Micronix MMC-200 Series Reference Manual Download Page 60 | Manualshive

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5-59

MICRONIX USA, LLC

www.micronixusa.com

Rev: 3.02

Synchronous Move - Absolute

During Motion

Real-time

Program

Global

Set

Read

Set

Read

Set

Read

Set

Read







Command
Description:

This command is used to set up a synchronous move using the
absolute position of the axes involved. This command is most useful
when coordinating motion to an absolute position between 2 or
more axes and requires a RUN command on a separate line to
execute the synchronous move. It is recommended to run multiple
MSA commands on the same command line, as they are
executed closer together than on separate lines. If the position is
outside of the soft limits, the command will be ignored.

Returns:

A read operation is not available with this command.

Syntax:

nMSAx

–

Standard syntax

0MSAx

–

All axes setup synchronous move

Error [#]:

nMSA

–

Missing absolute position parameter [28]

Parameter
Description:

n[int]

–

Axis number

x[float]

–

Absolute position

Parameter
Range:

n

–

0 to 99

x

–

± 0.000001 to 999.999999 mm (degrees)

Related Commands: RUN, MSR

Example:

1MSA10;2MSA10

|

Axis 1, Move to absolute position: 10

mm[degrees]; Axis 2, Move to absolute

position: 10 mm [degrees]

0RUN

|

All axes, Execute synchronous move

-

0MSA5

|

All axes, Move to absolute position: 5 mm

[degrees]

0RUN

|

All axes, Execute

synchronous move

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Summary of Contents for MMC-200 Series

Page 1: ......

Page 2: ...t Setup 3 8 3 3 RJ11 RS485 Bus 3 8 4 Operation 4 9 4 1 Axis Addressing 4 9 4 2 Feedback Control 4 10 4 3 HOM MLN and MLP 4 10 5 Commands 5 11 5 1 Command Line Syntax 5 11 5 2 Command Line Format 5 11 5 3 Global Commands 5 12 5 4 Multiple Parameters 5 12 5 5 Synchronous Move 5 12 5 6 Internal Programming 5 12 5 7 Terminating Characters 5 12 5 8 Summary of Commands 5 13 5 9 Command Descriptions 5 15...

Page 3: ... EPL Encoder Polarity 31 RST Perform Soft Reset 70 ERA Erase Program 32 RUN Start Synchronous move 71 ERR Read and Clear Errors 33 SAV Save Axis Settings 72 ERG Error Gain 34 35 STA Status Byte 73 EST Emergency Stop 35 STP Stop Motion 74 EXC Execute Program 36 SVP Save Startup Position 75 FBK Set Open or Closed Loop Mode 37 SYN Sync 76 FMR Upload Firmware 38 TLN Negative Soft Limit Position 77 FSR...

Page 4: ...r with a resolution as fine as 4096 microsteps per fullstep in open loop The closed loop resolution is dependent on the resolution of the encoder typically 50 nm 1 LED Error Indicator 1 a Red An error has occurred 2 LED Addressing Indicator 2 a Orange Controller is Unaddressed b Green Controller has an address and is ready 3 Encoder Input Male D Sub 9 Pin Connector 4 Motor Axis Output Female D Sub...

Page 5: ...e MMC 200 in the least amount of time The following paragraphs will provide a walkthrough of the steps needed to set up the controller and verify that the system is working correctly 1 Install Drivers a To ensure correct communication between the module and PC install the proper drivers onto the communicating computer prior to connecting the MMC 200 b The drivers may be found on the supplemental i...

Page 6: ...the Device Manager 1 Windows Logo in the bottom left corner by default 2 Control Panel 3 Device Manager ii In Window XP Open Device Manager 1 Start in the bottom left corner by default 2 Control Panel 3 System 4 select the Hardware tab 5 Click the device manager button iii In Windows 7 Open the Device Manager b After powering up the controller Step 4 note the USB Serial Port assigned See the figur...

Page 7: ...ws icon if using Vista ii Open the Control Panel iii Open Add or Remove Programs Programs and Features if using Vista iv Scroll through the list and find Microsoft NET Framework If it is 4 0 skip to step 2 Otherwise continue with step c c To install the NET Framework 4 0 you will need a connection to the internet i Navigate to this site http www microsoft com downloads details aspx FamilyID 9cfb2d...

Page 8: ...and ran the MMC 100 MCP software This section will describe the capabilities of the MMC 100 MCP program and give you a brief understanding of how to use it 1 Port Control The picture below depicts the program when the Port has been opened a Select the COM port associated with your MMC 200 as discussed in section 2 1 step 5 b Click the Open Port button to connect to the MMC 200 i This button should...

