NPA Commander Online Manual

Command

R/W

Description

Reference Chapter

ABORT

W

Immediately stops all motion for all axes

2.2.3

ABORT[axis]

W

Immediately stops motion in [axis]

ABS

W

Turns on absolute coordination mode

2.2.4.1

ACC

R

Returns current global acceleration value in ms

2.1.4

ACC=[value]

W

Sets global acceleration value in ms

ACC[axis]

R

Returns current [axis] acceleration value in ms

ACC[axis]=[value]

W

Sets [axis] acceleration value in ms

AI[ch]

R

Returns analog input status for [ch] in mV

2.1.3.3.2

ARC[A1][A2]N[C1]:[C2]:[Ɵ]

W

Arc interpolation with axes [A1], [A2], centers at [C1], [C2], CCW direction to [Ɵ]

2.3.2.1

ARC[A1][A2]P[C1]:[C2]:[Ɵ]

W

Arc interpolation with axes [A1], [A2], centers at [C1], [C2], CW direction to [Ɵ]

ARCTN[C1]:[C2]:[Ɵ]:[Z target]

W

X-Y Arc interpolation, centers at [C1], [C2], CCW direction to [Ɵ] with Z linear interpolation to [target]

2.3.3

ARCTP[C1]:[C2]:[Ɵ]:[Z target]

W

XY Arc interpolation, centers at [C1], [C2], CW direction to [Ɵ] with Z linear interpolation to [target]

BF

W

Disable buffered move

2.3.4

BO

W

Enable buffered move

2.3.4

BSTART

W

Start processing the buffer (buffer must be enabled)

2.3.4

BSTAT

R

Status of the buffer

2.3.4

CIR[A1][A2]N[C1]:[C2]

W

Circular interpolation with axes [A1], [A2], centers at [C1], [C2], CCW direction

2.3.2

CIR[A1][A2]P[C1]:[C2]

W

Circular interpolation with axes [A1], [A2], centers at [C1], [C2], CW direction

CIRTN[C1]:[C2]:[Z target]

W

X-Y circular interpolation, centers at [C1], [C2], CCW direction with Z linear interpolation to [target]

2.3.3

CIRTP[C1]:[C2]:[Z target]

W

X-Y circular interpolation, centers at [C1], [C2], CW direction with Z linear interpolation to [target]

CLR[axis]

W

Clears limit, alarm status bit, and StepNLoop errors for [axis]

2.1.3.1.1.1

2.1.3.1.1.2

2.1.3.1.2

2.5.3

2.6.2.3

D[axis]

R

Returns StepNLoop value for [axis]

2.5.3

2.6.1.3

DB

R

Returns baud rate

2.1.7

DB=[value]

W

Sets baud rate to [value]

DEC

R

Returns the current global deceleration value in ms

2.1.4

DEC=[value]

W

Sets global deceleration value in ms

DEC[axis]

R

Returns current [axis] deceleration value in ms

2.1.4

DEC[axis]=[value]

W

Sets [axis] deceleration value in ms

DI

R

Returns 4-bits of general-purpose digital inputs

2.1.3.2.1

DI[in]

R

Returns bit status of general digital input [in]

2.1.3.2.1

DIP

R

Returns the digital input polarity

2.1.3.2.1

2.1.6.3

2.1.7

DIP=[pol]

W

Sets the digital input polarity [pol]

DO

R

Returns 4-bits of general-purpose digital outputs.

2.1.3.2.2

DO=[value]

W

Sets 4-bits of general-purpose digital outputs.

DO[out]

R

Returns bit status of general digital output [out]

2.1.3.2.2

DO[out]=[value]

W

Sets bit of general-purpose digital output [out]

DOBOOT

R

Returns the DO boot-up state

2.1.3.2.2

2.1.5

2.1.7

DOBOOT=[value]

W

Sets the DO boot-up state

DOP

R

Returns the digital output polarity

2.1.3.2.2

2.1.6.3

2.1.7

DOP=[pol]

W

Sets the digital output polarity [pol]

E[axis]

R

Returns the encoder value of [axis]

2.6.1.2

E[axis]=[value]

W

Sets the encoder value of [axis]

EINT

R

Returns the interpolation setting

2.1.7

2.2.4.2

2.3.1

EINT=[value]

W

Enables/disables interpolation

EO

R

Returns 4-bits of enable output value

2.1.2.1

2.1.2.2

2.2.1

EO=[value]

W

Sets 4-bits of enable output value

EO[en]

