GetUnrolledCommandedPosition Function

Description

The GetUnrolledCommandedPosition function returns the instantaneous unrolled position setpoint without modulo, which is currently being sent to the drive.

The instantaneous position command changes continually while the axis is moving. It equals the target position of a movement profile only when the axis has stopped moving and AXIS_AT_TARGET bit is set to 1.

NOTE: The axis modulo does not need to be activated to use this function.

How to Use this Function

This function is implemented with the help of the WRITE_CMD instruction (see WRITE_CMD).

Associated Language Objects

Exchange via WRITE_CMD:The table below presents the different language objects linked to this function.

Object	Name	Function code	Description
%MWr.m.c.26	ACTION_CMD	547	Command
%MFr.m.c.22	RETURN_CMD_2	-	Result of the command
%MWr.m.c.19	ERROR_CMD	-	Error report. See WRITE_CMD Command: Programming Errors.