TITAN-SVX Software Manual
page 32
Rev 4.01
A.14 Using TITAN-ASCII Command
All TITAN-ASCII protocol commands start with a character
‘@’
and two network
ID characters and a separation character
‘:’
with CR and LF characters
appended at the end.
All TITAN-ASCII protocol replies start with character
‘#’
and two network ID
characters and a separation character
‘:’
with CR and LF characters appended at
the end.
All example commands shown are in Communication 0.
A.14.1. Position, Velocity, Position Error
To read and write the current encoder position, use the
EX
command.
To Read Motor Encoder Position
Command:
@01:EX
Reply:
#01:EX=12345
To Set Motor Encoder Position
Command:
@01:EX=54321
Reply:
#01:EX=54321
Notes:
•
Encoder value is in encoder counts.
•
EX
is read/write command.
To read the current target position, use the
POSD
command.
To Read Motor Target Position
Command:
@01:POSD
Reply:
#01:POSD=12345
Notes:
Target position value is in encoder counts.
When the servo is off,
POSD
does not have any meaning since
target position is undetermined.
POSD
is a read-only command
To read the current encoder position error, use the
PERR
command.
To Read Motor Encoder Error
Command:
@01:PERR
Reply:
#01:PERR=0
Notes:
•
Position Error is the difference between the target or profile
position
POSD
and the actual position
EX
.
•
PERR
is a read-only command.
