De (dual (auxiliary) encoder), Motion – Yaskawa LEGEND-MC User Manual
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LEGEND-MC User’s Manual
DE (Dual (Auxiliary) Encoder)
[Motion]
DESCRIPTION:
The DE command defines the position of the auxiliary encoder.
ARGUMENTS: DE x, y, z, w or DEX=x or DE a, b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are signed integers
USAGE:
OPERAND USAGE:
_DEn returns the current position of the specified auxiliary encoder where n is an axis letter.
EXAMPLES:
NOTE: Dual encoders are useful when you need an encoder on the motor and on the load. The encoder on the load is typi-
cally the auxiliary encoder and is used to verify the true load position. Any error in load position is used to correct the motor
position.
While Moving
Yes
Minimum Value
-2147483647
In a Program
Yes
Maximum Value
2147483648
Command Line
Yes
Default Value
n/a
Can be Interrogated
Yes
Default Format
Position Format
Used as an Operand
Yes
Distributed Control
Specific Axis
:DE 0
Set the auxiliary encoder position to 0
:DE?
Return auxiliary encoder positions
:DUALX=_DE
Assign auxiliary encoder position of X-axis to
the variable DUALX