Position – Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 User Manual
Page 330
308
Variables and Flags Assignment and Request Commands • Position
Publication 1398-PM601A-EN-P — October 2000
HOST
M
O
D
E
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.
V
R
N
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).
F
R
N
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.
V
R
N
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).
V
R
N
POS3
Position 3 (from option card).
V
R
N
POSN or F
Position feedback in user units (scaled by Scale
parameter).
V
R
N