3.11 EDH0162En1040 – 06/99
MM4005 Remote Mode
3.4.1.11 Variable Manipulation
xx AS nn Affect string 
xx CS nn Concatenate two strings 
xx TY Read a variable 
xx YA [nn] Add to variable 
xx YB Negate variable 
xx YC nn Add variables 
xx YD nn Divide variables 
xx YF nn Scale variable 
xx YK Read key to variable 
xx YM nn Multiply variables 
xx YP nn Set theoretical position in variable 
xx YQ nn Set current position in variable 
xx YS [nn] Initialize variable 
xx YV Read value from keyboard in a variable 
xx YY nn Copy variable 
3.4.1.12 Display functions
xx DS [nn] Display strings on screen 
xx DY nn Display a variable 
xx FB [aa] Label function key 
FC Clear function key line 
FD Display function keys 
xx NP nn Set decimal digits number of position display 
RD Disable display refresh 
RE Enable display refresh 
3.4.1.13 Status Functions
ED nn Display program error 
[xx] MS Read motor status 
TB [aa] Read error message 
TD Read error line of program 
TE Read error code 
TS Read controller status 
TX Read controller activity 
TX1 Read controller extended status 
VE Read controller version 
3.4.1.14 Commands to define a trajectory
AD nn Define the maximum allowed angle of discontinuity 
xx AX Assign a physical axis as X geometric axis 
xx AY Assign a physical axis as Y geometric axis 
CA nn Define sweep angle and build an arc of circle = ƒ (CR, CA) 
CR nn Define radius for anarc of circle = ƒ (CR, CA) 
CX nn Define X position to reach with an arc of circle = ƒ (CX, CY) 
CY nn Define Y position to reach and build an arc of circle
= Æ’ (CX, CY)

EL Erase the last element of trajectory 
FA nn Define the tangent angle for the first point 
LX nn Define X position and build a line segment = ƒ (LX, tangent) 
LY nn Define Y position and build a line segment = ƒ (LY, tangent) 
MX nn Define X position for a line segment = ƒ (MX, MY) 
MY nn Define Y position and build a line segment = ƒ (MX, MY) 
NT Start definition of a new trajectory 
Command Description IMM PGM MIP
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