Installation guide

74 Programming Commands
ABSPOS Trajectory Parameter
ACTION: Sets or returns the commanded absolute position of an axis.
PROGRAM SYNTAX: ABSPOS(axis)=expression
ABSPOS=expression1, ... , expression8
ABSPOS(axis, ... , axis)=expression, ... , expression
ABSPOS(axis) - used in an expression
REMARK: The axis specifies the number of the axis (1-8).
The expression specifies the absolute position in units.
ABSPOS represents the commanded motor position, and can only be
set while no motion is occurring. Setting ABSPOS during motion,
causes the program to be trapped at the ABSPOS instruction until the
motion is completed. Setting ABSPOS also sets ENCPOS (encoder
position) to the same value. ABSPOS and ENCPOS are initialized to 0
at power up or system reset. ABSPOS is set equal to ENCPOS when
the servo drive is enabled by the WNDGS command. ABSPOS is also
set at the end of a MOVEHOME command. Reading ABSPOS returns
the actual commanded position in user units.
WARNING! Care should be taken when setting ABSPOS during
program execution on a servo axis. Because the encoder position,
ENCPOS, is set to ABSPOS when the command is executed, any po-
sition error at that time will be lost. If done repeatedly this may cause
an inadvertent accumulative error over time. To prevent this error, only
set ABSPOS once in the program, and make sure it is not included in a
loop of statements. Incremental moves will increment ABSPOS, and
there is no need to be concerned about rollover of the position counter,
since the counter will wraparound and continue operating without loss
of position.
EXAMPLES: ABSPOS(3)=2
sets the absolute position of axis 3 to 2 units.
ABSPOS=1,,3
sets the absolute position of axis 1 to 1 unit, axis 2 no change and axis 3
to 3 units.
ABSPOS(1,3)=1,3
sets the absolute position of axis 1 to 1 unit and axis 3 to 3 units.