What is the COMMAND POSITION?

• A. It is the speed for the move
• B. It is the pulse destination for the robot, as well as other motors, if applicable. The controller will record the Control Group's current position as the motion step's COMMAND POSITION when the MOV_ instruction is entered.
• C. It is the memory address of the controller
• D. It is the target end effector orientation

Answer: (B)

Command position is the target pulse position that the controller drives the robot (and any other motors in the same group) to reach for the current move. It defines where the axes should end up in encoder units as the motion is executed. When you enter a MOV_ instruction, the controller records the control group’s current position as the motion step’s command position, establishing the endpoint that the move will reach from the present state. This is different from how fast the robot should move (speed), where the data is stored (memory address), or what the end effector’s orientation is (orientation).