Command

R/W

Description

Reference Chapter

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Any text following semicolon in the same line appears as a comment

2.7.1

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 position coordinate mode

2.2.4.1

ACC

R/W

Returns/sets global acceleration value in ms

2.1.4

ACC[axis]

R/W

Returns/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[Cx]:[Cy]:[θ]:[pos]

W

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

2.3.3

ARCTP[Cx]:[Cy]:[θ]:[pos]

W

X-Y arc interpolation, centers at [C1], [C2], CW direction to [Ɵ] with Z linear interpolation to [pos]

BUFOFF

W

Disable buffered move

2.3.4

BUFON

W

Enable buffered move

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]:[pos]

W

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

2.3.3

CIRTP[C1]:[C2]:[pos]

W

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

DEC

R/W

Returns/sets the global deceleration value in ms

2.1.4

DEC[axis]

R/W

Returns/sets [axis] deceleration value in ms

DELAY

W

Sets delay in ms


DI

R

Return status of digital inputs (4-bit)

2.1.3.2.1

DI[1-4]

R

Get individual bit status of digital inputs. Will return [0,1].

2.1.3.2.1

DO

R/W

Returns/sets 4 bits of general-purpose digital outputs

2.1.3.2.2

DO[1-4]

R/W

Returns/sets bit status of general digital output [1-4]

2.1.3.2.2

E[axis]

R/W

Returns/sets the encoder value of [axis]

2.6.1.2

ECLEAR[axis]

W

Clear any motor status errors.

2.1.3.1.1.1

2.1.3.1.1.2

2.1.3.1.2

2.6.2.3

2.7.5

EINT

R/W

Returns/sets the interpolation Enable/Disable status

2.1.7

2.2.4.2

2.3.1

EO

R/W

Returns/sets 4 bits of enable output value for all axes 

2.1.2.1

2.1.2.2

2.2.1

EO[1-4]

R/W

Returns/sets enable output value for [1-4]

GOSUB[0-31]

-

Executes subroutine [0-31]

2.7.4

HOME[axis][+/-][mode]

W

Home [axis] in positive or negative [+/-] direction using homing mode [mode] (see Appendix A: Homing Mode Actions)

2.2.5

HSPD

R/W

Returns/sets the global high-speed setting

2.1.4

HSPD[axis]

R/W

Returns/sets the high-speed setting for [axis]

IF

ELSEIF

ELSE

ENDIF


-

Executes the instruction following the IF statement when condition is true. Execute the instruction following the next ELSE or ELSEIF statement when the condition is false. When all conditions are false, continue executing program after  ENDIF.  The following operands are used in the conditional IF statement:  =, >, <, > =, <=, !=

2.7.2

INC

W

Turns on incremental coordinate mode

2.2.4.1

IO

R/W

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

2.1.3.3.1

IO[index]

R/W

Returns/sets the status of configurable I/O at [index]

2.1.3.3.1

ISTART

W

Start processing the buffer (buffer must be enabled)

2.3.4

JOG[axis][+/-]

W

Jogs the [axis] in the [+] or [-] direction using the HSPD setting

2.2.2

JOYENA

R/W

Returns/sets the status for joystick control

2.1.3.3.2

2.5.1

JOYHS[axis]

R/W

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

2.1.3.3.2

2.5.1.2

LSPD

R/W

Returns/sets global low speed setting

2.1.4

LSPD[axis]

R/W

Returns/sets low speed setting for [axis]

2.1.4

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/W

Returns/sets the position value for [axis]

2.6.1.1

PRG[0-3]

END

-

Defines the first and last line of a standalone program [0-3].

2.7.1

PS[axis]

R

Returns the current pulse speed for [axis]

2.6.2.2

SL[axis]

R/W

Returns/sets enable/disable of StepNLoop for [axis]

2.5.3

SLS[axis]

R

Returns StepNLoop status for [axis]

2.5.3

SR[0-3]

W

Controls standalone program [0-3]. Use command to stop, start, pause, continue. 

2.7.8

SSPD[axis]

W

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

2.4.1

SSPDM[axis]

W

Sets the on-the-fly speed mode for [axis]

2.4.1

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

SUB[0-31]

ENDSUB

-

Used to define the first and last line of a Subroutine [0-31]

2.7.4

SYNCFG[axis]

R/W

Returns/sets SYNC condition and source [axis]

2.1.3.2.2

SYNOFF[axis]

W

Disable synchronization window and output [axis]

2.1.3.2.2

SYNON[axis]

W

Enable synchronization output [axis]

2.1.3.2.2

SYNPOS[axis]

R/W

Sets/returns the synchronization position value or distance between pulses for continuous sync [axis]

2.1.3.2.2

SYNSTAT[axis]

W

Returns the status of the synchronization feature [axis]

2.1.3.2.2

V[var]

R/W

Returns/sets the variable [var] value. [var] is number 0-99.

2.7.6

WAIT[axis]

W

Waits for completion of [axis] motion before next command is executed

2.1.1.2

2.6.2.1

WHILE

ENDWHILE

-

Continues executing the program after the WHILE statement when the conditional statement is true. Repeat until WHILE condition is false, and then execute program after ENDWHILE. Conditional operands available include:  =,  >,  <,  >=,  <=,  !=

2.7.2

X[target]

W

Individual move command for X axis to [target]

2.2.4.2

Y[target]

W

Individual move command for Y axis to [target]

Z[target]

W

Individual move command for Z axis to [target]

U[target]

W

Individual move command for U axis to [target]

X[pos]Y[pos]Z[pos]U[pos]

W

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

2.2.4.2

2.3.1

2.3.4

ZMOVE[axis][dir]

W

Perform the EZ Count operation.  Moves [axis] the number of Z-index pulses specified by ZCNT in [dir] positive (+) or negative (-) before stopping.

2.2.5.1

A-Script standalone commands


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