Yaskawa SMC–4000 User Manual
Page 189
179
SMC–4000 User Manual
QA (Query Auxilliary Encoder Unmodularized
Position)
[Motion]
DESCRIPTION:
Similar to the TD command, this command returns the current position of the auxilliary encoder(s) for the
ECAM axis. Unlike TD, the true encoder position is returned rather than the position modulus in the CAM
cycle. If QA is called on an axis that is not in ECAM mode, QA will behave identically to TD.
ARGUMENTS: QA nnnn
where
n is X, Y, Z, W, A, B, C, D or any combination specifying the axis or axes.
USAGE:
OPERAND USAGE:
_QAn contains the current position value for the specified auxilliary encoder.
RELATED COMMANDS:
TD (Tell Dual (Auxiliary) Encoder)
EXAMPLES:
The A-axis auxilliary encoder is at position 200, the B-axis is at -10, the C-axis is at 0, and the D-axis is at
-110. The returned parameter units are in quadrature counts.
While Moving
Yes
Default Value
0
In a Program
Yes
Default Format
PF
Command Line
Yes
:PF 7
Position format of 7
:QA
0000200, -0000010, 0000000, -0000110
Return A, B, C, D main encoder positions
:QAA
0000200
Return the A main encoder position
:QAB
-0000010
Return the B main encoder position
:PF-6.0
Change to hex format
:QA
$0000C8, $FFFFF6, $000000, $FFFF93
Retrun A, B, C, D in hex
: Position=_QAA
Assign the variable, position, the value of
QAA