HWPOS

displays the position feedback directly from the feedback hardware counter.  For resolver-based systems, HWPOS will range from 0 to 65,535 per electrical revolution of the resolver (the number of electrical resolver revolutions per each mechanical revolution is calculated by dividing the number of resolver poles by 2 - see MRESPOLES).  The resolution of HWPOS is based on RDRES:
 RDRES = 12, resolution of HWPOS = 16
 RDRES = 14, resolution of HWPOS = 4
 RDRES = 16, resolution of HWPOS = 1
For encoder-based systems, HWPOS will return the encoder counter content, which is based on quadrature pulse input and will range from -2048 to 2047.

Firmware Versions:  2.0.0 and later
Type:  variable (R) Range:  0 to 65,535
              -2048 to 2047 (encoder)
Units:  counts Default:  n/a
Opmodes:  all Drive Status:  en/dis EEPROM:  no