User manual

Chapter 6 Block Transfer Programming
62
ADVANCED MICRO CONTROLS INC.
Positioning Setup Read Back Data
When you send an Auxiliary Commands command with the RPS (Read Positioning Setup)
bit set, the 2762-17 responds by echoing back the Positioning Setup data. The Channel
Number bit (bit 00) of the Auxiliary Commands command determines which positioning data is
set. Therefore it requires two BTW/BTR sequences to read all of the Positioning Setup data.
The format of the data is shown below in figure 6.8. Note that read back data has bit 15 of
word 0 set to '1'.
Lower 3 digits: Target Position
Word 1
Upper 1, 2 or 3 digits: Target Position
Lower 3 digits: Overshoot Offset
Upper 1, 2 or 3 digits: Overshoot Offset
Word 2
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
Word 9
Word 10
Word 11
Lower 3 digits: Low Speed Offset
Upper 1, 2 or 3 digits: Low Speed Offset
Lower 3 digits: Stop Offset
Upper 1, 2 or 3 digits: Stop Offset
Upper 1, 2 or 3 digits: Target Range
Lower 3 digits: Target Range
SGN
15 14 13 12 10 09 08 07 06 05 04 03 02 01 0011
Positioning Setup Read Back
0001 001 00
ChNm
PDir
Word 0
0 0000
Retry Value
Fig 6.8 Read Back Positioning Setup Data