VELMEX VXM-3 - Page 72

Operationcommands:
Statusrequestcommands
Q
R
N
K
C
D
E
F
G
:
X
Y
Z
T
M
#
QuitOn-Linemode(returntoLocalmode)
Runcurrentlyselectedprogram
Null(zero)motors1,2,3,4absolutepositionregisters
Killoperation/programinprogressandresetuseroutputs
Clearallcommandsfromcurrentlyselectedprogram
Deceleratetoastop(interruptscurrentindex/programinprogress)
EnableOn-Linemodewithecho"on"
EnableOn-Linemodewithecho"off"
EnableOn-LinemodewithechooffGroupinga<cr>with"^",":","W","O"
Jog/slewmode,or“b”ifJog/slewing
Sendcurrentpositionofmotor1tohost(Motorcanbeinmotion)
positionofmotor2tohostSend
Send
Send
positionofmotor3tohost
positionofmotor4tohost
×
V
responses; AlsoGoafterwaitingorholding
PutControlleronHold(stopaftereachcommandandwaitforgo)
Recordmotorpositionsforlaterrecallwith“x”,”y”commands
Softwareresetcontroller
Deletelastcommand
VerifyController'sstatus,VXMsends"B"tohostifbusy,"R"ifready, "J"ifinthe
current
current
current
(Motorcanbeinmotion)
(Motormustbestationary)
(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
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a
n
d2(8bitbinaryvalue)
ReadstateofUserInputs,Motor1and2JogInputs(8bitbinaryvalue)Read
stateofUserOutputs(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
forJoystick
setting
Read secondrangeJogSpeedformotorm.
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PulsewidthusedbysetPmMxandU7
Readoperatingmodeofuserinputs
Listcurrentprogramtohost(ASCIItext)
H
!
res
del
x
y
~
$
@
B
O
getDx
getDA
getjmM
getjAmM
getJmM getJAmM
getLmM
getMmM
getPmM
getPA
getI
lst
?
7
Different input/output/range/additional values from VP9000
3
3Different command/ function for NF90 mode
Legend:
3New Commands for VXM not available on VP9000 or NF90