component. x
and y
are defined using the following equations: x
= (int)composy
= (float)(compos – x
) Planner Command Position - Fractional
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
---|---|---|---|---|---|---|
Required - FPV | Get/ GSV | REAL | - | - | - | Planner Counts |
This attribute value is the fractional component of Motion Planner generated command position in planner counts. Representing the command position (compos)
x
+ y
, where x
is the signed integer component and y
is the signed floating point fractional component (this attribute). x
and y
are defined using the following equations:x
= (int)composy
= (float)(compos – x
).Planner Actual Position
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
---|---|---|---|---|---|---|
Required - ED | Get/ GSV | DINT | - | - | - | Planner Counts |
This attribute value is the Motion Planner generated actual position in planner counts. The internal 64-bit signed integer representation of actual position is range limited by Motion Task to a signed 32-bit integer.
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