I have an application where I need my Trio (MC6N-ECAT P962) to output position, speed, and acceleration data of multiple axis to an external computer. The reason I need this is the external computer is reading, interpolating, and predicting the future position of the axis for another subsystem. It is critical that the external computer can accurately predict where the axis will be in the near future (<1s) with high precision.

I see MPOS and MSPEED commands which easily handle the position and speed components, but I need help with acceleration. I see that acceleration magnitudes are constant and set with ACCEL and DECEL, but I don't see any simple way of detecting whether an axis is presently speeding up at the start of a move, or slowing down at the end of a move. In other words I need to find a way to see if the axis is accelerating (+) or decelerating (-) so I can apply that sign to the magnitude of the set ACCEL/DECEL. I worked up a partial and somewhat elaborate solution using a set of IFs to detect if REMAIN is less than half the original move magnitude, but that falls apart when I am doing velocity control. I'm hoping there is a simpler way to do this.

I appreciate your time reading this and any help you have to offer.

Alex