User guide

Appendix A: Command Reference
A-57
1 0 1 0
In
Position/Auto
Stop Errors†
1
0
1
1
Reserved
1 1 X
X
Reserved
* These are 16-bit values. At the time this data is requested, the full 16-bit value is stored in the RMC,
and is thus latched. The low byte (bits 0-7) is returned on digital outputs 0-7 after the command word
is acknowledged, and the high byte (bits 8-15) is returned on the same outputs after the command
value is acknowledged.
† This value returns the In Position and Auto Stop Error bits. An axis In Position bit is set when the bit of
the same name in the Status word is set. An axis Auto Stop Error bit is set when an error bit in the
Status word is set that has been set to trigger a soft or hard stop using the Auto Stop parameter.
Note: Because commands are not executed until both the command and command data have
been received, the In Position bit will reflect the In Position status prior to the command being
issued.
After the command word is acknowledged, the In Position bits are put on the eight digital outputs
using the following bit positions:
Output
Represents…
0
1
2
3
4
5
6
7
Axis 0 In
Position
Axis 1 In
Position
Axis 2* In
Position
Axis 3* In
Position
Axis 4* In
Position
Axis 5* In
Position
Axis 6* In
Position
Axis 7* In
Position
* This bit is always zero if the axis is not available.