ImMx Set steps to incremental Index motor CW (positive), m= motor# (1,2,3,4), x=1 to
16,777,215
ImM-x Set steps to incremental Index motor CCW (negative), m= motor# (1,2,3,4), x=1
to 16,777,215
Read and assign analog input value to motor m speed (70% power), x=speed
range ( is 100% power)
Select Program number x, x= 0 to
Select and clear all commands from Program number x, x= 0 to
Request the number of the current Program
Program Associate program x in Master to program x in Slave (Linked VXMs start
the same time) -x or x =255 is disable
Request the current program associate number
branching
Jump to the beginning of program number x, x= 0 to
Jump to the beginning of program number x and come back for More after
program x ends, x= 0 to
Similar to JMx except automatically moves back from absolute indexes after
program x ends: For pick-and-place within matrix looping patterns
Motor commands:
IAmMx Set Absolute Index distance, m=motor# (1,2,3,4), x= ±1 to ±16,777,215 steps
IAmM0 Index motor to Absolute zero position, m=motor# (1,2,3,4)
IAmM-0 Zero motor position for motor# m, m= 1,2,3,4
Index motor until positive limit is encountered, m=motor# (1,2,3,4)
ImM-0 Index motor until negative limit is encountered, m=motor# (1,2,3,4)
Set Speed of motor (70% power), m= motor# (1,2,3,4), x=1 to steps/sec.
( is 100% power)
AmMx Acceleration/deceleration, m= motor# (1,2,3,4), x=1 to 127.
Program management commands:
Special looping/ commands:
L0 Loop continually from the beginning or Loop-to-marker of the current program
Sets the Loop-to-marker at the current location in the program
LM-0 Resets the Loop-to-marker to the beginning of the current program
Lx Loop from beginning or Loop-to-marker x-1 times (x=2 to 65,535), when the loop
reaches its last count the non-loop command directly preceding will be ignored
L-x Loop from beginning or Loop-to-marker x-1 times, alternating direction of motor 1,
when the loop reaches its last count the non-loop command directly preceding will
be ignored
LAx Loop Always from beginning or Loop-to-marker x-1 times (x=2 to 65,535)
LA-x Loop Always from beginning or Loop-to-marker x-1 times, alternating direction of
motor 1
LM-2 Loop once from beginning or Loop-to-marker reversing index direction of motor 2
LM-3 Loop once from beginning or Loop-to-marker reversing index direction of motor 1
and motor 2
ImM0
LM0
SmMx 6000
SAmMx
PMx 4
PM-x 4
PM
Jx 4
JMx
4
SmM-x
SAmM-x
PMAx
PMA
JM-x
Pausing and input output commands:
Px Pause x tenths of a second, (x=0 to 65,5350) tenths of a millisecond when x is
negative
PAx Pause x tenths of a second (x=0 to 65,535, 10 µsec pause when x=0) Altering
output 1 high for duration of the pause, tenths of a millisecond when x is negative
Wait for a " " on user input 1
Wait for a on user input 1, holding user output 1 high while waiting
Enable Jog mode while waiting for an input
Disable Jog mode while waiting for an input
U4 User output 1 "low" (reset state)
U5 User output 1 high
U6 Send "W" to host and wait for a "G" to continue
Start of Continuous Index with µsec pulse on output 2
Start of Continuous Index with no output
U8 Start of Continuous Index sending "@" to the host
U9 End of Continuous Index with autodecel to stop
End of Continuous Index with auto-generate a deceleration Index as next
command
End of Continuous Index using next Index for deceleration to stop
End of Continuous Index with instantaneous stop
Wait for a front panel button to jump to a program or continue: " "
button to jump to program # , " " button
to jump to program # , " " button to proceed in current program.
U14 User output 2 low (reset state)
U15 User output 2 high
Optional User output 3 low (reset state)
Optional User output 3 high
Optional User output 4 low (reset state)
Optional User output 4 high
Wait for a front panel button to jump to a program and come back, or continue:
" " button to jump and return to program # , “ " button
to jump and return to program # , " " button to proceed in current program
Wait for a transition on user input 1
Wait for a transition on user input 1, holding user output 1 high while
waiting
U32 Wait for "Motor 1 Jog -" button to be pressed on front panel with debouncing
U33 Wait for "Motor 1 Jog +" button to be pressed on front panel with debouncing
Wait for a on user input 1 with debouncing for a mechanical push-
button switch
Wait for a on user input 1 with debouncing for a mechanical push-
button switch, holding user output 1 high while waiting
Wait for a on the Run button or connection I/O,4 with debouncing for
a mechanical push-button switch
Legend:
U0 low
U1 low
U7 10
U13 Motor 1 Jog -
1 Motor 1 Jog +
2 Run
U23
Motor 1 Jog - 1 Motor 1 Jog +
2 Run
U30 low to high
U31 low to high
U50 low and high
U51 low and high
U90 low to high
3 Different input/output/range/additional values from VP9000
U2
U3
3 Different command/ function for NF90 mode
U77
U91
U92
U99
U16
U17
U18
U19
3 New Commands for VXM not available on VP9000 or NF90
Appendix P
VXM Comparison to NF90/ VP9000
73
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