VELMEX VXM-1 - Command Summary (Advanced Commands)

Command Summary (Advanced Commands)
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The following commands are for advanced VXM users.
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For more information on these
commands refer to Appendices in this User’s Manual
Motor commands:
Program management commands:
Input/output commands:
SmM-x Read and assign analog input value to motor m speed (70% power), x=speed
range (SAmM-x is 100% power)
PMAx Program Associate program x in Master to program x in Slave (Linked VXMs start
the same time)
PMA Request the current program associate number
Branching commands:
JM-x Similar to JMx except automatically moves back from absolute indexes after
program x ends: For pick-and-place within matrix looping patterns
U2 Enable Jog mode while waiting for an input
U3 Disable Jog mode while waiting for an input
U6 Send "W" to host and wait for a "G" to continue
U7 Start of Continuous Index with 10 µsec pulse on output 2
U77 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
U91 End of Continuous Index with auto-generate a deceleration Index as next
command
U92 End of Continuous Index using next Index for deceleration to stop
U99 End of Continuous Index with instantaneous stop
U13 Wait for a front panel button to jump to a program or continue: "Motor 1 Jog -"
button to jump to program #1, "Motor 1 Jog +" button
to jump to program #2, "Run" button to proceed in current program.
U14 User output 2 low (reset state)
U15 User output 2 high
U16 Optional User output 3 low (reset state)
U17 Optional User output 3 high
U18 Optional User output 4 low (reset state)
U19 Optional User output 4 high
U23 Wait for a front panel button to jump to a program and come back, or continue:
"Motor 1 Jog -" button to jump and return to program #1, “Motor 1 Jog +" button
to jump and return to program #2, "Run" button to proceed in current program
U30 Wait for a low to high transition on user input 1
U31 Wait for a low to high 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
U50 Wait for a low and high on user input 1 with debouncing for a mechanical push-
button switch
U51 Wait for a low and high on user input 1 with debouncing for a mechanical push-
button switch, holding user output 1 high while waiting
U90 Wait for a low to high on the Run button or connection I/O,4 with debouncing for a
mechanical push-button switch
(NEW COMMAND: available only on VXM firmware versions 1.20 & up)
Operation commands:
Status request commands:
G Enable On-Line mode with echo off Grouping a <cr> with "^", ":", "W", "O"
responses; Also Go after waiting or holding
H Put Controller on Hold (stop after each command and wait for go)
! Record motor positions for later recall with “x”,”y” commands
res Software reset controller
del Delete last command
x Send last 4 positions of motor 1 to host that were captured by the “!” command or
Input 4 trigger
y Send last 4 positions of motor 2 to host that were captured by the “!” command or
Input 4 trigger
# Request the number of the currently selected motor
Ø 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)
~ Read state of User Inputs, Motor 1 and 2 Jog Inputs ( 8 bit binary value)
@ Read user analog input value
B Read Backlash compensation setting
O Read Indicate limit switch setting
getDx Read mode/version
getDA Read Joystick Deadband setting
getjmM Read first range Jog Speed for motor m. getjAmM for Joystick range
setting
getJmM Read second range Jog Speed for motor m. getJAmM for Joystick
range setting
getLmM Read mode of limits for motor m
getPmMRead “Pulse Every x # Steps” value for axis m
getI Read operating mode of user inputs
Commands for two controls connected by VXM bus:
(i3,i1...) Combine Index commands to run simultaneously on two VXM controllers
connected by VXM bus
[i1,i2...] 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
Ox Indicate limit switch Over-travel to host, off when x=0, VXM sends "O" when x=1
and hit limit, x=3 program stops too
setDMx Set VXM/VP9000 or NF90 emulation modes, and other operating parameters
setDAx Set Joystick Deadband value
setjmM Set first range Jog Speed for motor m. setjAmM for Joystick range setting
setJmM Set second range Jog Speed for motor m. setJAmM for Joystick range setting
setLmMx Set limit switch mode for axis m
setPmMx Set “Pulse Every x # Steps” on output 2 for axis m
setIx Set operating mode of inputs