R

Returns bit of enable output [en]

EO[en]=[value]

W

Sets bit of enable output [en]

EOBOOT

R

Returns EO boot-up state

2.1.5

2.1.7

2.2.1

EOBOOT=[value]

W

Sets EO boot-up state

EP

R

Returns the encoder value for all 4 axes

2.6.1.2

ERC[axis]

R

Returns the enable status of the deflection counter clear output

2.1.2.2

2.1.3.1.1.1

2.1.6

2.1.6.1

2.1.7

2.2.5

ERC[axis]=[value]

W

Enables/disables the deflection counter clear output

ERCD[axis]

R

Returns the pulse delay set value

2.1.6

2.1.6.1

2.1.7

2.1.2.2

ERCD[axis]=[value]

W

Sets the pulse delay value (2-bits)

ERCP[axis]

R

Returns the pulse width set value

2.1.6

2.1.6.1

2.1.7

2.1.2.2

ERCP[axis]=[value]

W

Sets the pulse width value (3-bits)

ESTOP

W

Performs an emergency stop (same as triggering CEMG)

2.1.3.1.2

EXST

R

Returns the status of the external start feature

2.1.1.2

2.1.6

2.1.6.2

2.1.7

EXST=[value]

W

Enable/disable the external start feature

GS[sub]

W

Call a defined subroutine [sub] (value 0 – 31)

2.7.4

H[axis][+/-][mode]

W

Home [axis] in positive or negative direction using homing mode [mode] (see Appendix A for detailed information on homing modes)

2.2.5

Appendix A

HSPD

R

Returns the global high speed setting

2.1.4

HSPD[value]

W

Sets the global high speed value

HSPD[axis]

R

Returns the high speed setting for [axis]

2.1.4

HSPD[axis]=[value]

W

Sets the high speed value for [axis]

I[X target]:[Y target]:[Z target]:[speed]

W

Writes an XYZ interpolated move to buffer. Sets each axis move target and desired move speed.

2.3.4

ID

R

Returns the Commander’s ID

2.1.1.1

2.1.7

ID=[value]

W

Sets the Commander’s ID. Range is 00 to 99. Use STORE command to save.

IERR

R

Returns the ignore limit/alarm error status

2.1.3.1.1.1

2.1.3.1.2

2.1.6

2.1.7

IERR=[value]

W

Sets the ignore limit/alarm status

INC

W

Turns on incremental coordinate mode

2.2.4.1

INP[axis]

R

Returns enable/disable status of positioning complete signal for [axis]

2.1.2.2

2.1.6

2.1.7

INP[axis]=[value]

W

Enables/disables the positioning complete signal for [axis]

IO

R

Returns the status of all configurable I/O ports (32-bit)

2.1.3.3.1

IO=[value]

W

Sets the bit status of all configurable outputs

IO[port]

R

Returns the status of configurable I/O at [port]

2.1.3.3.1

IO[port]={0,1]

W

Sets the value of configurable output bit at [port]

IOBOOT

R

Returns the status of all general purpose I/O at startup (32-bit)

2.1.3.3.1

2.1.5

2.1.7

IOBOOT=[value]

W

Sets the value of all configurable outputs at startup

IOCFG

R

Returns the current configuration of the configurable I/O ports

2.1.3.3.1

2.1.5

2.1.7

IOCFG=[value]

W

Sets the configuration of the configurable I/O ports

IOP

R

Returns the configurable I/O polarity setting (2-bit logic)

2.1.3.3.1

2.1.6.3

2.1.7

IOP=[0,1]

W

Sets the configurable I/O polarity (2-bit logic)

J[axis][+/-]

W

Jogs the motor in the [+] or [-] direction

2.2.2

JDEL[axis]

R

Returns the maximum allowable speed change with joystick control for [axis]

2.1.3.3.2

2.1.7

2.5.1.2

JDEL[axis]=[value]

W

Sets the maximum allowable speed change with joystick control for [axis]

JENA

R

Returns status for joystick control

2.1.3.3.2

2.1.7

2.5.1

JENA=[value]

W

Enables/disables joystick control

JLIM[number]

R

Returns the current operating behavior limit setting of joystick operation

2.1.3.3.2

2.1.7

2.5.1.3

JLIM[number]=[value]

W

Sets the operating behavior limit value of joystick operation

JMAX[axis]

R

Returns the maximum voltage setting of the input terminal for joystick operation of [axis]

