Applied Motion RS-232 - Manual (Page 294)

294 920-0002 Rev. I
2/2013
Host Command Reference
Example 3: read absolute position
opcode 0x88 read 32 bit abs posn/enc posn, from Table 2
operand 1 from Table 2, indicates abs posn
return value 0x87654321
Type 2 Command Message Payload Type 2 Response Message Payload
byte 0 0 reserved byte 0 0 reserved
byte 1 2 message type byte 1 2 message type
byte 2 88 opcode byte 2 88 opcode
byte 3 1 operand byte 3 1 operand
byte 4 0 not used byte 4 87 read data MSB
byte 5 0 not used byte 5 65 read data 2nd MSB
byte 6 0 not used byte 6 43 read data 2nd LSB
byte 7 0 not used byte 7 21 read data LSB
Example 4: read encoder position
opcode 0x88 read 32 bit abs posn/enc posn, from Table 2
operand 0 from Table 2, indicates enc posn
return value 0x12345678
Type 2 Command Message Payload Type 2 Response Message Payload
byte 0 0 reserved byte 0 0 reserved
byte 1 2 message type byte 1 2 message type
byte 2 88 opcode byte 2 88 opcode
byte 3 0 operand byte 3 0 operand
byte 4 0 not used byte 4 12 read data MSB
byte 5 0 not used byte 5 34 read data 2nd MSB
byte 6 0 not used byte 6 56 read data 2nd LSB
byte 7 0 not used byte 7 78 read data LSB
Example 5: read Q user register 3
opcode 0x9F read 32 bit Q register, from Table 2
operand 0x33 from Reg Code Table, indicates register ‘3’
return value 0x12345678
Type 2 Command Message Payload Type 2 Response Message Payload
byte 0 0 reserved byte 0 0 reserved
byte 1 2 message type byte 1 2 message type
byte 2 9F opcode byte 2 9F opcode
byte 3 33 operand byte 3 33 operand
byte 4 0 not used byte 4 12 read data MSB
byte 5 0 not used byte 5 34 read data 2nd MSB
byte 6 0 not used byte 6 56 read data 2nd LSB
byte 7 0 not used byte 7 78 read data LSB