Controller Positions

The XMP and ZMP controllers have signed 32 bit positions for the command, actual, and origin. These values will rollover when the position exceeds the upper bound. For example, at position 2,147,483,647 (2³¹) if the position is incrementing, it will rollover to -2,147,483,648 and continue incrementing in the positive direction. The position error equals the difference between the command and actual position. Since the command and actual positions have the same 32 bit resolution, the position error calculation will be continuous through the rollover. Thus, motion through the rollover point will be smooth.