Registration time, Interpolation time, Interpolated actual position – Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual User Manual
Page 285: Interpolated command position, Master offset
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