MC-Basic:axis.COMPPOSITIONCOMMAND
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The Actual Corrected Position command query .This property returns the position command generated by the motion profiler after the correction value added to it. When no correction is used (i.e. all the comp tables involves the axis as its target is inactive) then this value would be identical to the Axis.Pcmd.
Signal-flow diagram of position values. The generated Position Command is corrected by the position backlash value and the compensation table value. These form the CompPositionCommand which is later multiplied by PositionFactor to translate it into drive position units (counts) - CCMD. The corresponding value of CCMD is returned from the drive as CFB, divided by PositionFactor and read as CompPositionFeedback value. The actual PositionFeedback value is compensated back (subtracted) with compensation table value.
Short form
<axis>.CompPCMD
Syntax
?<axis>.CompPositionCommand
Availability
Since Version 3.6.20
Type
Double
Range
± MaxDouble
Units
User Axis position units as given by <axis>.PositionFactor
Scope
Task and Terminal
Limitations
Read Only
Examples
<comp>.SourceData[1][15] = 120.0 position on axis
<comp>.TargetData[1][15] = 0.125 correction value regarding SourceData position
Move <axis> 120.0
Print <axis>.PCmd
--> 120.0 (it’s the “expected user value”)
Print <axis>.CompPCmd
--> 120.125 (it’s the “real value”)