2.1.3.3.2

2.1.7

2.5.1.1

JMAX[axis]=[value]

W

Sets the maximum terminal voltage of [axis] for joystick operation

JMIN[axis]

R

Returns the minimum voltage setting of the input terminal for joystick operation of [axis]

2.1.3.3.2

2.1.7

2.5.1.1

JMIN[axis]=[value]

W

Sets the minimum terminal voltage of [axis] for joystick operation

JSPD[axis]

R

Returns the maximum speed setting of [axis] for joystick operations

2.1.3.3.2

2.1.7

2.5.1.2

JSPD[axis]=[value]

W

Sets the maximum speed of [axis] for joystick operations

JTOL[axis]

R

Returns the current dead band around mid-voltage range of [axis] for joystick operation

2.1.3.3.2

2.1.7

2.5.1.1

JTOL[axis]=[value]

W

Sets the dead band range around mid-voltage of [axis] for joystick operation

LSPD

R

Returns global low speed setting

2.1.4

LSPD=[value]

W

Sets global low speed value

LSPD[axis]

R

Returns low speed setting for [axis]

2.1.4

LSPD[axis]=[value]

W

Sets low speed value for [axis]

LT[axis]=[value]

W

Enables/disables latch feature

2.1.3.2.1

LTE[axis]

R

Returns the previously latched encoder position

2.1.3.2.1

LTP[axis]

R

Returns the previously latched step position

2.1.3.2.1

LTS[axis]

R

Returns the current latch status

2.1.3.2.1

MM

R

Returns the current move mode for moves (absolute or incremental)

2.2.4.1

MP[axis]

R

Returns the current manual pulse generator position

2.1.3.1.4

2.5.2.2

MP[axis]=[values]

W

Sets the manual pulse generator position

MPD[axis]

R

Returns the divider parameter for manual pulse generator operation

2.1.3.1.4

2.1.7

2.5.2

2.5.2.2

MPD[axis]=[value]

W

Sets the divider parameter for manual pulse generator operation

MPE[axis]

R

Returns the manual pulse generator enable status

2.1.3.1.4

2.1.7

2.5.2

MPE[axis]=[value]

W

Enable/disable the manual pulse generator

MPM[axis]

R

Returns the multiplier parameter for manual pulse generator operation

2.1.3.1.4

2.1.7

2.5.2

2.5.2.2

MPM[axis]=[value]

W

Sets the multiplier parameter for manual pulse generator operation

MST[axis]

R

Returns all motor status, buffer move status, and move mode status for [axis]

2.1.3.1.1.1

2.1.3.1.1.2

2.1.3.1.2

2.6.2.1

P[axis]

R

Returns the position value for [axis]

2.6.1.1

P[axis]=[value]

W

Sets the position value for [axis]

POL[axis]

R

Returns polarity parameter for [axis] (see Table 6.9)

2.1.2.1

2.1.2.2

2.1.2.3

2.1.3.1.1.2

2.1.6

2.1.6.3

2.1.7

2.2.1

2.5.2

2.5.2.1

POL[axis]=[pol]

W

Sets the polarity parameter for [axis]

PP

R

Returns current pulse counter value of all 4 axes

2.6.1.1

PS[axis]

R

Returns the current pulse speed for [axis]

2.6.2.2

PWM[1-2]

R

Returns current PWM duty cycle setting (in %)

2.1.3.3.3

PWM[1-2]=[value]

W

Set the PWM duty cycle (in %)

SACTRL[prgNo]=[0-3]

W

Controls the standalone [prgNo]: stop(0), start(1), pause(2), continue(3)

2.7.8

SAP

R

Returns the return jump line (standalone error handling)

2.7.5

SAP[0-1]

W

Sets the return jump line (standalone error handling)

SASTAT[0-3]

R

Returns status for standalone program

2.7.9

SCV[axis]

R

Returns S-curve control status for [axis]

2.1.4

2.1.6

SCV[axis]=[0,1]

W

Enable/disable S-curve acceleration for [axis]. Trapezoidal accel/decel used if disabled.

