Galil Motion Control DMC-40x0 Series - Page 239

DMC-40x0 Command Reference TD • 229
TD
FUNCTION: Tell Dual Encoder
DESCRIPTION:
This 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 nnnnnnnn 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:
TD Return A,B,C,D Dual encoders
:200, -10, 0, -110
TDA Return the A motor Dual encoder
:200
Dual=_TDA Assign the variable, Dual, the value of TDA