Page 9: ... be used per stack Each module axis requires 1A maximum depending on the type of motor it is driving therefore add up Individual module amperages to determine the power supply amperage requirement 3 2 Serial Port Setup If the MMC 200 is not automatically recognized by your computer you will have to first install the FTDI interface drivers before communicating with the controller The drivers are su...

Page 10: ... of manually assigned and auto addressed controllers the Auto Addressed axis numbers increase consecutively after each manually assigned axis in the stack For example in a stack of 5 controllers with the third controller manually assigned to axis 10 the axis numbers will read 1 2 10 11 12 If two controllers are accidentally assigned the same axis number use a global command to reset all controller...

Page 11: ...oop mode nFBK0 until it reaches the deceleration point At this point it activates the PID and actively corrects its trajectory to arrive at the correct position This unlike the first two modes can guarantee position within the specified deadband DBD Command However this mode cannot guarantee a desired trajectory The fourth mode nFBK3 is not applicable on the MMC 200 4 3 HOM MLN and MLP The HOM com...

Page 12: ... read operation which will return information regarding the particular command There may be up to three separate parameters for a particular command each parameter value is separated by a comma All white space blank spaces are ignored in the command format The following are examples of equivalent commands 4TRM13 45 4 TRM 13 45 5 2 Command Line Format Commands are first executed in the order that t...

Page 13: ...when repeatedly using a sequence of commands Each controller or axis must be programmed individually however multiple controllers may execute the same program at the same time A list of available program numbers may be viewed with the PGM command Existing program numbers cannot be overridden unless previously erased using the ERA command To record a program sequence enter the PGM command on a uniq...

Page 14: ...Time 27 DTG Derivative Term Gain 28 ENC Select Encoder Resolution 29 END End Program Recording 30 EPL Encoder Polarity 31 ERA Erase Program 32 ERG Error Gain 33 ERR Read and Clear Errors 34 EST Emergency Stop 35 EXC Execute Program 36 FBK Set Open or Closed Loop Mode 37 FMR Upload Firmware 38 FSR Full Steps Per Rev 39 GRR Gear Ratio 40 HCG Home Configuration 41 HOM Home 42 ITG Integrator Term Gain...

Page 15: ...3 PGL Loop Program 64 PGM Begin Program Recording 65 PGS Run Program At Start Up 66 PID Set Feedback Constants 67 POS Read Current Position 68 REZ Set Resolution 69 RST Perform Soft Reset 70 RUN Start Synchronous move 71 SAV Save Axis Settings 72 STA Status Byte 73 STP Stop Motion 74 SVP Save Startup Position 75 SYN Sync 76 TLN Negative Soft Limit Position 77 TLP Positive Soft Limit Position 78 TR...

Page 16: ...d to be accepted Returns A read operation returns the acceleration value in mm s2 for the specified axis Syntax nACCx Standard syntax nACC Read acceleration value 0ACCx All axes set acceleration value Error ACC Read operation with missing axis number 27 nACC Missing acceleration parameter 28 Parameter Description n int Axis number x float Acceleration Read acceleration value Parameter Range n 0 to...

Page 17: ...ed axis Syntax nAMXx Standard syntax nAMX Read maximum allowable acceleration value 0AMXx All axes set maximum allowable acceleration value Error AMX Read operation with missing axis number 27 nAMX Missing maximum acceleration parameter 28 Parameter Description n int Axis number x float Maximum acceleration Read maximum allowable acceleration value Parameter Range n 0 to 99 x 000 001 to 500 000 mm...

Page 18: ... however it will only work if the new axis number parameter is set to 0 for auto addressing Returns A read operation returns the following axis number values for the specified axis 0 Auto Addressing assigned default 1 99 Manually assigned axis number displayed Syntax nANRx Standard syntax nANR Read axis number value Error ANR Read operation with missing axis number 27 nANR Missing new axis number ...

Page 19: ...ion This command is used to clear all error messages without reading them Returns A read operation cannot be used with this command Syntax nCER Standard syntax 0CER All axes clear error messages Parameter Description n int Axis number Parameter Range n 0 to 99 Related Commands ERR Example 1CER Axis 1 clear error messages 0CER All axes clear error messages ...

Page 20: ... Resolution is automatically calculated 1 Resolution is set manually by the user Syntax nCFGx Standard syntax nCFG Read configuration setting 0CFGx Set all axes to configuration x Error CFG Read operation with missing axis number 27 nCFG Missing Configuration parameter 28 Parameter Description n int Axis number x int Configuration Mode Read Configuration Mode Parameter Range n 0 to 99 x 0 or 1 Rel...

