Manual

Readback Commands are used to read the position, speed and status of the device. They respond back
in plain text on the S2 input.
Command
Result
Examples
getp
Get position. Returns the channel number,
followed by a comma, followed by a capital P
if the move is completed or a lowercase p if
the move is still going on, followed by the
position in units (plain text) followed by a
return and a newline
1,getp
might return
1,p1235
\r\n
2,getp
might return
2,P3000
\r\n
gets
Get speed. Returns the channel number,
followed by a comma, followed by a capital S
if the device is up to max speed or a
lowercase s if the device is still accelerating,
followed by the position in units (plain text)
followed by a return and a newline
1,gets
might return
1,s1235
2,gets
might return
2,S3000
\r\n
getpi
Get incremental position. Returns the
channel number, followed by a comma,
followed by a capital P if the move is
completed or a lowercase p if the move is still
going on, followed by the position in units
(plain text) relative to the position the device
was in when it received the last command,
followed by a return and a newline
1,getpi
might return
1,p302
\r\n
T,getpi
might return
T,P20
\r\n
getsi
Get incremental speed. Returns the channel
number, followed by a comma, followed by a
capital S if the device is up to max speed or a
lowercase s if the device is still accelerating,
followed by the position in units (plain text)
relative to the speed the device was in when
it received the last command, followed by a
return and a newline
1,getsi
might return
1,s302
\r\n
T,getsi
might return
T,S20
\r\n
getmax
Get max position. Returns the channel
number, followed by a comma, followed by a
capital P, followed by the maximum position
in units (plain text) followed by a return and a
newline. For example. In some cases, such as
a rover, the maximum position may not be
meaningful.
1,getmax
might return
1,P10000
\r\n
getmin
Get minimum position. Returns the channel
number, followed by a comma, followed by a
capital P, followed by the minimum position
in units (plain text) followed by a return and a
newline. For example. In some cases, such as
a rover, the maximum position may not be
meaningful.
1,getmin
might return
1,P-10000
\r\n
Note:
\r\n
is not visible in a terminal program, but must be included when using a function such as scanf to designate the end of the message