Configuration Manual Owner's manual

Publication 1784-UM003A-EN-P – June 2003
Motion Object Attributes 277
Registration Time The two Registration Time values contain the lower 32-bits of CST time at
which their respective registration events occurred. Units for this attribute are
in microseconds.
Interpolation Time Interpolated Time is the 32-bit CST time used to calculate the interpolated
positions. When this attribute is updated with a valid CST value, the
Interpolated Actual Position and Interpolated Command Position values are
automatically calculated.
Interpolated Actual Position Interpolated Actual Position is the interpolation of the actual position, based
on past axis trajectory history, at the time specified by the “Interpolated Time”
attribute.
Interpolated Command Position Interpolated Command Position is the interpolation of the commanded
position, based on past axis trajectory history, at the time specified by the
“Interpolated Time” attribute.
Master Offset The Master Offset is the position offset that is currently applied to the master
side of the position cam. The Master Offset is returned in master position
units. The Master Offset will show the same unwind characteristic as the
position of a linear axis.
GSV/SSV Access Attribute Name Data Type Values
GSV Registration 1 Time DINT Lower 32 bits of CST time
GSV Registration 2 Time DINT Lower 32 bits of CST time
GSV/SSV Access Attribute Name Data Type Values
SSV/GSV Interpolation Time DINT CST time to interpolate to
GSV/SSV Access Attribute Name Data Type Values
GSV Interpolated Actual
Position
REAL Position Units
GSV/SSV Access Attribute Name Data Type Values
GSV Interpolated Command
Position
REAL Position Units
GSV/SSV Access Attribute Name Data Type Values
GSV Master Offset REAL Master Position Units