Page 21: ...te 5kHz CST This term is only used the FBK modes 1 This feature only available in firmware version 1 3 1 and higher Returns The time value for the correction sample period Syntax nCSTx Standard syntax Error CSTx Missing axis number 30 Parameter Description n int Axis number x float Sample time Read correction sample time Parameter Range n 1 to 99 x 1 to 5000 Related Commands CVL FBK Example 2CST1 ...

Page 22: ...m is only used the FBK modes 1 This feature only available in firmware version 1 3 1 and higher Returns The value for the correction velocity Syntax nCVL Standard syntax Error CVLx Missing axis number 30 Parameter Description n int Axis number x float Correction velocity Read correction velocity Parameter Range n 1 to 99 x 000 001 to VMX default 50 µm s Related Commands CST FBK Example 2CVL1 Axis ...

Page 23: ...e controller consequently allowing the data to be retrieved only once Returns A read operation returns the trace data values for the specified axis in the following format Theoretical Position 5nm Actual Position 5nm DAC Sin DAC Cos Syntax nDAT Read trace data values Error DAT Read operation with missing axis number 27 nDAT Missing read operation parameter 28 Parameter Description n int Axis numbe...

Page 24: ...oller will seek continuously Returns A read operation returns the deadband and deadband timeout values for the specified axis Syntax nDBDx1 x2 Standard syntax nDBD Read deadband and deadband timeout values 0DBDx1 x2 All axes set deadband and deadband timeout values Error DBD Read operation with missing axis number 27 nDBD Missing deadband and deadband timeout parameter values 28 Parameter Descript...

Page 25: ... accepted Returns A read operation returns the deceleration value in mm s2 for the specified axis Syntax nDECx Standard syntax nDEC Read deceleration value 0DECn All axes set deceleration value Error DEC Read operation with missing axis number 27 nDEC Missing deceleration parameter 28 Parameter Description n int Axis number x float Deceleration Read deceleration value Parameter Range n 0 to 99 x 0...

Page 26: ... Read Set Read Command Description This command restores the factory default parameters Returns A read operation is not available with this command Syntax nDEF Standard syntax Error DEF Missing axis number 30 Parameter Description n int Axis number Parameter Range n 1 to 99 Related Commands SAV Example 1DEF Axis 2 Set default parameters ...

Page 27: ... IST This term is only used the FBK modes 2 and 3 This feature only available in firmware version 1 3 1 and higher Returns The time value for the Derivative sample period Syntax nDST Standard syntax Error DST Missing axis number 30 Parameter Description n int Axis number x int Derivative sample time Read derivative sample time Parameter Range n 1 to 99 x 1 to 5000 Related Commands PID FBK Example ...

Page 28: ...ct of the dTerm This term is only used the FBK modes 2 and 3 This feature only available in firmware version 1 3 1 and higher Returns The time value for the correction sample period Syntax nDTGx Standard syntax Error DTGx Missing axis number 30 Parameter Description n int Axis number x int derivative gain Read derivative gain value Parameter Range n 1 to 99 x 1 to 5000 Related Commands PID FBK DST...

Page 29: ... controller Returns A read operation returns the encoder resolution value for the specified axis Syntax nENCx Standard syntax nENC Read encoder resolution value 0ENCx All axes execute encoder resolution value Error ENC Read operation with missing axis number 27 nENC Missing encoder resolution parameter 28 Parameter Description n int Axis number x float Encoder resolution Read encoder resolution va...

Page 30: ...arately on the last line of the program sequence The resulting program is saved upon exit for later use Returns A read operation is not available with this command Syntax nEND Standard syntax Error END Missing axis number 30 Parameter Description n int Axis number Parameter Range n 1 to 99 Related Commands REC EXC PGM Example 1PGM Axis 1 Begin program recording 1VEL1 1ACC 5 Axis 1 Set velocity val...

Page 31: ...0 Returns A read operation returns the following encoder polarity values for the specified axis 0 Normal operation 1 Reverse operation Syntax nEPLx Standard syntax nEPL Read encoder polarity value 0EPLx All axes execute encoder polarity value Error EPL Read operation with missing axis number 27 nEPL Missing encoder polarity parameter 28 Parameter Description n int Axis number x float Encoder polar...

Page 32: ...am numbers available allowing up to 16 programs to be stored An existing program cannot be overwritten and must be erased first Therefore use this command to erase the specified program and make space for a new one Returns A read operation is not available with this command Syntax nERAx Standard syntax Error ERAx Missing axis number 30 nERA Missing program number parameter 28 Parameter Description...

Page 33: ...in This term is only used the FBK modes 2 and 3 This feature only available in firmware version 1 3 1 and higher Returns The gain value for the PID error Syntax nCST x Standard syntax Error ERGx Missing axis number 30 Parameter Description n int Axis number x int Error Gain Read error gain value Parameter Range n 1 to 99 x 1 to 50000 Related Commands PID FBK Example 2ERG1 Axis 2 Set Error Gain to ...

