CMD Command Reference

Function

Command Syntax

Available with:

ASCII

Standalone

CMD-4CR

PMX-4EX

PMX-4ET

PMX-2ED

PMX-2EX

Separator for comments in Standalone program code

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Stop all axes immediately, buffer mode disabled

ABORT

ABORT

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Stop an individual axis immediately, buffer mode disabled

ABORT[axis]

ABORT[axis]

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Set absolute position coordinate mode

ABS

ABS

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Read global acceleration time setting (ms)

ACC

ACC

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Set global acceleration time setting (ms)

ACC=[value]

ACC=[value]

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Read axis acceleration time setting (ms)

ACC[axis]

ACC[axis]

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Set axis acceleration time setting (ms)

ACC[axis]=[value]

ACC[axis]=[value]

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Read analog input status (mV)

AI[1-2]

AI[1-2]

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Arc interpolation move CCW direction

ARC[A1][A2]N[C1]:[C2]:[Ɵ]

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ARCN[X]:[Y]:[Ɵ]

ARCN[X]:[Y]:[Ɵ]

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Arc interpolation move CW direction

ARC[A1][A2]P[C1]:[C2]:[Ɵ]

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ARCN[X]:[Y]:[Ɵ]

ARCN[X]:[Y]:[Ɵ]

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XY arc interpolation CCW with Z-axis linear interpolation move to target

ARCTN[C1]:[C2]:[Ɵ]:[target]

ARCTN[C1]:[C2]:[Ɵ]:[target]

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XY arc interpolation CW with Z-axis linear interpolation move to target

ARCTP[C1]:[C2]:[Ɵ]:[target]

ARCTP[C1]:[C2]:[Ɵ]:[target]

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Disable buffer mode

BF

BUFOFF

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Enable buffer mode

BO

BUFON

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Begin processing the buffer 

BSTART

ISTART

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Buffer status

BSTAT

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Circular interpolation in the CCW direction

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

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CIRN[X]:[Y]

CIRN[X]:[Y]

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Circular Interpolation in the CCW Direction

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

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CIRP[X]:[Y]

CIRP[X]:[Y]

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XY circular interpolation in the CCW direction with Z-axis linear interpolation move to target

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

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

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XY circular interpolation in the CW direction with Z-axis linear interpolation move to target

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

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

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Clear axis alarm, limits, or StepNLoop error

CLR[axis]

ECLEAR[axis]

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Returns the StepNLoop deviation counter for the specified axis

D[axis]

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DX[axis]

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Read baud rate of controller

DB

DB

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Set baud rate of controller

DB=[value]

DB=[value]

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Read global deceleration time setting (ms)

DEC

DEC

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Set global deceleration time setting (ms)

DEC=[value]

DEC=[value]

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Read axis deceleration time setting (ms)

DEC[axis]

DEC[axis]

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Set axis deceleration time setting (ms)

DEC[axis]=[value]

DEC[axis]=[value]

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Set delay time (ms), delays time next operation starts

DELAY

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Reads status of all general-purpose digital inputs

DI

DI

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Reads status of specific general-purpose digital input

DI[1-8]

DI[1-8]

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Reads the digital input polarity

DIP

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Sets the digital input polarity

DIP=[pol]

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Read device name or identification number

DN

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ID

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Set device name or identification number

DN=[value]

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ID=[value]

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Reads the status of all general-purpose digital outputs

DO

DO

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Sets the status of all general-purpose digital outputs

DO=[value]

DO=[value]

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Reads the status of a specific digital output

DO[1-8]

DO[1-8]

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Sets the status of a specific digital output

DO[1-8]=[value]

DO[1-8]=[value]

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Reads the configuration of all general purpose digital outputs on boot-up

DOBOOT

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Sets the configuration of all general purpose digital outputs on boot-up

DOBOOT=[value]

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Reads the digital output polarity

DOP

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Sets the digital output polarity

DOP=[pol]

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Returns the StepNLoop deviation counter for the specified axis

DX[axis]

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Reads encoder value of specific axis

E[axis]

E[axis]

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Sets the encoder value of a specific axis

E[axis]=[value]

E[axis]=[value]

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Reads the unique deceleration status

EDEC

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Enables/disables the unique deceleration status

EDEC=[0-1]

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Reads the interpolation enable status

EINT

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Enables/disables interpolation function

EINT=[value]

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Reads enable status of all axes

EO

EO

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Sets enable status of all axes

EO=[value]

EO=[value]

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Reads enable status of specific axis

EO[no]

EO[no]

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Sets enable status of specific axis

EO[no]=[value]

EO[no]=[value]

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Reads boot-up enable status of all axes

