IAxisFeedbackPosition

Namespace

ZEquipment

INTERFACE IAxisFeedbackPosition

This interface is implemented by axes, whose drives support moving the axes to a specific position with a drive-internal profile generator often also known as profile-position-mode.

Properties

ActualFollowingError

PROPERTY ActualFollowingError : LREAL

Returns the deviation between the nominal position of the axis, according to the drive internal profile generator, to the actual position. The actual position is usually related to a position encoder or resolver 1 or 2 depending on which encoder is used for the actual movement. The value returned is given in drive positional-unit, which is usually millimeters or degrees, respectively.

By summing up the values of ActualFollowingError and ActualPosition it is possible to calculate the nominal position of the profile generator.

Property Value

LREAL

ActualPosition

PROPERTY ActualPosition : LREAL

Returns the actual position of the axis, which is usually related to a position encoder or resolver. The value returned is given in drive positional-unit, which is usually millimeters or degrees, respectively.

Property Value

LREAL

Referenced

PROPERTY Referenced : BOOL

This property can be used to test if an axis is referenced correctly. For axes that use an incremental encoder, this means that a homing procedure has been already been executed correctly. For axes that use an absolute encoder, this usually means that the encoder has been initialized correctly.

Read the documentation of your axes implementation (i.e. AxisPlcOpenMc) for more specifics.

Property Value

BOOL