Yaskawa LEGEND-MC - Manual (Page 211)

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LEGEND-MC User’s Manual
RP (Reference Position)
[Motion]
DESCRIPTION:
The RP command will return the commanded position of the servo. This is updated every sample period by
the profiler. RP-TP=TE. The units are in counts.
ARGUMENTS: RPn where
n = XYZW or ABCDEFGH
USAGE:
OPERAND USAGE:
_RPn contains the commanded position where n is an axis letter.
RELATED COMMAND:
EXAMPLES:
While Moving Yes Default Value n/a
In a Program Yes Default Format Position Format
Command Line Yes
Can be Interrogated Yes
Used as an Operand Yes Distributed Control QW Packet
"TP" Tell Position
PR 10000 Position Relative move
BG Begin motion
AM After Motion
RP Display the Reference Position
10000