EOBOOT

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Sets enable status for all axes on boot-up

EOBOOT=[value]

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Reads the enable output polarity

EOP

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Sets the enable output polarity

EOP=[value]

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Reads encoder values of all axis

EP

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PE

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Reads the enable status of the deflection counter clear output for a specific axis

ERC[axis]

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Sets the enable status of the deflection counter clear output for a specific axis

ERC[axis]=[value]

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Reads the pulse delay set value

ERCD

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Sets the pulse delay value (2-bits)

ERCD=[value]

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Reads the pulse width set value

ERCP

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Sets the pulse width value (3-bits)

ERCP=[value]

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Initiates emergency stop (same as triggering /CMEG)

ESTOP

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Reads the status of the external start enable

EXST

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Enables/disables the external start function

EXST=[value]

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Initiates a defined subroutine (0 – 31)

GS[0-31]

GOSUB [0-31]

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Homing operation

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

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

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H[axis][+/-]

HOME[axis][+/-]

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HL[axis][+/-]

HLHOME[axis][+/-]

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L[axis][+/-]

LHOME[axis][+/-]

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Z[axis][+/-]

ZOME[axis][+/-]

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ZH[axis][+/-]

ZHOME[axis][+/-]

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Reads global home correction amount

HCA

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Sets global home correction amount value

HCA=[value]

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Reads home correction amount for a specific axis

HCA[axis]

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Sets home correction amount value for a specific axis

HCA[axis]=[value]

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Read global high-speed setting

HSPD

HSPD

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HS

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Set global high-speed value

HSPD=[value]

HSPD=[value]

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HS=[value]

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Read high speed setting for a specific axis

HSPD[axis]

HSPD[axis]

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HS[axis]

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Set the high-speed setting for a specific axis

HSPD[axis]=[value]

HSPD[axis]=[value]

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HS[axis]=[value]

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Setting for buffered interpolation move

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

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XY Linear interpolated move

I[X target]:[Y target]

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Read automatic acceleration setting for buffered interpolated moves

IACC

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Set the automatic acceleration setting used for buffered interpolated moves

IACC=[0-1]

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Read controller ID

ID

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Set controller ID

ID=[value]

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Read the ignore limit/alarm status

IERR

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Set the ignore limit/alarm status

IERR=[1-0]

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Conditional loop commands of IF loops in standalone program

IF, ELSEIF, ELSE
ENDIF

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Set incremental coordinate mode

INC

INC

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

INP[axis]

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

INP[axis]=[value]

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

IO

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Set the bit status for all configurable outputs

IO=[value]

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

IO[port]

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Set the value of the configurable output bit at [port]

IO[port]=[0-1]

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

IOBOOT

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Set the value of all configurable outputs at startup

IOBOOT=[value]

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Read the current configuration of all configurable I/O ports

IOCFG

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Set the configuration of all configurable I/O ports

IOCFG=[value]

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

IOP

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

IOP=[0-1]

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Read the device IP address

IP

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Set the device IP address

IP=[value]

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Jog [axis] in the positive (+) or negative (-) direction

J[axis][+/-]

JOG[axis][+/-]

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Read the allowable speed change for joystick control on [axis]

JDEL[axis]

JOYDEL[axis]

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Set the allowable speed change for joystick control on [axis]

JDEL[axis]=[value]

JOYDEL[axis]=[value]

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Read joystick control enable configuration

JENA

JOYENA

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JE

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JF

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JO

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Set joystick control enable configuration setting

JENA=[value]

JOYENA=[value]

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JE=[value]

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Read the limit setting for joystick control

JLIM[number]

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JL[number]

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Set the limit configuration for joystick control

JLIM[number]=[value]

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JL[number]=[value]

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Read the maximum voltage setting for joystick operation for [axis]

JMAX[axis]

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Set the maximum voltage setting for joystick operation for [axis]

JMAX[axis]=[value]

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Read the minimum voltage setting for joystick operation for [axis]

JMIN[axis]

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Set the minimum voltage setting for joystick operation for [axis]

JMIN[axis]=[value]

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Read the maximum speed setting for joystick operation for [axis]

JSPD[axis]

JOYHS[axis]

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Set the maximum speed value for joystick operation for [axis]

JSPD[axis]=[value]

JOYHS[axis]=[value]

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Read the dead band tolerance around mid-voltage range for [axis]

JTOL[axis]

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Set the dead band tolerance around mid-voltage range for [axis]

JTOL[value]

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Read the joystick speed, delta, and tolerance configuration assignments 

JV[number]

JOYHS[axis]
JOYDEL[axis]

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Set the joystick speed, delta, and tolerance configuration assignments 

