Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS, Functional Description

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Interface ECODRIVE03-FL*-04VRS
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
In the case of tasks that have not been enabled, an appropriate number
of blank spaces is output.
If a task is not located in a subroutine, only the current instruction number
is output.
Status 09
Measuring Wheel Mode: Current Measuring Wheel Position and
Current Motor Encoder Position
The status query:
? s X _ _ 0 9 _ C R L F
produces the message:
X s 0 9 _ _ e v m m m m m m . m m m _ v n n n n n n . n n n $ h h C R L F
Meaning of the characters used:
e = `_´ stands for relative position (not homed)
`A´ stands for absolute position (axis homed)
v = Operational sign of the actual position
m = Actual position of Axis 1 in IU. The sums of all Measuring
wheel encoder movements are added
n = Actual position of the motor encoder in IU (incremental
encoder 1)
Status 10
Position Lag in IU
The status query:
? s X _ _ 1 0 _ C R L F
produces the message:
X s 1 0 _ v m m m m m m . m m m _ _ + 0 0 0 0 0 0 . 0 0 0 $ h h C R L F
Meaning of the characters used:
v = Operational sign for position lag (following error)
m = Position lag (following error) of Axis 1 in IU