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TPCE
Transfer Position of Captured Encoder
Type
Transfer
Syntax
<a_><!>TPCEc
Units
c = trigger input letter (A, B or M)
(Reported value represents encoder counts, scalable by SCLD)
Range
n/a
Default
n/a
Response
TPCEA:
*TPCEA+0
See Also
ENCCNT, INFNC, [ PCE ], PESET, PSET, SCALE, SCLD, SFB, TPE
Use the
command to display the current captured encoder position, from the time of the last trigger
TPCE
interrupt.
General-purpose inputs on the
Input # Pin #
1
37
2
38
3
39
4
34
5
35
About Position Capture: The encoder position can be captured only by an input that is defined as a
"trigger interrupt" input with the
input is activated, the encoder position is captured and the position is available through the use of the
operator and the
display command.
TPCE
GT6K: By default, the GT6K captures only the commanded position. To capture the encoder position, the
axis must be in the Encoder Capture Mode (see
Position Capture Status, Longevity of Captured Position: Use the
ascertain if a trigger interrupt input has been activated.
is an assignment/comparison operator for using the status information in a conditional expression
TRIG
(e.g., in an
statement). Once the captured encoder position value is reported with the
IF
the
/
status bit for that trigger input is cleared; but the position information remains available
TTRIG
TRIG
until it is overwritten by a subsequent position capture from the same trigger input.
Position Capture Accuracy: The encoder position capture accuracy is ±1 encoder count.
Scaling and Position Offset: If scaling is enabled (
scaling factor (
). If scaling is not enabled (
SCLD
If you issue a
(establish absolute position reference) command, any previously captured encoder
PSET
positions will be offset by the
Example:
TPCEA
; Report captured encoder position, which was captured
; when trigger A (TRG-A) was activated
TPCEB
; Report captured encoder position, which was captured
; when trigger B (TRG-B) was activated
TPCEM
; Report captured encoder position, which was captured
; when the master trigger (TRG-M) was activated
306
Gemini GV6K/GT6K Command Reference
connector:
DRIVE I/O
GT6K & GV6K Function ( INFNC default )
INFNC1-A (General-purpose. If assigned, TRG-A must be on Input #1)
INFNC2-A (General-purpose. If assigned, TRG-B must be on Input #2)
INFNC3-A (General-purpose)
INFNC4-A (General-purpose)
INFNC5-A (General-purpose. If assigned, MASTER TRIGGER must
be on Input #5)
command (see
INFNCi-H
command).
ENCCNT
TTRIG
SCALE1
), the value reported will be actual encoder counts.
SCALEØ
command value.
PSET
www.comoso.com
command). When a "trigger interrupt"
INFNC
and
commands to
TTRIG
TRIG
displays the status as a binary report, and
), the encoder position is scaled by the distance
Product
Rev
GT6K
6.0
GV6K
6.0
PCE
command,
TPCE
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