DT-Europe Posted November 11, 2008 Share Posted November 11, 2008 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? Link to comment Share on other sites More sharing options...
bradp Posted November 14, 2008 Share Posted November 14, 2008 [quote=DT-Europe] 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? [/quote] 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. Link to comment Share on other sites More sharing options...
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