Motion Block

Description

Set Commanded Position is used to set the desired setpoint for the servo. During normal profiled moves the commanded position is set for you by the profiler whilch calculates a smooth sequences of commanded positions. However there are some situations where the criteria for where the motor should servo is custom, for example electronic gearing. Set Commanded Position "goes around" the profiler allowing you to directly set the servo setpoint. Note that a discontinuity in setpoint positions will directly map into an attempted discontinuity in motor position resulting in a substantial jerk.

Escapes

The Set Commanded Position command does not generate any escapes.

Examples

This block list performs electronic gearing. Note that PositionNM1 (N minus 1) is used instead of PositionN for Set Commanded Position because of how the controller integration works.

Related Topics

Commanded Position
Positive Limit
Negative Limit
Actual Position
Destination Position