ACP

The ACP command requests that the ZY read and return the current actual position of one of the two LM628 axis controllers.

Mnemonic:

ACtual Position

Syntax:

ACP $<$n$>$

n: axis number (0:azimuth or 1:elevation)

Return values:

Success:

ACP 1, n, p

Failure:

ACP 0, err_msg

n: Axis value

p: Current actual position

err_msg: Should the command fail, this value will be an error message string, explaining the cause of failure.

Remarks:

The LM628 actual position value is the position that the encoders are actually in, as opposed to the position that is currently desired (see DSP). The returned value will be in the range $-(2^{30})$ to $(2^{30}) - 1$

Example:

     send: ACP 0
  receive: ACP 1, 0, -29885

See also

DSP