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Register for actual position
#1
Which register to use to know the actual position of motor?

When we perfom a homing of a motor, the position window of IDE is showing zero, but the different registers that we tested:

Motor[1].ActPos
Motor[1].DesPos
Motor[1].Pos
Motor[1].Pos2

are showing a different value than zero.

The value showned by the above registers seemS to be the Motor[1].HomePos register.

So, do we have always to substact the Motor[1].HomePos value to know the actual or desired position of a motor?
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#2
DT-Europe Wrote:Which register to use to know the actual position of motor?

When we perfom a homing of a motor, the position window of IDE is showing zero, but the different registers that we tested:

Motor[1].ActPos
Motor[1].DesPos
Motor[1].Pos
Motor[1].Pos2

are showing a different value than zero.

The value showned by the above registers seemS to be the Motor[1].HomePos register.

So, do we have always to substact the Motor[1].HomePos value to know the actual or desired position of a motor?

This is correct. In Power PMAC the structure of the RT OS is different from Turbo PMAC so we needed to change the way the Home Offset works.
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