Page 34: ... on page 5 91 to 5 94 Returns A read operation returns a list of error messages for the specified axis in the following format AAA signifies the specific command name that the error corresponds to Error Number Description AAA Syntax nERR Standard syntax Error ERR Read operation with missing axis number 123 Parameter Description n int Axis number Read error messages Parameter Range n 1 to 99 Relate...

Page 35: ...c axis or all connected axes simultaneously in case of an emergency The controller executes the largest possible deceleration Returns A read operation is not available with this command Syntax nEST Standard syntax 0EST All axes execute emergency stop Parameter Description n int Axis number Parameter Range n 0 to 99 Related Commands STP Example 8EST Axis 8 Emergency stop 0EST All axes Emergency sto...

Page 36: ...nected axes should have individual programs stored under the specified program number prior to execution Returns A read operation is not available with this command Syntax nEXCx Standard syntax 0EXCx All axes execute program Error nEXC Missing program number parameter 123 Parameter Description n int Axis number x float Program number to be executed Parameter Range n 0 to 99 x 1 to 64 Related Comma...

Page 37: ...rrection 2 Open Loop Movement Closed Loop deceleration 3 Not for use on the MMC 200 Syntax nFBKx Standard syntax nFBK Read encoder mode value Error FBKx Missing axis number 30 FBK Read operation with missing axis number 27 nFBK Missing closed open loop parameter 28 Parameter Description n int Axis number x float Open closed loop mode Read encoder mode value Parameter Range n 1 to 99 x 0 for open l...

Page 38: ...mand Description This command is used by the bootloader to upload new firmware to the specified axis Returns A read operation cannot be used with this command Syntax nFMR Standard syntax Error FMR Missing axis number 30 Parameter Description n int Axis number Parameter Range n 1 to 99 Related Commands VER Example 1FMR Axis 1 upload new firmware ...

Page 39: ...urns the Full Steps Per Revolution for the specified axis Syntax nFSRx Standard syntax nFSR Read Full Steps Per Revolution 0FSRx All axes set Full Steps Per Revolution to x Error FSR Read operation with missing axis number 27 nFSR Missing full step per rev parameter 28 Parameter Description n int Axis number x int full steps per revolution Read full steps per revolution value Parameter Range n 0 t...

Page 40: ...ation returns the velocity value in mm s for the specified axis Syntax nGRRx y Standard syntax nGRR Read Gear ratio value 0GRRx y all axes set gear ratio to x y Error GRR Read operation with missing axis number 27 nGRR Missing Gear Ratio parameter 28 Parameter Description n int Axis number x float Leadscrew Revs y float Motor Shaft Revs Read Gear Ratio value Parameter Range n 0 to 99 x 1 50000 y 1...

Page 41: ...tion of the positive limit Syntax nHCGx Standard syntax 0HCGx All axes set direction nHCG Read direction setting Error HCG Read operation with missing axis number 27 nHCG Missing direction setting 28 Parameter Description n int Axis number x int Set direction of motion Parameter Range n 0 to 99 x 0 for setting motion in the direction of the negative limit 1 for setting motion in the direction of t...

Page 42: ...er the serial port during motion The controller will buffer all commands sent during this period and execute them once the command has found the index Caution if you write too many commands while this command is executing you run the risk of overloading the receive buffer Returns A read parameter returns the following calibration values for the specified axis 0 Not calibrated to home position 1 Ca...

Page 43: ...kHz IST This term is only used the FBK modes 2 and 3 This feature only available in firmware version 1 3 1 and higher Returns The time value for the correction sample period Syntax nISTx Standard syntax Error IST Missing axis number 30 Parameter Description n int Axis number x int sample time Read Integrator sample time Parameter Range n 1 to 99 x 1 to 5000 Related Commands FBK PID IWL ITG Example...

Page 44: ...s the effect of the iTerm This term is only used the FBK modes 2 and 3 This feature only available in firmware version 1 3 1 and higher Returns The Integrator gain value Syntax nITGx Standard syntax Error ITG Missing axis number 30 Parameter Description n int Axis number x int Integrator Gain Read integrator gain value Parameter Range n 1 to 99 x 1 to 5000 Related Commands IST IWL PID FBK Example ...

Page 45: ...rator wind up This term is only used the FBK modes 2 and 3 This feature only available in firmware version 1 3 1 and higher Returns The integrator windup limit Syntax nIWLx Standard syntax Error IWL Missing axis number 30 Parameter Description n int Axis number x int Windup Limit Read Windup Limit value Parameter Range n 1 to 99 x 1 to 999999 Related Commands IST IWL ITG FBK Example 2IWL1 Axis 2 S...

