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Galil Motion Control - manc 18x 6 (Page 183)

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Galil Motion Control - manc 18x 6
DMC-18x6 Command Reference
175
RP
FUNCTION: Reference Position
DESCRIPTION:
This command returns the commanded reference position of the motor(s).
ARGUMENTS: RP nnnnnnnnnn
where
n is A,B,C,D,E,F,G,H,M or N, or any combination to specify the axis or axes`
USAGE: DEFAULTS:
While Moving
Yes
Default Value
0
In a Program
Yes
Default Format
Position Format
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_RPn contains the commanded reference position for the specified axis.
RELATED COMMAND:
Tell Position
Note: The relationship between RP, TP and TE: TEA equals the difference between the reference
position, RPA, and the actual position, TPA.
EXAMPLES: Assume that ABC and D axes are commanded to be at the positions 200, -10, 0, -110
respectively. The returned units are in quadrature counts.
:PF 7
Position format of 7
0:
LZ0
RP

Turn leading zeroes on
0000200,-0000010,0000000,-0000110 Return
A,B,C,D reference positions
RPA
0000200
Return the A motor reference position
RPB
-0000010
Return the B motor reference position
PF-6.0
Change to hex format
RP
$0000C8,$FFFFF6,$000000,$FFFF93 Return A,B,C,D in hex
Position =_RPA
Assign the variable, Position, the value of RPA
Hint:
RP command is useful when operating step motors since it provides the commanded
position in steps when operating in stepper mode.

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