Rp (reference position), Rp (reference, Position) – Yaskawa SMC–4000 User Manual

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SMC–4000 User Manual

RP (Reference Position)

[Motion]

DESCRIPTION:

The RP command will return the commanded position of the servo. This is updated every sample period by
the profiler. RP-TP=TE. The units are in quadrature counts.

ARGUMENTS: RPn

where

n = XYZW or ABCD or N

USAGE:

OPERAND USAGE:

_RPn contains the commanded position where n is an axis letter.

RELATED COMMANDS:

TP (Tell Position)

EXAMPLES:

While Moving

Yes

Default Value

n/a

In a Program

Yes

Default Format

Position Format

Command Line

Yes

Can be Interrogated

Yes

Used as an Operand

Yes

Virtual Axis

Yes

PR 10000

Position Relative move

Begin motion

After Motion

Display the Reference Position

10000