SDC[axis]

R

Returns the configuration of the Slow Down decel operation for [axis]

2.1.3.1.1.2

2.1.6

2.1.7

SDC[axis]=[value]

W

Sets the configuration for the Slow Down decel (decel only or decel and stop) for [axis]

SDE[axis]

R

Status of the Slow Down decel operation for [axis]

2.1.3.1.1.2

2.1.6

2.1.7

SDE[axis]=[value]

W

Enable/disable the external deceleration feature for [axis]

SL[axis]

R

Returns status of StepNLoop enable for [axis]

2.1.7

2.5.3

SL[axis]=[value]

W

Enable/Disable StepNLoop feature for [axis]

SLA[axis]

R

Returns maximum attempts to complete StepNLoop operation for [axis]  

2.1.7

2.5.3

SLA[axis]=[value]

W

Sets maximum attempts to complete StepNLoop operation for [axis]  

0 = infinite number of correction tries.

SLE[axis]

R

Returns error range of StepNLoop operation for [axis]

2.1.7

2.5.3

SLE[axis]=[value]

W

Sets error range of StepNLoop operation for [axis]

SLOAD[prg#]

R

Returns the RunOnBoot parameter for [prg#]

2.1.5

2.1.7

2.7.10

SLOAD[prg#]=[value]

W

Sets the RunOnBoot parameter for [prg#]

SLR[axis]

R

Returns the StepNLoop ratio for [axis] (ppr/cpr)

2.1.7

2.5.3

SLR[axis]=[value]

W

Sets the StepNLoop ratio for [axis] (ppr/cpr)

SLS[axis]

R

Returns StepNLoop status for [axis]

2.5.3

SLT[axis]

R

Returns StepNLoop tolerance for [axis]

2.1.7

2.5.3

SLT[axis]=[value]

W

Sets StepNLoop tolerance for [axis]

SPC[prg#]

R

Returns program counter for [prg#]

2.7.9

SSPD[axis]=[value]

W

Performs on-the-fly speed change for [axis]. Buffer must be disabled

2.4.1

SSPDM[axis]

R

Returns the current on-the-fly speed mode

2.4.1

SSPDM[axis]=[value]

W

Sets the on-the-fly speed mode

STOP

W

Performs ramp down to low speed and stop if motor is moving for all axes

2.2.3

STOP[axis]

W

Performs ramp down to low speed and stop if motor is moving for [axis]

STORE

W

Saves parameters to flash memory

2.1.1.1

2.1.3.2.2

2.1.3.3.1

2.1.5

2.1.6

2.1.7

2.2.1

2.7.6

SYNC[axis]

R

Returns SYNC condition and source

2.1.3.2.2

SYNC[axis]=[value]

W

Sets SYNC condition and source [axis]

SYNF[axis]

W

Disable synchronization window and synchronization output

2.1.3.2.2

SYNMAX[axis]

R

Returns the current maximum value of the Sync Pulse Window for [axis]

2.1.3.2.2

SYNMAX[axis]=[value]

W

Sets the maximum value of the Sync Pulse Window for [axis]

SYNMIN[axis]

R

Returns the current minimum value of the Sync Pulse Window for [axis]

2.1.3.2.2

SYNMIN[axis]=[value]

W

Sets the minimum value of the Sync Pulse Window for [axis]

SYNO[axis]

W

Enable synchronization output

2.1.3.2.2

SYNP[axis]

R

Returns the synchronization position value or distance between pulses for continuous sync

2.1.3.2.2

SYNP[axis]=[value]

W

Sets the synchronization position value or distance between pulses for continuous sync

SYNS[axis]

R

Returns the status of the synchronization feature

2.1.3.2.2

SYNWF[axis]

W

Disables the synchronization window for [axis]

2.1.3.2.2

SYNWO[axis]

W

Enables the synchronization window and synchronization output feature for [axis]

2.1.3.2.2

T[axis][newtarget]

W

Sets the on-the-fly target position change for [axis]

2.4.2

V[var]

R

Returns the standalone [var] value

2.1.7

2.7.6

V[var]=[value]

W

Sets the standalone [var] value

VER

R

Returns the current firmware version

2.1.1.1

[axis][targetpos]

W

Individual move command for [axis] to [targetpos]

2.2.4.2

X[targetX]Y[targetY]Z[targetZ]U[targetU]

W

Interpolation move command (include all axes that will be interpolated).  EINT must be enabled (1)

2.2.4.2

2.3.1

ZCNT[axis]

R

Returns the number of Z-index pulses to count for [axis].  Used for relevant moves (ZMOVE and homing routines)

2.1.7

2.2.5.1

ZCNT[axis]=[value]

W

Sets the Z-index count to be used for relevant moves (ZMOVE and homing routines). Range is 1 – 16.

ZMOVE[axis][dir]

W

Perform the EZ Count operation for [axis] in [dir] positive (+) or negative (-) direction

2.2.5.1