Current Position (A1H); Encoder Counter (A2H); Home Offset (A8H) - Orientalmotor CRD5103P-RS4 User Manual

10 Command details

10.22 Current position (A1h)

This command references the current position counter held by the driver.
• Action entry (WRITE/READ)
Only READ can be specified.
WHITE: A receive failure will be recognized and NACK will be returned. The frame data will not be
• Mode
This command cannot be set for each operation mode.
Any mode can be specified, but the rule of thumb is to specify "00h."
• Data
−2,147,483,648 to 2,147,483,647

10.23 Encoder counter (A2h)

This command references the encoder count held by the driver.
• Action entry (WRITE/READ)
Only READ can be specified.
WRITE: A receive failure will be recognized and NACK will be returned. The frame data will not be
• Mode
This command cannot be set for each operation mode.
Any mode can be specified, but the rule of thumb is to specify "00h."
• Data
−2,147,483,648 to 2,147,483,647

10.24 Home offset (A8h)

This command sets the home offset to be used in return to mechanical home operation.
• Action entry (WRITE/READ)
Either WRITE or READ can be set.
WRITE: If the command is issued while the motor is operating, the setting will become effective after the end
• Mode
Return to mechanical home (homing) operation is the only operation mode that can be set with this command.
Specify "3Fh (return to mechanical home operation)" as the mode.
• Data
−2,147,483,647 to 2,147,483,647
If a value below –2,147,483,648, it will be changed to "–2,147,483,647" automatically.
Whatever the specified value, a receive failure will not be recognized and NACK will not be returned.
－50－
executed, and the data will be destroyed.
Setting value
executed, and the data will be destroyed.
Setting value
of the current operation, provided that the reception analysis completes during the operation. If the
motor is not operating when the command is issued, the setting will become effective immediately
after the reception analysis.
Setting value
Description
−2,147,483,648 to 2,147,483,647 pulses
Description
−2,147,483,648 to 2,147,483,647 pulses
Description
−2,147,483,647 to 2,147,483,647 pulses
Initial value
0 (0 pulse)
Initial value
0 (0 pulse)
Initial value
0 (0 pulse)