How to get speed, torque, and position feedback with Kinetix 6k

BAJ1

Member
Join Date
Mar 2010
Location
Minneapolis
Posts
19
I'm working on a system with Kinetix 6000 (2094-AMP5S) with ControlLogix 1756-M08SE. I have a continuous rotary stage for which I have set up velocity and torque as the real time feedback variables. How do I also read position? I thought I could do a GSV on the axis .PositionFeedback variable, but it always returns "0".

Any suggestions?
 
I am assuming you are using MAS, MAJ, etc.
Under your Motion Control Tag, you have a tag such as Servo1.
The position is read from Servo1.ActualPosition.
To convert a rotary position to degrees use the following:
(1 - Servo1.ActualPosition) / 360
 

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