Standalone Controller Series Hardware Manual

How your application communicates

Command set on the CMD-2ED-SA

What you need to do

USB, through PerformaxCom.dll and SiUSBXp.dll

PMX-2ED-SA command set, 100% backward compatible

Install the CMD-2ED-SA compatible PerformaxCom.dll and SiUSBXp.dll. No change to your application code.

USB, through CMDHidApi.dll (32-bit) or CMDHidApi64.dll (64-bit)

Full Commander command set

Use the Commander commands. See the differences in this section.

RS-485

Full Commander command set

Update your commands to the Commander command set. See the differences in this section.

Note: The backward-compatible command set is available only over USB through PerformaxCom.dll and SiUSBXp.dll. RS-485 applications must be updated to the Commander command set.

Item

PMX-2ED-SA

CMD-2ED-SA

USB interface

USBXpress, Arcus/Performax USB driver

USB HID compatible; no driver signature required (per the CMD-2ED-SA manual). Confirm whether a Windows driver is installed with the Commander DLLs.

Backward-compatible DLLs

PerformaxCom.dll, SiUSBXp.dll

PerformaxCom.dll and SiUSBXp.dll, CMD-2ED-SA compatible versions (version numbers and download location to be added)

Commander DLLs

Not available

CMDHidApi.dll (32-bit Windows), CMDHidApi64.dll (64-bit Windows)

Firmware update

Bootloader

In-field update over USB with the FWUP command

Topic

PMX-2ED-SA

CMD-2ED-SA

Command case

Upper case only

Not case sensitive; spaces are ignored

Error replies

Short forms, for example ?Moving

?Error forms, for example ?Error Moving, ?Error +Limit

Device name / ID

DN reads or sets 2ED00 to 2ED99

DN is not supported. Use ID (00 to 99)

ID reply

Performax-2ED-SA

CMD-2CR-xx (xx = device ID)

Default RS-485 address

@00

@01

Setting the RS-485 address

DN=, then STORE and power cycle

ID=nn (confirm whether STORE and a power cycle are needed)

Command

PMX-2ED-SA

CMD-2ED-SA

ACC

Acceleration time in ms. Default 300

Default 100. Can also be set per axis (ACCX, ACCY)

DEC

Used only when EDEC=1. Default 300

Always used. Default 100. Must not be more than 2 × ACC

EDEC

Selects separate DEC

Not supported. DEC is always separate

HSPD

Default 1000 pps

Default 10000 pps. Can be set per axis. Must be ≥ LSPD

LSPD

Default 100 pps

Default 100 pps. Must be ≤ HSPD

SCV

S-curve on/off for all axes. Default off

Set per axis (SCVX, SCVY). Default on

SSPDM

0 to 9

0 to 7

SSPD

Not allowed with S-curve on

Allowed with S-curve on; error reply ?SSPD Error

Command

PMX-2ED-SA

CMD-2ED-SA

I[X]:[Y]

Immediate linear interpolated move

Buffered move (requires buffer mode, BO). For an immediate interpolated move, send X and Y on one line, for example X1000Y500

T

On-the-fly target change

Same function; error reply is ?Override Failed

HX+/-, HY+/-

Home using the home input

H[axis][+/-][mode], 13 homing modes. Mode 0 is home input at high speed

HLX+/-, HLY+/-

Home at high then low speed

H[axis][+/-]1

LX+/-, LY+/-

Home to the limit input

H[axis][+/-]6

ZHX+/-, ZHY+/-

Home input then Z index

H[axis][+/-]2 or 3

ZX+/-, ZY+/-

Home to Z index only

Z now moves a set number of index pulses (ZCNT). Use the H command homing mode that matches your sequence

HCA, LCA, RZ

Position clear options for homing

Not supported

Command

PMX-2ED-SA

CMD-2ED-SA

MST

MST with no axis returns X status

An axis is required (MSTX, MSTY). Bit layout changed; see the table below

POL

Polarity bit layout as in the PMX manual

Bit layout changed; see the Commander command set

EO, EOBOOT

2 driver enable bits (0 to 3)

4 bits (0 to 15). Existing values still work

AI1, AI2

Reply 0 to 5000 (mV)

Reply 0 to 3300 for the 0 to 5 V input range (confirm scaling)

DB

Out-of-range value is set to 1 (9600)

Out-of-range value returns an error

TOC

Communication time-out

Not supported

JO, JF

Joystick on and off

Use JENA

JV, JL

Joystick speed and limit tables

Use JSPD, JMAX, JMIN, JTOL, JDEL and JLIM

ABORT

Stops all axes and turns the joystick off

Stops all axes and disables the motion buffer

Bit

PMX-2ED-SA

CMD-2ED-SA

0

Accelerating

Accelerating

1

Decelerating

Decelerating

2

Constant speed

Constant speed

3

Not used

Alarm input

4

+Limit input

+Limit input

5

-Limit input

-Limit input

6

Home input

Home input

7

+Limit error

Slowdown input

8

-Limit error

+Limit error

9

Z index

-Limit error

10

Joystick

Alarm error

11

Communication time-out

In position

12

-

Deviation counter clear

13

-

Z index

14

-

External start

15

-

Emergency stop

16 to 20

-

Additional stop and wait states

Item

PMX-2ED-SA

CMD-2ED-SA

Number of programs

2

4 (PRG 0 to 3)

Program memory

1,275 lines

Confirm maximum line count (query with SAMAX)

Subroutines

32

32

Variables

V0 to V63; V32 to V63 kept at power-down

V0 to V99; V50 to V99 kept at power-down

Run at power-up

SLOAD bit mask

SLOAD[n]=1 for each program

Run control

SR

SR or SACTRL

Homing commands

HOME, LHOME, HLHOME, ZHOME, ZOME

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

Parameter

PMX-2ED-SA

CMD-2ED-SA

HSPD

1000 pps

10000 pps

LSPD

100 pps

100 pps

ACC / DEC

300 ms / 300 ms (DEC follows ACC)

100 ms / 100 ms (independent)

Speed profile

Trapezoidal

S-curve

RS-485 address

@00

@01

Baud rate

9600 bps

9600 bps

Note: If your application relies on the PMX-2ED-SA power-up defaults, set HSPD, LSPD, ACC, DEC and the S-curve setting explicitly after power-up, or store your values with STORE.