Is there an address for an axis’s actual commanded position?
Suppose I want to verify that backlash is working. When I use the address for RSIAxisAddressTypeCOMMAND_POSITION, I get the position that I commanded, not the position than RMP commanded.
Is there a (supported) means of retrieving the “sent” command position that I could use as a means of comparison to (my) command and the actual positions?
Axis::CommandPositionGet() - Returns a UserUnits scaled Command Position. This is the value in the MotionController which is scaled by UserUnits before being sent to the EtherCAT Master / MainDevice. It might be acted on by PostTrajectoryGearing or Backlash though.