CR Read absolute counter position

Command Command description Controller response Default
mode
(N/A - not available)
Service
Mode
(N/A - not available)
xCR Read the absolute internal counter position in micro steps. 1 micro step = 1/8 of motor step Returns number. Range ±2000000000. Yes Yes


SYNTAX    xCR, where x - controller (axis) number.
PARAMETER none.
DESCRIPTION: Internal SP1 counter counts microsteps. The counter value can be read by CR command and set by CW command.

Note: Motor motion is executed by one of the motion commands (MV, SH, ST, OR). While motion is performed, SP1 controller makes single microstepstep and increments or decrements absolute internal counter. The controller counts only those steps, which it sends to the stepper motor by itself. If some external force initiates axis motion (for example, you can rotate stepper motor axis by hand), the actual position change can be detected by EN command, using external Quadrature encoder interface.
RETURNS  number of microsteps. 1 micro step = 1/8 of stepper motor step.
Range -2000000000...2000000000.
REL. COMMANDS CW, EN, EZ,
EXAMPLES: 5 CR ||   3cr   ||  2345cR