Commander Theory of Operation and 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

;

●

●

●

●

●

Stop all axes immediately, buffer mode disabled

ABORT

ABORT

●

●

●

●

●

Stop an individual axis immediately, buffer mode disabled

ABORT[axis]

ABORT[axis]

●

●

●

●

●

Set absolute position coordinate mode

ABS

ABS

●

●

●

●

●

Read global acceleration time setting (ms)

ACC

ACC

●

●

●

●

●

Set global acceleration time setting (ms)

ACC=[value]

ACC=[value]

●

●

●

●

●

Read axis acceleration time setting (ms)

ACC[axis]

ACC[axis]

●

●

●

●

●

Set axis acceleration time setting (ms)

ACC[axis]=[value]

ACC[axis]=[value]

●

●

●

●

●

Read analog input status (mV)

AI[1-2]

AI[1-2]

●

●

●

●

Arc interpolation move CCW direction

ARC[A1][A2]N[C1]:[C2]:[Ɵ]

●

ARCN[X]:[Y]:[Ɵ]

ARCN[X]:[Y]:[Ɵ]

●

●

Arc interpolation move CW direction

ARC[A1][A2]P[C1]:[C2]:[Ɵ]

●

ARCN[X]:[Y]:[Ɵ]

ARCN[X]:[Y]:[Ɵ]

●

●

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

ARCTN[C1]:[C2]:[Ɵ]:[target]

ARCTN[C1]:[C2]:[Ɵ]:[target]

●

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

ARCTP[C1]:[C2]:[Ɵ]:[target]

ARCTP[C1]:[C2]:[Ɵ]:[target]

●

Disable buffer mode

BF

BUFOFF

●

●

●

Enable buffer mode

BO

BUFON

●

●

●

Begin processing the buffer 

BSTART

ISTART

●

Buffer status

BSTAT

●

Circular interpolation in the CCW direction

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

●

CIRN[X]:[Y]

CIRN[X]:[Y]

●

●

Circular Interpolation in the CCW Direction

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

●

CIRP[X]:[Y]

CIRP[X]:[Y]

●

●

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

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

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

●

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

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

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

●

Clear axis alarm, limits, or StepNLoop error

CLR[axis]

ECLEAR[axis]

●

●

●

●

●

Returns the StepNLoop deviation counter for the specified axis

D[axis]

●

DX[axis]

●

●

●

●

Read baud rate of controller

DB

DB

●

●

●

●

Set baud rate of controller

DB=[value]

DB=[value]

●

●

●

●

Read global deceleration time setting (ms)

DEC

DEC

●

●

●

●

●

Set global deceleration time setting (ms)

DEC=[value]

DEC=[value]

●

●

●

●

●

Read axis deceleration time setting (ms)

DEC[axis]

DEC[axis]

●

●

●

●

●

Set axis deceleration time setting (ms)

DEC[axis]=[value]

DEC[axis]=[value]

●

●

●

●

●

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

DELAY

●

●

●

●

●

Reads status of all general-purpose digital inputs

DI

DI

●

●

●

●

●

Reads status of specific general-purpose digital input

DI[1-8]

DI[1-8]

●

●

●

●

●

Reads the digital input polarity

DIP

●

●

●

Sets the digital input polarity

DIP=[pol]

●

●

●

Read device name or identification number

DN

●

●

●

ID

●

Set device name or identification number

DN=[value]

●

●

●

ID=[value]

●

Reads the status of all general-purpose digital outputs

DO

DO

●

●

●

●

●

Sets the status of all general-purpose digital outputs

DO=[value]

DO=[value]

●

●

●

●

●

Reads the status of a specific digital output

DO[1-8]

DO[1-8]

●

●

●

●

●

Sets the status of a specific digital output

DO[1-8]=[value]

DO[1-8]=[value]

●

●

●

●

●

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

DOBOOT

●

●

●

●

●

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

DOBOOT=[value]

●

●

●

●

●

Reads the digital output polarity

DOP

●

●

●

Sets the digital output polarity

DOP=[pol]

●

●

●

Returns the StepNLoop deviation counter for the specified axis

DX[axis]

●

●

●

●

Reads encoder value of specific axis

E[axis]

E[axis]

●

●

●

●

●

Sets the encoder value of a specific axis

E[axis]=[value]

E[axis]=[value]

●

●

●

●

●

Reads the unique deceleration status

EDEC

●

●

●

●

Enables/disables the unique deceleration status

EDEC=[0-1]

