Reference

Value (bit-packed number)
The value for the parameter.
Get
Gets the current value of a parameter from the controller.
Command Format
The command number for Get is 35. Its data is:
Channel Name (1 byte)
Flags (1 byte)
0 for no options.
16 if an echo code is used. It will be sent with the reply.
32 to use raw units. For analog, raw units are millivolts. For quadrature, 4 raw units equal 1 line.
64 for a sequence code to be sent with the reply.
Add these to combine options.
Echo Code (optional, 1 byte)
Parameter (1 byte)
1 to get the current position.
2 to get the current speed.
Add 64 to get an incremental position or speed (relative to the last Move you commanded).
8 to get the minimum position.
9 to get the maximum position.
Reply Format
The reply command number is 67. Its data is:
Channel Name (1 byte)
Flags (1 byte)
1 if the reply is an error. If so, the value is the error code.
2 if the value corresponds to a pending state. If the controller is in motion, the motion is not finished.
For an error, the error (such as "not homed") should self-clear.
16 if the reply has an echo code.
32 if the value is in raw units.
64 if the reply has a sequence code.
These are added together. Use bitwise AND (for example,
(x & 1) != 0
) to test individual flags.
Echo Code (conditional, 1 byte)
Sequence Code (conditional, 1 byte)
Parameter (1 byte)
11