PI MS249E - Page 210

8 GCS Commands
204 Version: 1.2.1 MS249E C-863.12 Mercury Controller
VEL changes the value of the Closed-Loop Velocity (Phys.
Unit/s) parameter (ID 0x49) in the volatile memory of C-
863.12. The parameter value can be stored as default with
WPA (p. 205), for details see "Adapting Settings" (p. 231).
The maximum value that can be set with the VEL
command is specified by the Maximum Closed-Loop
Velocity (Phys. Unit/s) parameter, ID 0xA.
VEL? (Get Closed-Loop Velocity)
Description:
Queries the commanded velocity.
If no arguments are specified, queries the value of all axes.
Format:
VEL? [{<AxisID>}]
Arguments:
<AxisID> is one axis of the controller.
Response:
{<AxisID>"="<float> LF}
where
<float> is the currently valid velocity value commanded in
physical units per second.
Notes:
VEL? queries the velocity value for closed-loop operation.
VER? (Get Versions Of Firmware And Drivers)
Description:
Gets the versions of the firmware of the C-863.12 as well
as of further components like, for example, drivers and
libraries.
Format:
VER?
Arguments:
None
Response
{<string1>":" <string2> [<string3>]LF}
where
<string1> is the name of the component;
<string2> is the version information of the component
<string1>;
<string3> is an optional note.