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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