Position Loop Signal Attributes
These are the position loop signal related attributes associated with a Motion Control Axis.
Position Command
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - P | Get | T | DINT | 0 | -maxpos | maxpos | Position Control Units |
The Position Command attribute is the command position output from the Find Command Generator (if active) into the position loop when configured for position loop control.
Position Trim
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - P | Set | T | DINT | 0 | -maxpos | maxpos | Position Control Units |
The Position Trim attribute is an additional position command added to the Position Command to generate the Position Reference signal into the position loop summing junction.
Position Reference
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - P | Get | T | DINT | - | - | - | Position Control Units |
The Position Reference attribute is the command position reference signal into the position loop summing junction to be compared with a position feedback signal.
Velocity Feedforward Command
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - P | Get/GSV | T | REAL | - | - | - | Velocity Control Units/Sec |
The Velocity Feedforward Command attribute is a command signal that represents a scaled version of the command velocity profile. This signal is the Velocity Fine Command signal scaled by Velocity Feedforward Gain and applied to the output of the position loop.
Position Feedback
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - E | Get | T | DINT | 0 | -maxpos | maxpos | Position Control Units |
The Position Feedback attribute is a 32-bit position feedback value that when configured for Position Control mode, is applied to the position proportional control summing junction. In most cases, the Position Feedback signal is derived directly from the feedback device specified by the Feedback Mode selection. If, however, the axis Feedback Mode is configured for
Master Feedback
Position Feedback represents the actual position of the feedback device specified by the Feedback Master Select. If Feedback Master Select is not supported, the Feedback 1 channel is used.Position Feedback - 64 Bit
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - E | Get | T | LINT | - | - | - | Position Control Units |
This 64-bit position feedback value, when supported, extends the range of the 32-bit Position Feedback attribute. When configured for Position Control mode, the lower 32 bits of this attribute becomes the Position Feedback signal that is applied to the position proportional control summing junction. In most cases the Position Feedback – 64-bit signal is derived directly from the feedback device specified by the Feedback Mode selection. If axis Feedback Mode is configured for
Master Feedback
Position Feedback – 64 Bit represents the actual position of the feedback device specified by the Feedback Master Select. If Feedback Master Select is not supported, the Feedback 1 channel is used.Position Integral Feedback
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - P | Get | T | DINT | - | - | - | Position Control Units |
The Position Integral Feedback attribute is the position feedback value channeled into the position integral control summing junction.
Position Error
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - P | Get/GSV | T | REAL | - | - | - | Position Control Units |
The Position Error attribute is the error between commanded and actual position that is the output of the position loop summing junction.
Position Integrator Output
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - P | Get/GSV | T | REAL | - | - | - | Velocity Control Units/Sec |
The Position Integrator Output attribute is the output of position integrator representing the contribution of the position integrator to Position Loop Output.
Position Loop Output
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - P | Get/GSV | T | REAL | - | - | - | Velocity Control Units/Sec |
The Position Loop Output attribute is the output of the position loop forward path representing the total control effort of the position loop.
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