●

●

●

●

Reads the interpolation enable status

EINT

●

Enables/disables interpolation function

EINT=[value]

●

Reads enable status of all axes

EO

EO

●

●

●

●

●

Sets enable status of all axes

EO=[value]

EO=[value]

●

●

●

●

●

Reads enable status of specific axis

EO[no]

EO[no]

●

●

●

●

●

Sets enable status of specific axis

EO[no]=[value]

EO[no]=[value]

●

●

●

●

●

Reads boot-up enable status of all axes

EOBOOT

●

●

●

●

●

Sets enable status for all axes on boot-up

EOBOOT=[value]

●

●

●

●

●

Reads the enable output polarity

EOP

●

●

Sets the enable output polarity

EOP=[value]

●

●

Reads encoder values of all axis

EP

●

PE

●

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

ERC[axis]

●

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

ERC[axis]=[value]

●

Reads the pulse delay set value

ERCD

●

Sets the pulse delay value (2-bits)

ERCD=[value]

●

Reads the pulse width set value

ERCP

●

Sets the pulse width value (3-bits)

ERCP=[value]

●

Initiates emergency stop (same as triggering /CMEG)

ESTOP

●

Reads the status of the external start enable

EXST

●

Enables/disables the external start function

EXST=[value]

●

Initiates a defined subroutine (0 – 31)

GS[0-31]

GOSUB [0-31]

●

●

●

●

●

Homing operation

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

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

●

●

●

●

H[axis][+/-]

HOME[axis][+/-]

●

●

●

●

HL[axis][+/-]

HLHOME[axis][+/-]

●

●

●

●

L[axis][+/-]

LHOME[axis][+/-]

●

●

●

●

Z[axis][+/-]

ZOME[axis][+/-]

●

●

●

ZH[axis][+/-]

ZHOME[axis][+/-]

●

●

●

Reads global home correction amount

HCA

●

●

Sets global home correction amount value

HCA=[value]

●

●

Reads home correction amount for a specific axis

HCA[axis]

●

●

Sets home correction amount value for a specific axis

HCA[axis]=[value]

●

●

Read global high-speed setting

HSPD

HSPD

●

●

●

HS

●

●

Set global high-speed value

HSPD=[value]

HSPD=[value]

●

●

●

HS=[value]

●

●

Read high speed setting for a specific axis

HSPD[axis]

HSPD[axis]

●

●

●

HS[axis]

●

●

Set the high-speed setting for a specific axis

HSPD[axis]=[value]

HSPD[axis]=[value]

●

●

●

HS[axis]=[value]

●

●

Setting for buffered interpolation move

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

●

●

●

XY Linear interpolated move

I[X target]:[Y target]

●

●

Read automatic acceleration setting for buffered interpolated moves

IACC

●

●

Set the automatic acceleration setting used for buffered interpolated moves

IACC=[0-1]

●

●

Read controller ID

ID

●

●

●

Set controller ID

ID=[value]

●

Read the ignore limit/alarm status

IERR

●

●

●

●

●

Set the ignore limit/alarm status

IERR=[1-0]

●

●

●

●

●

Conditional loop commands of IF loops in standalone program

IF, ELSEIF, ELSE
ENDIF

●

●

●

●

●

Set incremental coordinate mode

INC

INC

●

●

●

●

●

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

INP[axis]

●

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

INP[axis]=[value]

●

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

IO

●

Set the bit status for all configurable outputs

IO=[value]

●

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

IO[port]

●

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

IO[port]=[0-1]

●

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

IOBOOT

●

Set the value of all configurable outputs at startup

IOBOOT=[value]

●

Read the current configuration of all configurable I/O ports

IOCFG

●

Set the configuration of all configurable I/O ports

IOCFG=[value]

●

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

IOP

●

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

IOP=[0-1]

●

Read the device IP address

IP

●

Set the device IP address

IP=[value]

●

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

J[axis][+/-]

JOG[axis][+/-]

●

●

●

●

●

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

JDEL[axis]

JOYDEL[axis]

●

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

JDEL[axis]=[value]

JOYDEL[axis]=[value]

●

Read joystick control enable configuration

JENA

JOYENA

●

JE

●

JF

●

●

JO

●

●

Set joystick control enable configuration setting

JENA=[value]

JOYENA=[value]

●

JE=[value]

●

Read the limit setting for joystick control

JLIM[number]

