Instruction Manual

308 Variables and Flags Assignment and Request Commands • Position
Publication 1398-PM601A-EN-P — October 2000
HOST MODE
Position
This table contains commands for reading and setting most variables that relate to distance, position,
position error, or commanded position. Position variables associated with interrupts are contained in the
table dedicated to interrupts. See “Interrupts” on page 305. s.
Command Description Flag/
Variable
Read/
Write
Personality
Module
EPOS ERETURN position. V R/W Y #
FE Following error in user units. V R N
GPOS External position command (from gear) in user units,
before slew limit.
VRN
JOGACTIVE TRUE if jog motion is occurring (PJOG is changing). F R N
MOVECOM-
PLETE
TRUE if profile generated motion (MD, MP, or DV
moves) is occurring (PGEN is changing).
FRN
PCAM Position command from Cam function. V R N
PCMD or P Position command in user units. V R N
PEXT External position command (from gear) in user units,
after slew limit.
VRN
PFE Peak following error in user units. V R N
PGEN Position command from internal profile generator. V R N
PJOG Jog command from Jog input(s). V R N
POS1 Encoder 1 position in user units. V R N
POS2 Encoder 2 position in user units (scaled by Scale2
parameter).
VRN
POS3 Position 3 (from option card). V R N
POSN or F Position feedback in user units (scaled by Scale
parameter).
VRN