Page 46: ...eturns A read operation returns the jog acceleration and deceleration value in mm s2 for the specified axis Syntax nJACx Standard syntax 0JACx All axes execute acceleration value nJAC Read acceleration value Error JAC Read operation with missing axis number 27 nJAC Missing acceleration parameter 28 Parameter Description n int Axis number x float Jog Acceleration Read Jog acceleration value Paramet...

Page 47: ... is a percentage of the maximum velocity and may be changed on the fly by sending another JOG command during motion Returns A read operation is not available with this command Syntax nJOGx Standard syntax Error JOGx Missing axis number 30 nJOG Missing velocity parameter 28 Parameter Description n int Axis number x float Velocity Parameter Range n 1 to 99 x 100 000 to 100 000 of maximum velocity 0 ...

Page 48: ...will stop motion Returns A read operation is not available with this command Syntax nLCGx Standard syntax Error s LCGx Missing axis number 30 nLCG Missing program number parameter 28 Parameter Description n int Axis number x int 0 ignore default 1 active Parameter Range n 1 to 99 x 0 ignore default 1 Home uses Soft Limits 2 Limits Switches Enabled 3 Home Uses Soft Limits and Limit Switches enabled...

Page 49: ...values for the specified axis 0 Normal orientation 1 Reverse orientation Syntax nLDRx Standard syntax nLDR Read velocity value 0LDRx Missing axis number all axes set limit direction Error LDR Read operation with missing axis number 27 nLDR Missing limit parameter 28 Parameter Description n int Axis number x int limit direction value Read limit direction value Parameter Range n 0 to 99 x 0 or 1 Rel...

Page 50: ...it switches in the form LSP LSN This is useful for limit switch configuration Returns A read operation returns current limit status for the specified axis Syntax nLIM Standard syntax Error LIM Read operation with missing axis number 123 Parameter Description n int Axis number Read limit switches Parameter Range n 1 to 99 Related Commands None Example 6LIM Axis 6 read current limit status ...

Page 51: ...value in mm for the specified axis Syntax nLSPx Standard syntax nLSP Read lead screw pitch value 0LSPx All axes set lead screw pitch to x Error LSP Read operation with missing axis number 27 nLSP Missing pitch parameter 28 Parameter Description n int Axis number x float Lead Screw Pitch Read Lead Screw Pitch Parameter Range n 0 to 99 x 1nm 000001 to 999 999999mm Related Commands Example 1LSP 25 Ax...

Page 52: ...ds are returned sequentially and individually which means in the Micronix GUI they will be listed from bottom first returned to top last returned Returns A read operation returns the program table for the specified axis Syntax nLSTx Standard syntax Error LSTx Read operation with missing axis number 123 Parameter Description n int Axis number x int program table to be read Parameter Range n 1 to 99...

Page 53: ...ts are active high 1 or low 0 Returns A read operation returns the program table for the specified axis Syntax nLPLx Standard syntax Error s LPLx Missing axis number 30 nLPL Missing limit polarity parameter 28 Parameter Description n int Axis number x 0 Active Low 1 Active High Parameter Range n 1 to 99 x 0 active low default 1 active high Related Commands LCG Example 6LPL1 Axis 6 limit switches s...

Page 54: ...mined by hardware The MCS setting cannot exceed this value Returns A read operation returns the max motor current value in Amps for the specified axis Syntax nMCMx Standard syntax nMCM Read max motor current value Error MCM Read operation with missing axis number 27 nMCM Missing current parameter 28 Parameter Description n int Axis number Read max motor current value Related Commands MCS MCR Examp...

Page 55: ...r current value in Amps for the specified axis Syntax nMCSx Standard syntax nMCS Read Motor Current value 0MCSx All axes set Motor Current Error MCS Read operation with missing axis number 27 nMCS Missing current parameter 28 Parameter Description n int Axis number x float motor current in Amps Read current value Parameter Range n 0 to 99 x 0 to MCM 2A Related Commands MCM Example 1MCS 25 Axis 1 S...

Page 56: ...communication over the serial port during motion The controller will buffer all commands sent during this period and execute them once the command has found the limit Returns A read operation is not available with this command Syntax nMLN Standard syntax 0MLN All axes execute move to negative limit position Error MLN Missing axis number 30 Parameter Description n int Axis number Parameter Range n ...

Page 57: ...communication over the serial port during motion The controller will buffer all commands sent during this period and execute them once the command has found the limit Returns A read operation is not available with this command Syntax nMLP Standard syntax 0MLP All axes execute move to positive limit position Error MLP Missing axis number 30 Parameter Description n int Axis number Parameter Range n ...

