Axis attributes, Long axisdefinepos(long position), Float axisgetcommandcur(void) – Rockwell Automation 2098-IPD-xxx Ultra5000 C Programming using the Motion Library User Manual
Page 44: Long axisgetcommandpos(void), Float axisgetcommandvel(void), Long axisgetfeedbackoffset(void), Long axisgetfeedbackpos(void), Axis attributes -4
Publication 2098-PM001E-EN-P — July 2002
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Referencing the Motion Library
long AxisDefinePos(long position);
Sets the axis command position to the specified position. Position is
programmed in counts.
Returns 0 if successful, or -1 on an error.
float AxisGetCommandCur(void);
Returns command current (filtered and clipped output of the velocity
regulator) measurement in Amps.
Returns the command position of the axis in counts.
Note: Position error is calculated from this value by subtracting the
feedback position.
float AxisGetCommandVel(void);
Returns the command velocity of the axis in counts/second.
Note: Velocity error is calculated from this value by subtracting the
feedback velocity.
long AxisGetFeedbackOffset(void);
Returns the position feedback offset of the axis in counts.
long AxisGetFeedbackPos(void);
Returns the feedback position of the axis in counts.
Note: Position error is calculated by subtracting this value from the
command position.