EP – Encoder value (all)
Read-only command that returns the current encoder counter values for all axes at once.
Applies to: CMD-4CR, CMD-4EX-SA
ASCII EP
Syntax:
Read:
EP
Reply:
Command is accepted and executed
Read:
Four integers in the format "%d:%d:%d:%d" [axisx]:[axisy]:[axisz]:[axisu]
|
Where: [axisx] – indicates the encoder position for axis X [axisy] – indicates the encoder position for axis Y [axisz] – indicates the encoder position for axis Z [axisu] – indicates the encoder position for axis U |
Example:
Read:
EP * Returns the current encoder counter values of all axes
Ex. Return value of 1000:0:542:-2000, indicates
Axis X encoder = 1000
Axis Y encoder = 0
Axis Z encoder = 542
Axis U encoder = -2000
Notes:
- Valid encoder counter values are 28-bit numbers between -134,217,728 and +134,217,727