3.9 EDH0162En1040 – 06/99
MM4005 Remote Mode
3.4.1.4 Special motion parameters
xx DM Read manual velocity 
xx DO Read home search velocity 
xx MH nn Set manual velocity 
xx OA nn Set home search acceleration 
xx OH nn Set home search high velocity 
xx OL nn Set home search low velocity 
xx PA nn Move to absolute position 
xx PB nn Set start position of generation of pulses of synchronisation 
xx PE nn Set end position of generation of pulses of synchronisation 
xx PI nn Set step of generation of pulses of synchronisation 
xx PS pp Allow generation of pulses on motion 
xx PT nn Calculate necessary time for axis displacement 
xx SH nn Set home preset position 
xx SY nn Axis synchronization 
xx XH Read home preset position 
3.4.1.5 Trace mode
xx AQ nn Axis positions acquisition 
GQ nn Set global trace mode 
NQ Read global acquisition nr. 
SP [nn] Set trace sample rate 
SQ [nn] Set global sample rate 
xx TM nn Set trace mode 
[xx] TQ [nn] Read global trace data 
[xx] TT Read trace data 
XN Read number of acquisitions 
XQ Read global sample rate 
XS Read trace sample rate 
3.4.1.6 Digital filter parameters
xx FE nn Set maximum following error 
xx KD nn Set derivative gain 
xx KI nn Set integral gain 
xx KP nn Set proportional gain 
xx KS nn Set saturation level of integral factor
in position loop PID corrector

[xx] PW Save parameters 
xx TF Read filter parameters 
[xx] UF Update servo filter 
xx XD Read derivative gain factor 
xx XF Read maximum following error 
xx XI Read integral gain factor 
xx XP Read proportional gain factor 
3.4.1.7 Motion device parameters
xx BA [nn] Set backlash compensation 
xx SC [nn] Set control loop type 
xx SF name Set axis mechanical motion device 
xx SL nn Set left travel limit 
xx SN name Set axis displacement units 
xx SR nn Set right travel limit 
xx TA Read motion device 
xx TC Read control loop type 
xx TL Read left travel limit 
xx TN Read displacement units 
xx TR Read right travel limit 
xx TU Read encoder resolution 
xx XB Read backlash compensation 
[xx] ZT [nn] Read Axis/General parameters configuration 
Command Description IMM PGM MIP
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