Jenny Science XENAX Xvi 75V8S Instruction Manual page 67

The XENAX® servo controller has two special functions
to read the current position of the motor.
Record function of the actual position controlled by Input
In the WebMotion® menu I/O, you can select the
record function CPOS for all digital inputs 1-8.
ASCII command: TCPn (n = register number)
Record function of the actual position controlled by edge
With each increasing edge at input 12, the current
position of the motor is written in a buffer register
(First edge position = Captured Pos 1 etc.)
ASCII command: TCPn (n = register number)
Function is available over Jenny Science bus module in
Object Sub Idx
5000h 0x5010 CLCP Clear all Captured Position
0x5015 Captured Position Mode Input 12
0x5016 Captured Position Mode Input 1..8
5003h 0x37 Read Buffer Position (1..8)
0x38 Return of value
Reaction time > 4 ms.
(Input 1 = Pos Input 1 etc.
(Start is Captured Pos 1).
Reaction time ~ 4-6μs.
asynchronous operation, too.
10.15 Captured Pos
ASCII
CLCP
CP120
CP121
TCPn (n=1..8)
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