Software Commands
EnBOX User’s Manual
20
2.3.2
ENC_SEL Command
The ENC_SEL command can be used to select between ABSolute encoders
(RESOLUTE™) or RELative encoders (TONiC™). The current value of selector is
indicated by a LED on front-panel and can be also retrieved with “ENC_SEL:?”
Command. The value of selector is stored in non-volatile memory and will be
preserved during power cycles.
To select the absolute encoder, an “ENC_SEL:ABS” command must be sent,
to which EnBOX will return ACK\r\n. To select relative encoder, an
“ENC_SEL:REL” command must be send, to which EnBOX will return “ACK”.
To retrieve the current value of selector, an “ENC_SEL:?” command must be
sent, to which EnBOX will return either “ENC_SEL:REL” if relative encoder or
“ENC_SEL:ABS” if absolute encoder is selected.
For invalid argument (neither ABC nor REL nor ?) the EnBOX will return
“NAK”.
Examples:
Getting the value of selector:
ENC_SEL:?
\r\n
ENC_SEL
:
REL
\r\n
Setting the value to absolute encoder:
ENC_SEL:ABS
\r\n
(short delay to write to non-volatile memory)
ACK
\r\n
