Yaskawa SMC–4000 - Manual (Page 191)

181
SMC–4000 User Manual
QP (Query Unmodularized Position)
[Motion]
DESCRIPTION:
Similar to the TP command, this command returns the current position of the main encoder(s) for the
ECAM axis. Unlike TD, the true encoder position is returned rather than the position modulus in the CAM
cycle. If QA is called on an axis that is not in ECAM mode, QP will behave identically to TD.
ARGUMENTS: QP nnnn where
n is X, Y, Z, W, A, B, C, D or any combination specifying the axis or axes.
USAGE:
OPERAND USAGE:
_QPn contains the current position value for the specified main encoder.
RELATED COMMANDS:
TD (Tell Dual (Auxiliary) Encoder)
PF (Position Format)
EXAMPLES:
The A-axis main encoder is at position 200, the B-axis is at -10, the C-axis is at 0, and the D-axis is at -110.
The returned parameter units are in quadrature counts.
While Moving Yes Default Value 0
In a Program Yes Default Format PF
Command Line Yes
:PF 7 Position format of 7
:QP
0000200, -0000010, 0000000, -0000110 Return A, B, C, D main encoder positions
:QPA
0000200 Return the A main encoder position
:QPB
-0000010 Return the B main encoder position
:PF-6.0 Change to hex format
:QP
$0000C8, $FFFFF6, $000000, $FFFF93 Retrun A, B, C, D in hex
: Position=_QPA Assign the variable, position, the value of
QAA