PS – Pulse Speed
Read-only command that returns the current axis operation speed. When axis is stopped, “0” is achieved.
Applies to: CMD-4CR, CMD-4EX-SA
ASCII/Standalone PS speed of each axis returned separated by :
PS[axis] speed of specified axis returned
Syntax:
Read:
PS[axis]
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Where: [axis] is set to X, Y, Z, U, or not specified to read global value |
Reply:
Command is accepted and executed
Read:
global speed reply
Four integers in the format "%d:%d:%d:%d" [axisx]:[axisy]:[axisz]:[axisu]
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Where: [axisx] – indicates the speed for axis X [axisy] – indicates the speed for axis Y [axisz] – indicates the speed for axis Z [axisu] – indicates the speed for axis U |
individual axis speed reply
Returns the value of the [axis] speed
Example:
Read:
PSX * Request the current speed of the X axis
Reply:
10000 * Returns X axis is moving at 10,000pps
Read:
PS * Request the current speed of all axes
Reply:
10000:0:200:0 * Returns that X axis is moving at 10,000pps, Y and U axes are stopped (0pps), Z axis is moving at 200pps
Notes:
- If StepNLoop mode is active then the returned value units are encoder counts / sec
- For all other modes, the units for returned values are pulse / sec
- Based on speed magnification resolution, actual speed can very from commanded speed by up to 0.1%.
See also:
ACC, DEC, HSPD, JKA, JKD, LSPD, SCV, SSPDM