Galil Motion Control DMC-40x0 Series - Page 218

208 ● RP DMC-40x0 Command Reference
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:
TP 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
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
p
osition in steps when operating in stepper mode.