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  • ron
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14 years 6 months ago #4377935 by ron
question and suggestion/request was created by ron
<P class=MsoNormal style="MARGIN: 0in 0in 0pt"><SPAN style="FONT-SIZE: 10pt; mso-bidi-font-family: Arial"><FONT face=Arial>Question:</FONT></SPAN>
<P class=MsoNormal style="MARGIN: 0in 0in 0pt"><SPAN style="FONT-SIZE: 10pt; mso-bidi-font-family: Arial"><FONT face=Arial>Is there any way to query motor position?</FONT></SPAN>
<P class=MsoNormal style="MARGIN: 0in 0in 0pt"><SPAN style="FONT-SIZE: 10pt; mso-bidi-font-family: Arial"><FONT face=Arial> </FONT></SPAN>
<P class=MsoNormal style="MARGIN: 0in 0in 0pt"><SPAN style="FONT-SIZE: 10pt; mso-bidi-font-family: Arial"><FONT face=Arial>Suggestion and request:</FONT></SPAN>
<P class=MsoNormal style="MARGIN: 0px"><SPAN style="FONT-SIZE: 10pt; mso-bidi-font-family: Arial"><FONT face=Arial>Allow 4 digit hex motor position command and query in the format !, <SPAN style="mso-spacerun: yes"> </SPAN>then A/a, then up to HFFFF in either direction for those of us who need ultra-fine motor position control. <SPAN style="mso-spacerun: yes"> </SPAN>7F will not suffice in the long run for my application, so I will eventually need to find another controller or roll my own if you choose not to implement this request.</FONT></SPAN>
<P class=MsoNormal style="MARGIN: 0px"><SPAN style="FONT-SIZE: 10pt; mso-bidi-font-family: Arial"></SPAN>

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  • cosma
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14 years 6 months ago #4380128 by cosma
Replied by cosma on topic question and suggestion/request
<P style="MARGIN: 0px">You can read the counters at any time.
<P style="MARGIN: 0px">
<P style="MARGIN: 0px">The commands are ?q0 for counter 1 and ?q1 for counter 2
<P style="MARGIN: 0px">
<P style="MARGIN: 0px">Note that each counter is 32-bit long. So it would take up to 4 bytes (8 ASCII digits) to read a value. The data is formatted in a manner to minimize the amount of traffic on the RS232 port. See the manual for detail.
<P style="MARGIN: 0px">
<P style="MARGIN: 0px">However, you don't need to read the counter if your objective is to have a position resolution greater than +/-127.
<P style="MARGIN: 0px">
<P style="MARGIN: 0px">You can play instead with the value you store in the destination registers. In this case, you would leave the command at 0 and change the destination value. This will allow you to change the position to any of the +/- 1 bilion count values.
<P style="MARGIN: 0px">
<P style="MARGIN: 0px">All this is explained in the manual in the Encoder section.

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  • ron
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14 years 6 months ago #4380543 by ron
Replied by ron on topic question and suggestion/request

sorry, I missed that section entirely until now. Must be a symptom of working around the clock. I'll check into it now. Thanks for the tip.

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