31.1.3.6 pdec_async_read_position

Read motor axis position.

uint32_t pdec_async_read_position(
    struct pdec_async_descriptor *const descr,
    uint8_t axis
)

This function reads the position count of the motor axis. With this count, the user will know if the motor axis movement is clockwise (increase) or re-clockwise (decrease), and the position of the movement.

Parameters

descr

Type: struct pdec_async_descriptor Struct *const

The pointer to the Position Decoder descriptor

axis

Type: uint8_t

The axis number to read

Returns

Type: uint32_t

The position count of the motor axis.