### 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