Page 58: ...ns A read operation returns the following motor current off on values for the specified axis 0 Motor current is off 1 Motor current is on Syntax nMOTx Standard syntax nMOT Read motor current off on value 0MOTx All axes set motor value Error MOT Read operation with missing axis number 27 xMOT Missing motor off on parameter 28 Parameter Description n int Axis number x float Motor current off on Read...

Page 59: ...cal positive direction towards to motor Returns A read operation returns the current motor polarity setting for the specified axis Syntax nMPLx Standard syntax nMPL Read Motor polarity value 0MPLx All axes set motor polarity value Error MPL Read operation with missing axis number 27 nMPL Missing motor polarity parameter 28 Parameter Description n int Axis number x float Motor Polarity setting Read...

Page 60: ... line as they are executed closer together than on separate lines If the position is outside of the soft limits the command will be ignored Returns A read operation is not available with this command Syntax nMSAx Standard syntax 0MSAx All axes setup synchronous move Error nMSA Missing absolute position parameter 28 Parameter Description n int Axis number x float Absolute position Parameter Range n...

Page 61: ...ands on the same command line as they are executed closer together than on separate lines If the position is outside of the soft limits the command will be ignored Returns A read operation is not available with this command Syntax nMSRx Standard syntax 0MSRx All axes setup synchronous move Error nMSR Missing relative position parameter 28 Parameter Description n int Axis number x float Relative po...

Page 62: ...t limits the command will be ignored Returns A read operation is not available with this command Syntax nMVAx Standard syntax 0MVAx All axes execute instantaneous move Error s nMVA Missing absolute position parameter 28 Parameter Description n int Axis number x float Absolute position Parameter Range n 0 to 99 x 999 999999 to 999 999999 mm degrees Related Commands MVR POS Example 4MVA14 5 Axis 4 M...

Page 63: ...osition is outside of the soft limits the command will be ignored Returns A read operation is not available with this command Syntax nMVRx Standard syntax 0MVRx All axes execute command Error s nMVR Missing relative position parameter 28 Parameter Description n int Axis number x float Relative position Parameter Range n 0 to 99 x 0 000001 to 999 999999 mm degrees Related Commands MVA POS Example 6...

Page 64: ...am can be stopped at any time by sending the STP or EST commands This version of the command available in firmware version 1 3 11 and up Prior version have an on off PGL setting 1 0 Returns A read operation returns the program loop setting for the specified axis Syntax nPGLx Standard syntax Error s PGLx Missing axis number 30 nPGL Missing program number parameter 28 Parameter Description n int Axi...

Page 65: ...ch program has a size limit of 4Kb Returns A read operation in not available for this command Syntax nPGMx Standard syntax nPGM Read a binary representation of written program numbers If programs 1 and 2 are written it will return 3 If programs 1 and 4 are written it will return 9 If only program 1 is written it will return 1 If only program 3 is written it will return 4 Error s PGMx Missing axis ...

Page 66: ...tandard syntax 0PGSx Missing axis number all axes set program to run on start up nPGS Read program s set to run on start up Error PGS Read operation with missing axis number 27 nPGS Missing program set to run on start up parameter 28 Parameter Description n int Axis number x float Program set to run on start up Read encoder mode value Parameter Range n 0 to 99 x 0 No program 1 to 16 Specific progr...

Page 67: ...s number 30 PID Read operation with missing axis number 27 nPID Missing encoder feedback constant parameters 28 Parameter Description n int Axis number x1 float Kp proportional term x2 float Ki integral term x3 float Kd derivative term Read encoder feedback constants and values Parameter Range n 1 to 99 x1 0 000 to 1 000 x2 0 000 to 1 000 x3 0 000 to 1 000 Related Commands FBK ENC POS Example 5PID...

Page 68: ...oller Returns A read operation returns the position values in mm for the specified axis in the following format Theoretical position in mm Encoder position in mm Theoretical position in degrees Encoder position in degrees Syntax nPOS Standard syntax Error s POS Read operation with missing axis number 27 Parameter Description n int Axis number Read position values Parameter Range n 1 to 99 Related ...

Page 69: ... value in pico meters fullstep 10 for the specified axis Syntax nREZx Standard syntax nREZ Read picometers fullstep 10 value Error s REZ Read operation with missing axis number 27 REZx Missing axis number 30 nREZ Missing picometers fullstep 10 parameter 28 Parameter Description n int Axis number x float picometers fullstep 10 Read picometers fullstep 10 Parameter Range n 1 to 99 x 0 to 0 2 32 pico...

Page 70: ...t Read Command Description This command is used to perform a soft reset of the specified axis Returns A read operation cannot be used with this command Syntax nRST Standard syntax 0RST All axes execute soft reset Parameter Description n int Axis number Parameter Range n 1 to 99 Related Commands None Example 8RST Axis 8 execute soft reset ...

