3.41 EDH0162En1040 – 06/99
MM4005 DP — Read desired position
Usage IMM PGM MIP
Syntax xxDP
Parameters
Description xx
[int] — Axis number.
Range xx — 0 to 4.
Units xx
— None.
Defaults xx Missing: 0.
Out of range: Error B.
Floating point: Error A.
Description This command reads the desired position, the destination of a certain
motion component. If the axis specifier xx is missing or set to 0, the con-
troller returns the desired position for all axes.
The command could be sent at any time but is most often invoked while a
motion is in progress.
Returns xxDPnn or xx
1
DPnn
1
, xx
2
DPnn
2
, xx
3
DPnn
3
, xx
4
DPnn
4
xx, xx
1
, xx
2
, xx
3
, xx
4
— Axis number.
nn, nn
1
, nn
2
, nn
3
, nn
4
— Desired position, in pre-defined units.
Errors A — Unknown message code.
B — Incorrect axis number.
D — Unauthorized execution.
S — Communication time-out.
Rel. Commands PA — Move to absolute position.
PR — Move to relative position.
Example 3TP | Read position on axis #3.
3TP5.32
| Controller returns position 5.32 for axis #3.
3PR2.2 | Start a relative motion of 2.2 on axis #3.
3DP | Read desired position on axis #3.
3DP7.52 | Controller returns desired position 7.52 for axis #3.
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