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Chapter 6
Block Transfer Programming
Positioning Setup Read Back Data
When you send an Auxiliary Commands command with the RPS (Read Positioning Setup)
bit set, the 2762-17 responds by echoing back the Positioning Setup data. The Channel
Number bit (bit 00) of the Auxiliary Commands command determines which positioning data is
set. Therefore it requires two BTW/BTR sequences to read all of the Positioning Setup data.
The format of the data is shown below in figure 6.8. Note that read back data has bit 15 of
word 0 set to '1'.
Positioning Setup Read Back
Word 1
PDir
1 0 0 0 0 0 1 0 0 0 0 0 0 0
ChNm
Word 0
SGN
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
Upper 1, 2 or 3 digits: Target Position
Word 2
Lower 3 digits: Target Position
Word 3
Upper 1, 2 or 3 digits: Overshoot Offset
Word 4
Lower 3 digits: Overshoot Offset
Word 5
Upper 1, 2 or 3 digits: Low Speed Offset
Word 6
Lower 3 digits: Low Speed Offset
Word 7
Upper 1, 2 or 3 digits: Stop Offset
Word 8
Lower 3 digits: Stop Offset
Word 9
Upper 1, 2 or 3 digits: Target Range
Word 10
Lower 3 digits: Target Range
Word 11
Retry Value
Fig 6.8 Read Back Positioning Setup Data
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