Applied Motion RS-232 - Manual (Page 98)

98 920-0002 Rev. I
2/2013
Host Command Reference
ID - Immediate Distance
Compatibility: All drives
BLu, STAC6
Requests the total relative distance moved in the last completed move.
SV, ST-Q/Si, ST-S, STM
Requests the immediate relative distance traveled from the beginning of the last move. Once the move is finished
the value will be equal to the relative distance of that last move until another move is initiated, at which time the
value will zero and begin tracking the new relative distance moved.
Command Details:
Structure ID
Type IMMEDIATE
Usage READ ONLY
Non-Volatile NO
Register Access “d” (052)
Units encoder counts (servo)
steps (stepper)
Examples:
Command Drive sends Notes
ID ID=00002710 10000 (10000 counts into CW move)
ID ID=FFFFD8F0 -10000 (10000 counts into CCW move)
If the IF command is set with Parameter #1=D
ID
ID=10000 10000 counts into CW move
ID ID=-10000 10000 counts into CCW move