TITAN-SVX Software Manual
page 33
Rev 4.01
A.14.2. In-Pos
To read and write the in-position range value, the
INPOSVAL
command.
To Read In-Position Value
Command:
@01:INPOSVAL
Reply:
#01:INPOSVAL=100
To Set In-Position Value
Command:
@01:INPOSVAL=200
Reply:
#01:INPOSVAL=200
Notes:
•
In-Position value is in encoder counts and equals to the target
minus the actual encoder position.
•
In-Position value is used in the In-Pos bit on the
MST
motor
status value.
•
INPOSVAL is read/write command.
A.14.3. Velocity
To read the current encoder velocity, use the
VX
command.
To Read Motor Encoder Position
Command:
@01:VX
Reply:
#01:VX=100
Notes:
•
Velocity value is read only.
•
Velocity value will be in either RPM (
rev/min
) or in
mm/sec
depending on the motor setup.
•
VX
command is a read-only command.
A.14.4. Motor Current
To read the motor current, use the
CURQA
and
CURDA
commands.
To Read Motor Current Values
Command:
@01:CURQA;CURDA
Reply:
#01:CURQA=-0.009;CURDA=0.002
Notes:
•
Values of the motor current are in Ampere.
•
For current reading for typical normal motion, use the
CURQA
value to read the current that is flowing through the motor to
control the motion. CURDA is a useful current value to read
when in high-speed motion.
•
CURQA
and
CURDA
are read-only commands.