Page 71: ...ion This command is used to start a global synchronous move previously set up by using the MSA or MSR commands Returns A read operation cannot be used with this command Syntax RUN Standard syntax Parameter Description Parameter Range Related Commands MSA MSR Example 3MSR5 4MSR5 Axis 3 Move 5 mm degrees Axis 4 Move 5 mm degrees 0RUN All axes Execute synchronous move ...

Page 72: ...ription This command is used to save all settings for the specified axis This allows an axis to be configured on power up Returns A read operation cannot be used with this command Syntax nSAV Standard syntax 0SAV All axes save settings Parameter Description n int Axis number Parameter Range n 0 to 99 Related Commands None Example 16SAV Axis 16 save settings ...

Page 73: ... Not in Acceleration phase of motion Bit 5 1 Currently in Constant Velocity phase of motion 0 Not in Constant Velocity phase of motion Bit 4 1 Currently in Deceleration phase of motion 0 Not in Deceleration phase of motion Bit 3 1 Stage has stopped In Closed Loop Stage is in the deadband 0 Stage is moving In Closed Loop Stage is out of deadband Bit 2 1 A Program is currently running 0 No program i...

Page 74: ...ead Set Read Command Description This command is used to stop motion for a specified axis Returns A read operation cannot be used with this command Syntax nSTP Standard syntax 0STP All axes execute stop Parameter Description n int Axis number Parameter Range n 0 to 99 Related Commands EST DEC Example 8STP Axis 4 execute stop ...

Page 75: ...nge with a DEF command To reset the Startup position to the default send nSVP0 Returns A read operation returns the Startup position setting for the specified axis Syntax nSVP Standard syntax 0SVP Missing axis number command accepted as standard syntax Parameter Description n int Axis number x float Startup Position mm Read Startup Position Parameter Range n 0 to 99 x TLN 999 999999mm to TLP 999 9...

Page 76: ... a program together with the wait for sync WSY command in order to synchronize motion between multiple axes Returns A read operation cannot be used with this command Syntax nSYN Standard syntax 0SYN Missing axis number command accepted as standard syntax Parameter Description n int Axis number Parameter Range n 0 to 99 Related Commands None Example 4SYN Send sync to axis 4 ...

Page 77: ... accepted Returns A read operation returns the negative soft limit position value Syntax nTLNx Standard syntax nTLN Read negative soft limit position value 0TLNx All axes set limit position value nTLN Set current position to negative limit Error s TLN Read operation with missing axis number 27 Parameter Description n int Axis number x float Negative soft limit position Read negative soft limit pos...

Page 78: ...eturns A read operation returns the positive soft limit position value for the specified axis Syntax nTLPx Standard syntax nTLP Read positive soft limit position value 0TLPx All axes set limit position value nTLN Set current position to negative limit Error s TLP Read operation with missing axis number 27 Parameter Description n int Axis number x float Positive soft limit position Read positive so...

Page 79: ... with missing axis number 27 nTRA Missing parameters 28 Parameter Description n int Axis number x1 int Number of samples taken default is 1000 x2 int 10kHz Sampling frequency default is 1 x3 float Trace starting position default is immediate Read position Parameter Range n 0 to 99 x1 1 to 9000 x2 1 to 1000 Servo clocks per cycle x3 000 000000 to 999 999999 mm degrees Related Commands DAT Example 5...

Page 80: ...crosteps achievable based on the motor current setting Returns A read operation returns the maximum possible microsteps for the specified axis Syntax nUMXx Standard syntax nUMX Read Max Microsteps value Error UMX Read operation with missing axis number 27 Parameter Description n int Axis number Read velocity value Parameter Range n 0 to 99 Related Commands Example 5UMX Axis 5 Read Maximum microste...

Page 81: ...s the microstepping value for the specified axis Syntax nUSTx Standard syntax nUST Read microstepping rate 0USTx Missing axis number all axes set to x microstepping Error UST Read operation with missing axis number 27 nUST Missing microstep parameter 28 Parameter Description n int Axis number x float Microsteps Read microstep value Parameter Range n 0 to 99 x 1 to UMX 4096 Related Commands UMX Exa...

Page 82: ...for the command to be accepted Returns A read operation returns the velocity value in mm s for the specified axis Syntax nVELx Standard syntax nVEL Read velocity value 0VELx Missing axis number all axes set velocity Error VEL Read operation with missing axis number 27 nVEL Missing velocity parameter 28 Parameter Description n int Axis number x float Velocity value Read velocity value Parameter Ran...

Page 83: ...e firmware version for the specified axis Returns A read operation returns the firmware version for the specified axis Syntax nVER Standard syntax Error s VER Read operation with missing axis number 27 nVER Missing read operation parameter 28 Parameter Description n int Axis number Read firmware version Parameter Range n 1 to 99 Related Commands None Example 11VER Axis 11 Read firmware version ...

