3.15 EDH0162En1040 – 06/99
MM4005 Remote Mode
TE Read error code 
xx TF Read filter parameters 
[xx] TG [nn] Toggle I/O output bits 
[xx] TH Read theoretical position 
xx TL Read left travel limit 
xx TM nn Set trace mode 
xx TN Read displacement units 
[xx] TP Read actual position 
[xx] TQ [nn] Read global trace data 
xx TR Read right travel limit 
TS Read controller status 
[xx] TT Read trace data 
xx TU Read encoder resolution 
TX Read controller activity 
TX1 Read controller extended status 
xx TY Read a variable 
[xx] UF Update servo filter 
[xx] UH Wait for I/O high 
[xx] UL Wait for I/O low 
xx VA nn Set velocity 
xx VB nn Set base velocity (Stepper motor only) 
VE Read controller version 
VS nn Define the vector acceleration on trajectory
(trajectory acceleration)

VV nn Define the vector velocity on trajectory (trajectory velocity) 
WA[nn] Wait 
WE End While loop 
xx WF Wait for function key 
xx WG[nn] While variable is greater 
xx WH[nn] While I/O input is equal 
WI nn Wait for a trajectory (curvi-linear) length 
WK[aa] Wait for key 
xx WL [nn] While variable is less 
WN nn Wait for a element of trajectory 
xx WP nn Wait for position 
[xx] WS [nn] Wait for motion stop 
WT[nn] Wait 
xx WY[nn] While variable is different 
XA Tell the current maximum allowed angle of discontinuity 
xx XB Read backlash compensation 
xx XD Read derivative gain factor 
XE Tell the last element 
xx XF Read maximum following error 
xx XH Read home preset position 
xx XI Read integral gain factor 
xx XL nn Delete one line of program 
XM Read available memory 
XN Read number of acquisitions 
xx XP Read proportional gain factor 
XQ Read global sample rate 
XS Read trace sample rate 
XT Tell number of elements in the trajectory 
XU nn Tell the vector acceleration on trajectory
(trajectory acceleration)

XV nn Tell the vector velocity on trajectory
(trajectory velocity)

[xx] XX Erase program 
xx YA [nn] Add to variable 
xx YB Negate variable 
xx YC nn Add variables 
xx YD nn Divide variables 
xx YE [nn] If variable is equal 
xx YF nn Scale variable 
Command Description IMM PGM MIP
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