JV[number]=[value]

JOYHS[axis]=[value]
JOYDEL[axis]=[value]

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Homing using the limit inputs in the [+] or [-] direction

L[axis][+/-]

LHOME[axis][+/-]

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Read the global limit correction amount value

LCA

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Set the global limit correction value

LCA=[value]

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Read the limit correction value for [axis]

LCA[axis]

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Set the limit correction value for [axis]

LCA[axis]=[value]

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Read the global low speed parameter

LSPD

LSPD

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LS

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Set the global low speed parameter

LSPD=[value]

LSPD=[value]

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LS=[value]

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Read the l low speed parameter for [axis]

LSPD[axis]

LSPD[axis]

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LS[axis]

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Set the low speed parameter for [axis]

LSPD[axis]=[value]

LSPD[axis]=[value]

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LS[axis]=[value]

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Set the enable/disable for the latch function for [axis]

LT[axis]=[value]

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Read the previously latched encoder position value for [axis]

LTE[axis]

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LT[axis]E

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Read the previously latched step position value for [axis]

LTP[axis]

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LT[axis]P

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Read the current latch status for [axis]

LTS[axis]

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LT[axis]S

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Read the current position coordinate mode setting

MM

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Read the current manual pulse generator position for [axis]

MP[axis]

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Set the manual pulse generator position value for [axis]

MP[axis]=[value]

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Read the current divider parameter of the manual pulse generator for [axis]

MPD[axis]

MPGD[axis]

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Set the current divider parameter of the manual pulse generator for [axis]

MPD{axis]=[value]

MPDG[axis]=[value]

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Read the manual pulse generator enable status for [axis]

MPE[axis]

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Enable/disable the manual pulse generator for [axis]

MPE[axis]=[value]

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Read the current multiplier parameter of the manual pulse generator for [axis]

MPM[axis]

MPGM[axis]

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Set the multiplier parameter value of the manual pulse generator for [axis]

MPM[axis]=[value]

MPGM[axis]=[value]

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

MST[axis]

MST[axis]

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Read the current position value for [axis]

P[axis]

P[axis]

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Set the current position value for [axis]

P[axis]=[value]

P[axis]=[value]

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Reads encoder values of all axis

PE 

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EP

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Read the polarity parameter for specified [axis]

POL[axis]

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PO[axis]

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Set the polarity parameter for specified [axis]

POL[axis]=[value]

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PO[axis]=[value]

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Read the pulse counter for all 4 axes

PP

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Standalone program beginning and ending lines.  All program code must be between PRG [0-3} and END

PRG [0-3]
END

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Read current pulse speed for [axis]

PS[axis]

PSX

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Returns current PWM duty cycle in %

PWM[1-2]

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Set the current PWN duty cycle in %

PWM[1-2]=[value]

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Read the value of a specific [reg] for [axis]

REGRD[axis]Ox[reg]

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Write a value to a specific [reg] for [axis]

REGWR[axis]Ox[reg]=[value]

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Read the return to zero enable status used during homing

RZ

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Set the return to zero enable status used during homing

RZ=[value]

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Read the specified standalone [line]

SA[line]

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Set the [value] of the specified standalone [line]

SA[line]=[value]

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

SACTRL[prgNo]=[0-3]

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SR[prgNo]=[value]

SR[prgNo]=[value]

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Read the return jump line for standalone program error handling

SAP

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Set the return jump line for standalone program error handling

SAP[0-1]

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Read standalone program operation status

SASTAT[0-3]

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Read S-curve acceleration status for [axis]

SCV[axis]

SCV[axis]

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Set S-curve acceleration for [axis] Trapezoidal acceleration used if S-curve disabled.

SCV[axis]=[0-1]

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SCVX=[0-1]

SCVX=[0-1]

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Read slow down signal operation status for [axis]

SDC[axis]

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Set the configuration for slow down signal operation for [axis] (decel only, or decel and stop)

SDC[axis]=[value]

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Read status of slow down operation for axis

SDE[axis]

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Enable/disable slow down operation for [axis]

SDE[axis]=[value]

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Read enable status for StepNLoop operation for [axis]

SL[axis]

SL[axis]

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Enable/disable StepNLoop operation for [axis]

SL[axis]=[value]

SL[axis]=[value]

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Read maximum number of attempts to complete a StepNLoop operation for [axis]

SLA[axis]

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Set number of attempts allowed to complete a StepNLoop operation for [axis]

SLA[axis]=[value]

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Read error range for StepNLoop operation for [axis]

SLE[axis]

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Set error range for StepNLoop operation

SLE[axis]=[value]

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Read StepNLoop ratio for [axis] (ppr/cpr)

