PS – Pulse Speed
Gets the current operation speed [value] for [axis].
Access: Read
Category: Motion
Applies to: All Commander Controllers
ASCII/Standalone PS speed of each axis returned separated by :
PS[axis] speed of specified axis returned
Syntax
Read
PS[axis]
|
[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]
|
[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