See the Command Reference for more examples. 

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Start and stop of jog move

Summary of operation

Set the speed of the X-axis movement and turn on excitation. After that, start the movement of the X axis in the negative direction. After a while, decelerate and stop the axis.

Program code

cmdStr = "LSPDX=500"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Starting speed of X-axis set to 500 pps

cmdStr = "HSPDX=5000"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Moving speed of X-axis set to 5,000 pps

cmdStr = "ACCX=200"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Accel time of X-axis set to 200 ms

cmdStr = "DECX=200"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Decel time of X-axis set to 200 ms

cmdStr = "EO1=1"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)                ‘Enable X-axis

cmdStr = "JX−"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)         ’Start moving in the (−) direction

cmdStr = "STOPX"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Decelerate and stop

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Position Move

Summary of operation

Set the global moving speed and turn on the excitation of X and Y axes. Set positioning coordinates to absolute mode. Move the X axis to position −20,000 and Y axis to position 15,000.

Program code

cmdStr = "LSPD=500"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Starting speed set to 500 pps (Global)

cmdStr = "HSPD=5000"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Moving speed set to 5,000 pps (Global)

cmdStr = "ACC=200"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Accel time set to 200 ms (Global)

cmdStr = "DEC=200"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Deceleration time set to 200 ms (Global)

cmdStr = "EO=3"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Enable X and Y-axis

cmdStr = "ABS"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Set position coordinate mode to Absolute

cmdStr = "X−20000"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ’Start moving the X-axis to the position of −20,000

cmdStr = "Y15000"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ’Start moving the Y-axis to the position of 15,000.


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Obtain and clear counter value

Summary of operation

Read and display the command pulse and feedback pulse counter on the X-axis. The counter value can be cleared only when the axis is normally stopped (stopped without error). Read the counter value in a timer event.

Program code

cmdStr = "PX"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ’Obtain the command pulse counter value on X-axis

OutplsX.Text = replyStr                                                        ’Display the command pulse counter value

cmdStr = "EX"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ’Obtain the feedback pulse counter value on X-axis

FeedbackX.Text = replyStr                                                ‘Display the feedback counter value

cmdStr = "MSTX"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ’Obtain the status value of X-axis

mStatusX.Text = replyStr                                                        ‘Display the status value for X-axis


Execute the above process repeatedly in the timer event


If mStatusX.Text = "0" Then                                                ‘Does X-axis stop normally?

cmdStr = "PX=0"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ’X-axis command pulse counter clear

cmdStr = "EX=0"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ’X-axis feedback pulse counter clear

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Homing Operation

Summary of operation

Set the Y-axis moving speed and enable axis. Then, start the Y-axis homing operation in the negative direction using homing mode 1.

Program Code

cmdStr = "LSPDY=500"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Starting speed of Y-axis set to 500 pps

cmdStr = "HSPDY=5000"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Moving speed of Y-axis set to 5,000 pps

cmdStr = "ACCY=200"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Accel time of Y-axis set to 200 ms

cmdStr = "DECY=200"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Decel time of Y-axis set to 200 ms

cmdStr = "EO2=1"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Enable Y-axis

cmdStr = "HY−1"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ’Start the homing operation of Y-axis

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Linear interpolation operation

Summary of operation

Set global moving speed and enable the X- and Y-axes. Set the positioning coordinate mode to absolute. Execute the linear interpolation operation, moving the X-axis to position −20,000 and the Y-axis to position 15,000.

Program code

cmdStr = "LSPD=500"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Starting speed set to 500 pps (Global)

cmdStr = "HSPD=5000"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Moving speed set to 5,000 pps (Global)

cmdStr = "ACC=200"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Accel time set to 200 ms (Global)

cmdStr = "DEC=200"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Decel time set to 200 ms (Global)

cmdStr = "EO=3"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Enable X and Y-axes

cmdStr = "ABS"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Set position coordinate mode to absolute

cmdStr = "EINT=1"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Interpolation operation enabled

cmdStr = "X−20000Y15000"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ’ Start interpolation operation of X and Y axes

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Circular Interpolation Operation

Summary of operation

Set global moving speed and enable the X and Y axes. Set positioning coordinate mode to absolute. Execute a circular interpolation move. The center coordinates of circle are (1000, 0) and the rotation direction clockwise.

Program code

cmdStr = "LSPD=500"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Starting speed set to 500 pps (Global)

cmdStr = "HSPD=5000"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Moving speed set to 5,000 pps (Global)

cmdStr = "ACC=200"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Accel time set to 200 ms (Global)

cmdStr = "DEC=200"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)         ‘Decel time set to 200 ms (Global)

cmdStr = "EO=3"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ’Enable X and Y axes

cmdStr = "ABS"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Set position coordinate mode to absolute

cmdStr = "EINT=1"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ’Interpolation operation enabled

cmdStr = "CIRXYP1000:0"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ’Start interpolation operation of X and Y axes

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On-the-fly speed change

Summary of operation

Change the X-axis speed at 50,000 pps to 70,000 pps during motion.

Program code

cmdStr = "LSPDX=500" 

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Starting speed of X axis set to 500 pps

cmdStr = "HSPDX=50000"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Moving speed of X axis set to 50,000 pps


---omitted steps---


cmdStr = "JX−"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ’Start moving in the − direction



cmdStr = "SSPDM=2"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Double the speed range

cmdStr = "SSPD=70000"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Update speed to 70,000 pps

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Synchronization Function

Summary of operation

When the X axis moves to position 5,000, turn on synchronization signal DO1/SYNCx.

Program code

cmdStr = "LSPDX=100"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Starting speed of X axis set to 100 pps

cmdStr = "HSPDX=1000"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Moving speed of X axis set to 1,000 pps


---omitted steps---


cmdStr = "SYNCX=1"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Set X-axis sync condition

cmdStr = "SYNPX=5000"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Set X-axis comparison data value to 5,000

cmdStr = "SYNO"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Sync output configuration enabled

cmdStr = "X5000"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ‘Move X axis to position 5,000

‘DO1/SYNCx will be on when movement is completed

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Control of general purpose input/output

Summary of operation

Turn ON/OFF general-purpose output 19 in synchronization with general-purpose input 1.

Program code

cmdStr = "IOCFG=262144"                                                ’Configure general-purpose IO19 to output all other IO to input

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        


---omitted steps---

cmdStr = "IO1"

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)        ’Read status of general-purpose input 1

If replyStr = "1" Then

cmdStr = "IO19=1"                                                        ’It is ON

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)

Else

cmdStr = "IO19=0”                                                        ’It is not ON

result = SendReceiveCommanderHID(devHandle, cmdStr, replyStr)

End If

Note: The state of the general-purpose input must be read repeatedly

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