Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual - Manual (Page 358)

Publication 1784-UM003A-EN-P – June 2003
350 Motion Object Attributes
Position Command Position Command is the current value of the Fine Command Position into
the position loop summing junction, in configured axis Position Units. Within
the active servo loop, the Position Command value is used to control the
position of the axis.
Position Feedback Position Feedback is the current value of the Fine Actual Position into the
position loop summing junction, in configured axis Position Units. Within the
servo loop, the Position Feedback represents the current position of the axis.
Aux Position Feedback Aux Position Feedback is the current value of the position feedback coming
from the auxiliary feedback input.
Position Error Position Error is the difference, in configured axis Position Units, between the
command and actual positions of a drive axis. For an axis with an active servo
loop, position error is used, along with other error terms, to drive the motor to
the condition where the actual position is equal to the command position.
Position Integrator Error Position Integrator Error is the running sum of the Position Error, in the
configured axis Position Units, for the specified axis. For an axis with an active
servo loop, the position integrator error is used, along with other error terms,
to drive the motor to the condition where the actual position is equal to the
command position. .
GSV/SSV Access Attribute Name Data Type Values
GSV Position Command REAL Position Units
GSV/SSV Access Attribute Name Data Type Values
GSV Position Feedback REAL Position Units
GSV/SSV Access Attribute Name Data Type Values
GSV Aux Position Feedback REAL Position Units
GSV/SSV Access Attribute Name Data Type Values
GSV Position Error REAL Position Units
GSV/SSV Access Attribute Name Data Type Values
GSV Position Integrator Error REAL Position Units - mSec