Command Summary (Common Commands)
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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:
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
Pausing and input/output commands:
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
ImM0
SmMx 6000
SAmMx
PMx Select Program number x, x= 0 to 4
PM-x Select and clear all commands from Program number x, x= 0 to 4
PM Request the number of the current Program
branching
LM0
Jx Jump to the beginning of program number x, x= 0 to 4
JMx Jump to the beginning of program number x and come back for More after
program x ends, x= 0 to 4
Px Pause x tenths of a second, (x=0 to 65,535 ) 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
U0 Wait for a "low" on user input 1
U1 Wait for a low on user input 1, holding user output 1 high while waiting
U4 User output 1 "low" (reset state)
U5 User output 1 high
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”
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
Set axis m for motor type/size x.
R Run currently selected program
C Clear all commands from currently selected program
D program
rsm Run save memory (saves setup/ program values to nonvolatile memory)
V Verify Controller's status, VXM sends "B" to host if busy, "R" if ready, "J" if in the
Jog/slew mode, or “b” if Jog/slewing
current (Motor can be in motion)
current (Motor must be stationary)
current (Motor must be stationary)
lst List current program to host (ASCII text)
getMmM Read motor type/size selected for axis m
Setup commands:
setMmMx
setBx Set RS-232 Baud rate (9=9600, 19=19200, 38=38400)
The following are the most common commands, refer to page 14 for an additional listing
of commands for advanced users.
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