Commands for two controls connected by VXM bus:
Combine Index commands to run simultaneously on two VXM controllers
connected by VXM bus
Send data to Slave through Master
Jog mode commands:
D Read motor position (Digitize)
Special function and setup commands:
Bx Backlash compensation, on when x=1, off when x=0
Indicate limit switch Over-travel to host, off when x=0, VXM sends "O" when x=1
and hit limit,
Set VXM/VP9000 or NF90 emulation modes, and other operating
parameters
Set Joystick Deadband value
Set first range Jog Speed for motor m. for Joystick range
setting
Set second range Jog Speed for motor m. for Joystick
range setting
Set limit switch mode for axis m
Set axis m for motor type/size x. Also sets default (jog/joystick) motor
power to 70%. is 100% power
Set “Pulse Every x # Steps” on output 2 for axis m
Set operating mode of inputs
Set RS-232 Baud rate (9=9600, 19=19200, 38=38400)
Memory save commands
Run save memory (saves setup/ program values to nonvolatile
memory)
Legend:
NF90 emulation mode:
Index motor m to absolute zero position
VP9000 Commands not supported by VXM:
(i3,i1...)
[i1,i2...]
setDMx
setDAx
setjmM setjAmM
setJmM setJAmM
setLmMx
setMmMx
setMAmMx
setPmMx
setIx
setBx
rsm
3 New Commands for VXM not available on VP9000 or NF90
Ox
x=3 program stops too
3 Different input/output/range/additional values from VP9000
3 Different command/ function for NF90 mode
ImM0
L-0
U2
U3
Sets the Loop-to-marker at the current location in the program
Disable user output when pausing
Enable output when pausing (reset state)
Acceleration/deceleration values will be internally doubled to match NF90’s 2x ramp rate
U10, U11, U12, U22, U40, U41, U60, U61,
U70, U71, U72, U73, { }, %, &
Operation commands:
Q Quit On-Line mode (return to Local mode)
N Null (zero) motors 1,2,3,4 absolute position registers
K Kill operation/program in progress and reset user outputs
Decelerate to a stop (interrupts current index/ in progress)
E Enable On-Line mode with echo "on"
F Enable On-Line mode with echo "off"
G Enable On-Line mode with echo off Grouping a <cr> with "^", ":", "W", "O"
responses; Also Go after waiting or holding
Put Controller on Hold (stop after each command and wait for go)
Status request commands:
X Send current position of motor 1 to host (Motor can be in motion)
Y Send position of motor 2 to host
Z Send position of motor 3 to host
T Send position of motor 4 to host
M Request Memory available for currently selected program
# Request the number of the currently selected motor
× Request the position when the last motor started decelerating (shows position
when "D" command or Stop/User input 4 used)
Read state of limit switch inputs for motor 1 and 2 ( 8 bit binary value)
R Run currently selected program
C Clear all commands from currently selected program
Record motor positions for later recall with “x”,”y” commands
Software reset controller
Delete last command
V Verify Controller's status, VXM sends "B" to host if busy, "R" if ready, "J" if in the
Jog/slew mode, or
current (Motor can be in motion)
current (Motor must be stationary)
current (Motor must be stationary)
Send last 4 positions of motor 1 to host that were captured by the “!” command
or Input 4 trigger
Send last 4 positions of motor 2 to host that were captured by the “!” command
or Input 4 trigger
Read state of User Inputs, Motor 1 and 2 Jog Inputs ( 8 bit binary value)
Read user analog input value
Read Backlash compensation setting
Read Indicate limit switch setting
Read mode/version
Read Joystick Deadband setting
Read first range Jog Speed for motor m. for Joystick range
setting
Read second range Jog Speed for motor m. for Joystick
range setting
Read mode of limits for motor m
Read motor type/size selected for axis m
Read “Pulse Every x # Steps” value for axis m
Read operating mode of user inputs
List current program to host (ASCII text)
D program
H
“b” if Jog/slewing
!
res
del
x
y
?
~
@
B
O
getDx
getDA
getjmM getjAmM
getJmM getJAmM
getLmM
getMmM
getPmM
getI
lst
75
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