Optima DMC-1xxx and DMC-18x2 Command Reference
TD
i
184
TD
FUNCTION: Tell Dual Encoder
DESCRIPTION::
The TD command returns the current position of the dual (auxiliary) encoder(s). Auxiliary
encoders are not available for stepper axes or for the axis where output compare is used.
When operating with stepper motors, the TD command returns the number of counts that have
been output by the controller.
ARGUMENTS: TD nnnnnnnnnn
where
n is A,B,C,D,E,F,G or H or any combination to specify the axis or axes
No argument will provide the dual encoder position for all axes
USAGE: DEFAULTS:
While Moving
Yes
Default Value
0
In a Program
Yes
Default Format
Position Format
Not in a Program
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_TDn contains value of dual encoder register.
RELATED COMMANDS:
"DE "
Dual Encoder
EXAMPLES:
:PF 7
Position format of 7
:TD
Return A,B,C,D Dual encoders
0000200,-0000010,0000000,-0000110
TDA
Return the A motor Dual encoder
0000200
DUAL=_TDA
Assign the variable, DUAL, the value of TDA