●

JL[number]

●

●

●

Set the limit configuration for joystick control

JLIM[number]=[value]

●

JL[number]=[value]

●

●

●

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

JMAX[axis]

●

●

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

JMAX[axis]=[value]

●

●

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

JMIN[axis]

●

●

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

JMIN[axis]=[value]

●

●

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

JSPD[axis]

JOYHS[axis]

●

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

JSPD[axis]=[value]

JOYHS[axis]=[value]

●

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

JTOL[axis]

●

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

JTOL[value]

●

Read the joystick speed, delta, and tolerance configuration assignments 

JV[number]

JOYHS[axis]
JOYDEL[axis]

●

●

●

Set the joystick speed, delta, and tolerance configuration assignments 

JV[number]=[value]

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

●

●

●

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

L[axis][+/-]

LHOME[axis][+/-]

●

●

Read the global limit correction amount value

LCA

●

●

Set the global limit correction value

LCA=[value]

●

●

Read the limit correction value for [axis]

LCA[axis]

●

●

Set the limit correction value for [axis]

LCA[axis]=[value]

●

●

Read the global low speed parameter

LSPD

LSPD

●

●

●

LS

●

●

Set the global low speed parameter

LSPD=[value]

LSPD=[value]

●

●

●

LS=[value]

●

●

Read the l low speed parameter for [axis]

LSPD[axis]

LSPD[axis]

●

●

●

LS[axis]

●

●

Set the low speed parameter for [axis]

LSPD[axis]=[value]

LSPD[axis]=[value]

●

●

●

LS[axis]=[value]

●

●

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

LT[axis]=[value]

●

●

Read the previously latched encoder position value for [axis]

LTE[axis]

●

LT[axis]E

●

●

Read the previously latched step position value for [axis]

LTP[axis]

●

LT[axis]P

●

●

Read the current latch status for [axis]

LTS[axis]

●

LT[axis]S

●

●

Read the current position coordinate mode setting

MM

●

●

●

●

Read the current manual pulse generator position for [axis]

MP[axis]

●

Set the manual pulse generator position value for [axis]

MP[axis]=[value]

●

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

MPD[axis]

MPGD[axis]

●

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

MPD{axis]=[value]

MPDG[axis]=[value]

●

Read the manual pulse generator enable status for [axis]

MPE[axis]

●

Enable/disable the manual pulse generator for [axis]

MPE[axis]=[value]

●

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

MPM[axis]

MPGM[axis]

●

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

MPM[axis]=[value]

MPGM[axis]=[value]

●

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

MST[axis]

MST[axis]

●

●

●

●

●

Read the current position value for [axis]

P[axis]

P[axis]

●

●

●

●

●

Set the current position value for [axis]

P[axis]=[value]

P[axis]=[value]

●

●

●

●

●

Reads encoder values of all axis

PE 

●

●

EP

●

Read the polarity parameter for specified [axis]

POL[axis]

●

●

●

PO[axis]

●

●

Set the polarity parameter for specified [axis]

POL[axis]=[value]

●

●

●

PO[axis]=[value]

●

●

Read the pulse counter for all 4 axes

PP

●

●

●

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

PRG [0-3]
END

●

●

●

●

●

Read current pulse speed for [axis]

PS[axis]

PSX

●

●

●

●

●

Returns current PWM duty cycle in %

PWM[1-2]

●

Set the current PWN duty cycle in %

PWM[1-2]=[value]

●

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

REGRD[axis]Ox[reg]

●

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

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

●

Read the return to zero enable status used during homing

RZ

●

●

Set the return to zero enable status used during homing

RZ=[value]

●

●

Read the specified standalone [line]

SA[line]

●

●

●

●

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

SA[line]=[value]

●

●

●

●

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

SACTRL[prgNo]=[0-3]

●

SR[prgNo]=[value]

SR[prgNo]=[value]

●

●

●

●

Read the return jump line for standalone program error handling

SAP

●

●

●

Set the return jump line for standalone program error handling

SAP[0-1]

●

●

●

Read standalone program operation status

SASTAT[0-3]

●

●

●

●

●

Read S-curve acceleration status for [axis]

SCV[axis]

SCV[axis]

●

●

●

●

●

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

SCV[axis]=[0-1]

●

SCVX=[0-1]

SCVX=[0-1]

●

●

●

●

Read slow down signal operation status for [axis]

SDC[axis]

●

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

SDC[axis]=[value]

