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E Enable On-Line mode with echo on. The single character "E" is used to put the
VXM in the On-Line mode after power-up. All characters the VXM receives will
be echoed back to the host. Refer to the section "Communication Methods "
(p.8) for more information.
F Enable On-Line mode with echo oFF. The single character "F" is used to put the
VXM in the On-Line mode after power-up. No characters will be echoed back to
the host. The VXM will still respond to motor position and status requests. Refer
to the section "Communication Methods " (p.8) for more information.
rsm
the single character "^" after completion of the save.
CAUTION: When using the “rsm” command power should not be interrupted otherwise
data loss may occur. The host should always wait for the "^" before sending
another command.
The
V Verify Controller's status, when On-Line the VXM sends a "B" to the host if it is
busy, or an "R" if it is ready. The "V" command is used to poll the VXM to see if
it is busy running a program, or ready to receive more commands.
NOTE: Use of this command is optional, since the VXM automatically transmits a "^"
character to the host when a program has finished.
If the VXM is running a program when it receives a "V" the VXM will respond by
transmitting the single character "B". If the VXM is idle waiting for a command
the VXM will respond by transmitting the single character "R".
When in the Local Jog/slew mode the VXM will respond by sending a "J" if a
motor is not moving and a “b” if a motor is moving.
X Send position of motor 1 to the host. When the VXM receives the single
character "X" it will transmit the value from it's motor 1 Absolute Position
Register. Below is what the host would receive if motor 1 is at negative 1200.
This command can be used when the motor is indexing. See the "N" command
for information on zeroing the Absolute Position Registers.
-0001200<cr>
Y Send position of motor 1 to the host. When the VXM receives the single
character "Y" it will transmit the value from it's motor 2 Absolute Position
Register. Below is what the host would receive if motor 2 is at positive 9201.
This command can be used when the motor is indexing. See the "N" command
for information on zeroing the Absolute Position Registers.
+0009201<cr>
Run save memory, saves setup/ program values to nonvolatile memory.
The VXM will send
Use this command to:
1. To permanently save setup/special function (setx commands) values
that have been modified.
2. To save programs/commands for stand-alone use.
nonvolatile memory has a limited write life (100,000 erase/write cycles),
therefore, do not use “rsm” more than necessary. It would typically be used to
save motor selection that has been updated, or to keep a program in the VXM
for use without a host computer (stand-alone use.)
Z Send position of motor 3 to the host. When the VXM (Master) receives the
single character "Z" it will transmit (from motor 1 in Slave) the value of the motor
3 Absolute Position Register. Below is what the host would receive if motor 3 is
at negative 20. This command cannot be used when the motor is indexing. See
the "N" command for information on zeroing the Absolute Position Registers.
-0000020<cr>
T Send position of motor 4 to the host. When the VXM (Master) receives the
single character "T" it will transmit (from motor 2 in Slave) the value of the motor
4 Absolute Position Register. Below is what the host would receive if motor 4 is
at negative 200000. This command cannot be used when the motor is indexing.
See the "N" command for information on zeroing the Absolute Position
Registers. -0200000<cr>
M Request Memory available for the currently selected program. The VXM will
send the number of bytes that are unused of the current program. The value will
be 0 to 256 followed by <cr> (carriage return.)
lst List commands in current program to host (ASCII format.) Returns program
number and memory remaining prior to listing commands.
Example listing: PM0 M252
I1M400
getMmM Get motor type/size selected for axis m, m=axis# (1,2,3,4.)
Value returned will be a number between 0 and 6. Refer to the table below for
value to motor model cross reference.
These commands do not use program memory, they have their own reserved space.
setMmMx set motor type/size selected for axis m, m=axis# (1,2,3,4.)
Value for x should be a number between 0 and 6. Refer to the table below for
the proper value to use.
setBx Set RS-232 Baud rate to value x. (default=9600) x=9 for 9600 baud,
x=19 for 19,200 baud, x=38 for 38,400 baud. Data bits are always 8, with no
parity, and 1 stop bit.
Setup Commands
CAUTION: THE VXM MUST BE SET TO THE EXACT MODEL/TYPE MOTOR(S)
BEFORE OPERATING. IMPROPER SETTINGS CAN CAUSE SEVERE
DAMAGE TO MOTORS AND CONTROLLER.
Status Request Commands
x Motor Model (Amps)
0 Default (0.4A to 0.7A)
1 Vexta PK245 (1.2A)
2 Slo-Syn M061 (3.8A)
3 Slo-Syn M062 (4.7A)
Vexta PK264 (3A)
4 Slo-Syn M063 (4.6A)
Vexta PK266 (3A)
5 Slo-Syn M091 (4.7A)
Vexta PK268 (3A)
6 Slo-Syn M092 (4.6A)
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