Position Calculation

Several Turbo PMAC memory locations are used when generating “machine position” registers for a given application. For axis number one the following registers can be used, M161->D:$000088 ; #1 Commanded position (1/[Ixx08*32] cts) M162->D:$00008B ; #1 Actual position (1/[Ixx08*32] cts) M164->D:$0000CC ; #1 Position bias (1/[Ixx08*32] cts) M167->D:$00008D ; #1 Present master pos (1/[Ixx07*32] cts) M169->D:$000090 ; #1 Compensation correction (1/[Ixx08*32] cts) Machine Position = Actual Position + Position Bias + Compensation Correction If using the handwheel offset mode (bit 16 of Ix05 is set i.e. Ix05=$010730) then, Machine Position = Actual Position + Position Bias +Compensation Correction – Master Position Following Error = Commanded Position – Actual Position+Bias+Compensation+Home Offset