I just tested it on a DX200 and it turns out, it doesn't do it on the fly - you get the exact position.
If the position doesn't have to include shifts or no shifts are active turing the move, it's also possible to use $PX004 in GETS instruction - that will get the position of the previous MOVx instruction without shift data.
In my opinion using Pxxx vs Cxxx is a matter of preference and what the programmer is after. And also which works better with the current task.
If the results of the code are repeatable and with desired results, then it is fine. Does the robot achieve that speed? I have programmed quite a few older cells where I had the speed maxed out. The robot never even got close to that speed due to the distance between positions and the accel / decel factors.
Using servo command positions vs. position variables is preference and depends on the application. They each have their advantages and disadvantages.
it's also possible to use $PX004 in GETS instruction
$PX004 is in pulse. He is using $PX001 which is XYZ Base Frame. A programmer may not know that they would have to use the CNVRT instruction. $PX007 is XYZ Base Frame minus the shift amount.
DX100/200...
But the OP only mentions NX100.
