Signed 32-bit Motor Position _Overflow/Underflow_?

[RMP 10.3.1]

What would you expect to happen if a drive reported a motor position in excess of (1<<31)-1 or -(1<<31)?

The data I’m observing is coming from recorders.

I’m running into scenarios where it looks like the reported (raw, via a PDO) position jumps between very positive and very negative.

Does RMP store position data internally as a double or 8-byte integer?

It’s very common for the drive’s signed 32-bit feedback position to oscillate around zero.

The RMP stores positions as doubles. Each sample, the RMP Encoder positions (double) will be updated based on the delta of the drive’s 32-bit position from the previous sample.