Communication and Commands
BA Intellidrive User’s Manual
3-18
Aerotech, Inc.
Version 1.4
3.4.13. Return Axis Position
Command Syntax:
PXn < LF>
All positions are scaled to user units. "n" is the position type. If "n" is omitted, the BAI
will feedback case 8, the encoder position.
Table 3-6.
Return Axis Position Type Variables
n
Feedback type
4
Scaled by PRM:200
8
Encoder position in counts
0
Encoder position in counts (default)
Example:
PX4<CR>
10247850.123
PX8<CR>
250075680
3.4.14. Serial Poll command
Command Syntax:
Q < LF >
This is the serial poll status byte initiated by a "Q” command in RS232 mode. The BAI
is requesting service if bit #6 is set. Reading the serial poll byte clears this bit. The data
is returned in ASCII hex.
Example:
Q <LF>
Table 3-7.
Return Axis Position Type Variables
Bit
If Bit = 1
bit 0:
1 = position error within limits set in PRM:6
bit 1:
1 = running program
bit 2:
1 = program execution error / immediate command error "i..."
bit 3:
1 = illegal remote command ( cleared by serial poll 'Q' )
bit 4:
1 = axis fault ( cleared by fault acknowledge )
bit 5:
1 = command is executing
bit 6:
1 = service request pending
bit 7:
1 = any error
bit 0: 1 = If set, the position error is within the limits set in PRM:6
bit 1: 1 = program is currently running
bit 2: set when:
1) Program runtime error.
2) Immediate command syntax error ("I...").
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