●

Read status of slow down operation for axis

SDE[axis]

●

Enable/disable slow down operation for [axis]

SDE[axis]=[value]

●

Read enable status for StepNLoop operation for [axis]

SL[axis]

SL[axis]

●

●

●

●

●

Enable/disable StepNLoop operation for [axis]

SL[axis]=[value]

SL[axis]=[value]

●

●

●

●

●

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

SLA[axis]

●

●

●

●

●

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

SLA[axis]=[value]

●

●

●

●

●

Read error range for StepNLoop operation for [axis]

SLE[axis]

●

●

●

●

●

Set error range for StepNLoop operation

SLE[axis]=[value]

●

●

●

●

●

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

SLR[axis]

●

●

●

●

●

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

SLR[axis]=[value]

●

●

●

●

●

Read StepNLoop status for [axis]

SLS[axis]

SLS[axis]

●

●

●

●

●

Read tolerance setting for StepNLoop operation for [axis]

SLT[axis]

●

●

●

●

●

Set the tolerance value for StepNLoop operation for [axis]

SLT[axis]=[value]

●

●

●

●

●

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

SLOAD[pgNo]

●

●

●

●

●

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

SLOAD[prgNo]=[value]

●

●

●

●

●

Read current program counter for [prgNo]

SPC[prgNo]

●

●

●

●

●

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

SR[prgNo]=[value]

SR[prgNo]=[value]

●

●

●

●

SACTRL[prgNo]=[0-3]

●

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

SSPD[axis]=[value]

SSPD[axis]=[value]

●

●

●

●

●

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

SSPDM[axis]

SSPDM[axis]

●

●

●

●

●

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

SSPDM[axis]=[value]

SSPDM[axis]=[value]

●

●

●

●

●

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

STOP

STOP

●

●

●

●

●

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

STOP[axis]

STOP[axis]

●

●

●

●

●

Saves parameters to flash memory

STORE

●

●

●

●

●

Standalone program sub routine start and end line

SUB [0-31]
ENDSUB

●

●

●

●

●

Read sync condition and source for [axis]

SYNC[axis]

SYNCFG[axis]

●

SYN[axis]C

●

●

Set sync condition and source for [axis]

SYNC[axis]=[value]

●

SYN[axis]C=[1-3]

●

●

Disable sync window and sync output for [axis]

SYNF[axis]

SYNOFF[axis]

●

SYN[axis]F

●

●

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

SYNMAX[axis]

●

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

SYNMAX[axis]=[value]

●

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

SYNMIN[axis]

●

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

SYNMIN[axis]=[value]

●

Enable synchronization output for [axis]

SYNO[axis]

SYNON[axis]

●

SYN[axis]O

●

●

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

SYNP[axis]

SYNPOS[axis]

●

SYN[axis]P

●

●

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

SYNP[axis]=[value]

●

SYN[axis]P=[value]

●

●

Read status of synchronization operation for [axis]

SYNS[axis]

SYNSTAT[axis]

●

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

SYN[axis]T

SYNTIME[axis]

●

●

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

SYN[axis]T=[value]

●

●

Disable the synchronization window for [axis]

SYNWF[axis]

●

Enable the synchronization window for [axis]

SYNWO[axis]

●

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

T[axis][value]

●

●

●

●

●

Read the communication time out parameter in ms

TOC

TOC

●

●

●

●

Set the communication time out parameter in ms

TOC=[value]

TOC=[value]

●

●

●

●

Read the timer register value in ms

TR

●

●

Set the timer register value in ms

TR=[value]

●

●

Read standalone variable [no]

V[no]

V[no]

●

●

●

●

●

Set standalone variable [no] to [value]

V[no]=[value]

V[no]=[value]

●

●

●

●

●

Read the controller firmware version

VER

●

●

●

●

●

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

WAIT[axis]

●

●

●

●

●

Conditional statements used in program loops

WHILE
ENDWHILE

●

●

●

●

●

Perform individual motion in X and /or Y axis

X[target X]
Y[target Y]

●

●

Perform linear interpolation motion with X and Y axes

X[target X]Y[target Y]

●

●

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]

●

●

●

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]

●

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

Z[axis][+/-]

ZOME[axis][+/-]

●

●

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

ZCNT[axis]

●

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

ZCNT[axis]=[value]

●

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

ZH[axis][+/-]

ZHOME[axis][+/-]

●

●

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

ZMOVE[axis][+/-]

●

●