Page 84: ...on the steps per micron parameter in the REZ command Returns A read operation returns the maximum allowable velocity value in mm s for the specified axis Syntax nVMX Read maximum allowable velocity value Error VMX Read operation with missing axis number 27 nVMX Missing read operation parameter 123 Parameter Description n int Axis number Read maximum allowable velocity value Parameter Range n 1 to ...

Page 85: ...Description This command returns the actual velocity calculated from the encoder Returns A read operation returns the encoder velocity in mm s Syntax nVRT Standard syntax Error VRT Read operation with missing axis number 27 Parameter Description n int Axis number Parameter Range n 1 to 99 Related Commands POS Example 5VRT Axis 5 Read encoder velocity ...

Page 86: ... program to wait until motion is completed to begin executing the next command Returns A read operation cannot be used with this command Syntax nWST Standard syntax WST Missing axis number command accepted as standard syntax Parameter Description n int Axis number Parameter Range n 1 to 99 Related Commands None Example 7WST Axis 7 Wait for motion to stop before executing next command ...

Page 87: ...er with the sync SYN command in order to synchronize motion between multiple axes Returns A read operation cannot be used with this command Syntax nWSY Standard syntax WSY Missing axis number command accepted as standard syntax Parameter Description n int Axis number Parameter Range n 1 to 99 Related Commands None Example 1WSY Axis 1 Wait until sync command is received before executing next comman...

Page 88: ...r a specified period of time before executing the next command Returns A read operation cannot be used with this command Syntax nWTMx Standard syntax WSTx Missing axis number command accepted as standard syntax Parameter Description n int Axis number x int Time Parameter Range n 1 to 99 x 0 to 999999 milliseconds Related Commands None Example 2WTM42 Axis 2 Wait for 42 milliseconds before executing...

Page 89: ...cription This command is used to set the absolute zero position for the specified axis Returns A read operation cannot be used with this command Syntax nZRO Standard syntax Error ZRO Missing axis number 123 Parameter Description n int Axis number Parameter Range n 1 to 99 Related Commands None Example 1ZRO Axis 1 set current position as absolute zero ...

Page 90: ...escription This command is used to take the specified axes offline An offline axis will not respond until the power is cycled Returns A read operation cannot be used with this command Syntax nZZZ Standard syntax ZZZ Missing axis number all axes set to offline Parameter Description n int Axis number Parameter Range n 1 to 99 Related Commands None Example ...

Page 91: ...d by a question mark to be accepted Ex XXX 21 One Read Operation Per Line Multiple read operations on the same command line Only one read operation is allowed per line even if addressed to separate axes 22 Too Many Commands On Line The maximum number of allowed commands per command line has been exceeded No more than 8 commands are allowed on a single command line 23 Line Character Limit Exceeded ...

Page 92: ...current state of the controller will not allow this parameter to be used Check the command page for more information 32 Incorrect Jog Velocity Request The jog velocity can only be changed during motion by using a new JOG command If the VEL command is used to change the velocity this error will be triggered The VEL command can only be used to change velocity during motion initiated by the move comm...

Page 93: ...m must be erased with the ERA command before being written again 46 Program Doesn t Exist The indicated program does not exist This error can occur when you try to execute a program number that has not had a program assigned to it 47 Read Operations Not Allowed Inside Program Read Operations are not permitted in programs 48 Command Not Allowed While Program in Progress The command that triggered t...

Page 94: ...ller 55 Limits Are Not Configured Properly Both Limit Switches are active so motion is disallowed in both directions Most likely the LPL Limit Polarity command setting should be switched 80 Command Not Available in this Version The command entered is not supported in this version of the firmware 81 Analog Encoder Not Available In this Version The current version of firmware installed does not supp...

Page 95: ... 8 Index 9 Not In Use 6 2 Motor Pin out Pin Description 1 Phase A 2 Phase A 3 Phase B 4 Phase B 5 Ground 6 LSN 7 LSP 8 5V 9 Ground 6 3 8 Pin Din IO connector Pin8 5V Pin6 IO1 output only Pin5 IO2 Pin3 IO3 Pin2 IO4 Pin4 GND I O ports can be set up as either active high or active low With a recommended input current of 5mA and a maximum output current of 50mA ...

Page 96: ...e cable will determine axis order This connector can also be used to communicate with the controller in place of the USB connection by connecting your RS 485 Bus to pins 2 3 and 4 as they appear below RS 485 Intermodular Connector Cable Pin out 6 5 Firmware The firmware on the MMC 200 can be updated without returning the controller to manufacturer For questions regarding the current firmware relea...

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