Newport MM4005, User Manual

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EDH0162En1040 – 05/99
II
MM4005 Command List — Alphabetical
Command Description IMM PGM MIP Command Description IMM PGM MIP
AB Abort motion
xx AC nn Set acceleration
AD nn Define the maximum allowed angle of discontinuity
xx AM nn Set analog input mode
AP Abort program
xx AQ nn Axis positions acquisition
xx AS nn Affect string
AT Tell the element number under execution
xx AX Assign a physical axis as X geometric axis
xx AY Assign a physical axis as Y geometric axis
xx BA [nn] Set backlash compensation
CA nn Define sweep angle and build an arc of circle = ƒ (CR, CA)
[xx] CB [nn] Clear I/O outputs bits
xx CD nn Set cycle value and activate periodic display mode
CM [nn] Change communication mode
xx CP Compile program
CR nn Define radius for anarc of circle = ƒ (CR, CA)
xx CS nn Concatenate two strings
CX nn Define X position to reach with an arc of circle = ƒ (CX, CY)
CY nn Define Y position to reach and build an arc of circle
= ƒ (CX, CY)
xx DA pp Read desired acceleration
[xx] DF Read following error
[xx] DH Define home
xx DL Define label
xx DM Read manual velocity
xx DO Read home search velocity
[xx] DP Read desired position
xx DS [nn] Display strings on screen
xx DV pp Read desired velocity
xx DY nn Display a variable
ED nn Display program error
EL Erase the last element of trajectory
xx EO nn Automatical execution on power on
xx EP nn Edition of program
ET Execution of trajectory
xx EX [nn] Execute a program
FA nn Define the tangent angle for the first point
xx FB [aa] Label function key
FC Clear function key line
FD Display function keys
xx FE nn Set maximum following error
xx FF nn Set maximum master-slave following error
FT nn Set output frequency
GQ nn Set global trace mode
xx GR nn Set master-slave reduction ratio
[xx] IE nn If I/O input is equal
xx JL Jump to label
KC Abort command line
xx KD nn Set derivative gain
xx KI nn Set integral gain
xx KP nn Set proportional gain
xx KS nn Set saturation level of integral factor
in position loop PID corrector
xx LP List program
xx LT Extended list of the trajectory
LX nn Define X position and build a line segment
= ƒ (LX, tangent)
LY nn Define Y position and build a line segment
= ƒ (LY, tangent)
MC Set manual mode
[xx] MF Motor OFF
xx MH nn Set manual velocity
ML Set local mode
MO Motor ON
MP Download EEPROM to RAM
MR Set remote mode
[xx] MS Read motor status
xx MT nn Move to travel limit switch
xx MV + or - Infinite movement
MX nn Define X position for a line segment = ƒ (MX, MY)
MY nn Define Y position and build a line segment = ƒ (MX, MY)
NB nn Set trajectory element where the generation of pulses starts
NE nn Set trajectory element where the generation of pulses ends
NI nn Set step (curvi-linear distance) between
synchronisation pulses
NN nn Set number of synchronisation pulses to generate
xx NP nn Set decimal digits number of position display
NQ Read global acquisition nr.
NS Allow generation of pulses on interpolation
NT Start definition of a new trajectory
xx OA nn Set home search acceleration
[xx] OE nn Test I/O output
xx OH nn Set home search high velocity
xx OL nn Set home search low velocity
[xx] OR [nn] Search for home
xx PA nn Move to absolute position
xx PB nn Set start position of generation of pulses of synchronisation
xx PE nn Set end position of generation of pulses of synchronisation
xx PI nn Set step of generation of pulses of synchronisation
xx PR nn Move to relative position
xx PS pp Allow generation of pulses on motion
xx PT nn Calculate necessary time for axis displacement
[xx] PW Save parameters
QP Quit program mode
QW Save general parameters
[xx] RA Read analog input
[xx] RB Read I/O input
RD Disable display refresh
RE Enable display refresh
[xx] RO Read I/O output
RP [nn] Repeat command line
RQ nn Generate service request (SRQ)
RS Reset controller
[xx] SB [nn] Set I/O output bits
xx SC [nn] Set control loop type
SD nn Speed scaling
SE Start synchronized motion
xx SF name Set axis mechanical motion device
xx SH nn Set home preset position
xx SL nn Set left travel limit
SM Save program
xx SN name Set axis displacement units
SO [nn] Set I/O output byte
SP [nn] Set trace sample rate
SQ [nn] Set global sample rate
xx SR nn Set right travel limit
xx SS np Set master-slave mode
[xx] ST Stop motion
xx SY nn Axis synchronization
xx TA Read motion device
TB [aa] Read error message
xx TC Read control loop type
TD Read error line of program
TE Read error code
xx TF Read filter parameters
[xx] TG [nn] Toggle I/O output bits
[xx] TH Read theoretical position
xx TL Read left travel limit
xx TM nn Set trace mode
xx TN Read displacement units
[xx] TP Read actual position
[xx] TQ [nn] Read global trace data
xx TR Read right travel limit
TS Read controller status
[xx] TT Read trace data
xx TU Read encoder resolution
TX Read controller activity
TX1 Read controller extended status
xx TY Read a variable
[xx] UF Update servo filter
[xx] UH Wait for I/O high
[xx] UL Wait for I/O low
xx VA nn Set velocity
xx VB nn Set base velocity (Stepper motor only)
VE Read controller version
VS nn Define the vector acceleration on trajectory
(trajectory acceleration)
VV nn Define the vector velocity on trajectory (trajectory velocity)
WA [nn] Wait
WE End While loop
xx WF Wait for function key
xx WG [nn] While variable is greater
xx WH [nn] While I/O input is equal
WI nn Wait for a trajectory (curvi-linear) length
WK [aa] Wait for key
xx WL [nn] While variable is less
WN nn Wait for a element of trajectory
xx WP nn Wait for position
[xx] WS [nn] Wait for motion stop
WT [nn] Wait
xx WY [nn] While variable is different
XA Tell the current maximum allowed angle of discontinuity
xx XB Read backlash compensation
xx XD Read derivative gain factor
XE Tell the last element
xx XF Read maximum following error
xx XH Read home preset position
xx XI Read integral gain factor
xx XL nn Delete one line of program
XM Read available memory
XN Read number of acquisitions
xx XP Read proportional gain factor
XQ Read global sample rate
XS Read trace sample rate
XT Tell number of elements in the trajectory
XU nn Tell the vector acceleration on trajectory
(trajectory acceleration)
XV nn Tell the vector velocity on trajectory
(trajectory velocity)
[xx] XX Erase program
xx YA [nn] Add to variable
xx YB Negate variable
xx YC nn Add variables
xx YD nn Divide variables
xx YE [nn] If variable is equal
xx YF nn Scale variable
xx YG [nn] If variable is greater
xx YK Read key to variable
xx YL [nn] If variable is less
xx YM nn Multiply variables
xx YN [nn] If variable is different
xx YO nn Send a value to an user analog port
xx YP nn Set theoretical position in variable
xx YQ nn Set current position in variable
xx YR nn Read a value from an user analog port and affect variable
xx YS [nn] Initialize variable
xx YV Read value from keyboard in a variable
xx YW Wait and read key
xx YY nn Copy variable
[xx] ZP Zero position
[xx] ZT [nn] Read Axis/General parameters configuration
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