SLR[axis]

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Set StepNLoop ratio for [axis] (ppr/cpr)

SLR[axis]=[value]

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Read StepNLoop status for [axis]

SLS[axis]

SLS[axis]

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Read tolerance setting for StepNLoop operation for [axis]

SLT[axis]

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Set the tolerance value for StepNLoop operation for [axis]

SLT[axis]=[value]

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Read the run on power-up status for [prgNo]

SLOAD[pgNo]

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Set the run on power-up status for [prgNo]

SLOAD[prgNo]=[value]

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Read current program counter for [prgNo]

SPC[prgNo]

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

SR[prgNo]=[value]

SR[prgNo]=[value]

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SACTRL[prgNo]=[0-3]

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Initiates on-the-fly speed change for [axis], buffer must be disabled

SSPD[axis]=[value]

SSPD[axis]=[value]

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Read the current on-the-fly speed range mode for [axis]

SSPDM[axis]

SSPDM[axis]

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Set the on-the-fly speed range for [axis]

SSPDM[axis]=[value]

SSPDM[axis]=[value]

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Initiates a ramp down to low speed and stop for all axes

STOP

STOP

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Initiates a ramp down to low speed and stop for [axis]

STOP[axis]

STOP[axis]

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Saves parameters to flash memory

STORE

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Standalone program sub routine start and end line

SUB [0-31]
ENDSUB

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Read sync condition and source for [axis]

SYNC[axis]

SYNCFG[axis]

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SYN[axis]C

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Set sync condition and source for [axis]

SYNC[axis]=[value]

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SYN[axis]C=[1-3]

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Disable sync window and sync output for [axis]

SYNF[axis]

SYNOFF[axis]

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SYN[axis]F

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Read maximum value of the sync pulse window for [axis]

SYNMAX[axis]

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Set maximum value of the sync pulse window for [axis]

SYNMAX[axis]=[value]

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Read minimum value of the sync pulse window for [axis]

SYNMIN[axis]

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Set minimum value of the sync pulse window for [axis]

SYNMIN[axis]=[value]

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Enable synchronization output for [axis]

SYNO[axis]

SYNON[axis]

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SYN[axis]O

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Read synchronization position value or distance between pulses for continuous sync for [axis]

SYNP[axis]

SYNPOS[axis]

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SYN[axis]P

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Set synchronization position value or distance between pulses for continuous sync for [axis]

SYNP[axis]=[value]

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SYN[axis]P=[value]

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Read status of synchronization operation for [axis]

SYNS[axis]

SYNSTAT[axis]

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Read sync output pulse width time(ms) for [axis]. Only applicable if sync output configuration is set to 1

SYN[axis]T

SYNTIME[axis]

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Set sync output pulse width time(ms) for [axis]. Only applicable if sync output configuration is set to 1.

SYN[axis]T=[value]

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Disable the synchronization window for [axis]

SYNWF[axis]

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Enable the synchronization window for [axis]

SYNWO[axis]

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

T[axis][value]

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Read the communication time out parameter in ms

TOC

TOC

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Set the communication time out parameter in ms

TOC=[value]

TOC=[value]

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Read the timer register value in ms

TR

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Set the timer register value in ms

TR=[value]

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Read standalone variable [no]

V[no]

V[no]

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Set standalone variable [no] to [value]

V[no]=[value]

V[no]=[value]

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Read the controller firmware version

VER

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Sets [axis] to wait until the current move is complete before executing the next line of code.

WAIT[axis]

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Conditional statements used in program loops

WHILE
ENDWHILE

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Perform individual motion in X and /or Y axis

X[target X]
Y[target Y]

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Perform linear interpolation motion with X and Y axes

X[target X]Y[target Y]

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Perform individual motion in X, Y, Z, and/or U axes

X[target X]
Y[target Y]
Z[target Z]
U[target U]

X[target X]
Y[target Y]
Z[target Z]
U[target U]

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Perform linear interpolation motion with X, Y, Z, and/or U axes.  Include all axes that will be interpolated. EINT must be enabled (1)

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

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Perform homing function for [axis] in the positive [+] or negative [-] direction using the Z-index pulse only

Z[axis][+/-]

ZOME[axis][+/-]

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Read number of Z-index pulse to count for [axis]

ZCNT[axis]

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Set number of Z-index pulse to count for [axis]

ZCNT[axis]=[value]

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Perform homing function for [axis] in the positive [+] or negative [-] direction using the home and Z-index pulse.

ZH[axis][+/-]

ZHOME[axis][+/-]

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Perform the EZ count operation for [axis] in the positive [+] or negative [-] direction

ZMOVE[axis][+/-]

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