Motion Planner Output Attributes

These are the motion planner output attributes associated with a Motion Control Axis.

Planner Command Position - Integer

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)compos

y

= (float)(compos –

x

)

Planner Command Position - Fractional

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)compos

y

= (float)(compos –

x

).

Planner Actual Position

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.