Optima DMC-1xxx and DMC-18x2 Command Reference
DP
i
64
DP
FUNCTION: Define Position
DESCRIPTION:
The DP command sets the current motor position and current command positions to a user
specified value. The units are in quadrature counts. This command will set both the TP
and RP values.
The DP command sets the commanded reference position for axes configured as steppers.
The units are in steps. Example: DP 0 this will set the registers for TD and RP to zero,
but will not effect the TP register value.
ARGUMENTS: DP n,n,n,n,n,n,n,n
or
DPA=n
where
n is a signed integer in the range -2147483648 to 2147483647 decimal.
n = ? Returns the current position of the motor for the specified axes.
USAGE: DEFAULTS:
While Moving
No
Default Value
0,0,0,0
In a Program
Yes
Default Format
Position Format
Command Line
Yes
Controller Usage ALL CONTROLLERS
OPERAND USAGE:
_DPn contains the current position of the specified axis.
RELATED COMMANDS:
"PF"
Position Formatting
EXAMPLES:
DP 0,100,200,400
Sets the current position of the A-axis to 0, the B-axis to
100, the C-axis to 200, and the D-axis to 400
DP ,-50000
Sets the current position of B-axis to -50000. The B,C
and D axes remain unchanged.
DP ?,?,?,?
Interrogate the position of A,B,C and D axis.
0000000,-0050000,0000200,0000400
Returns all the motor positions
DP ?
Interrogate the position of A axis
0000000
Returns the A-axis motor position
Hint: The DP command is useful to redefine the absolute position. For example, you can manually
position the motor by hand using the Motor Off command, MO. Turn the servo motors back on with
SH and then use DP0 to redefine the new position as your absolute zero.
