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Software Commands
103
Summary of Commands
A—Acceleration
B—Buffer Status
BCDG—Buffered Configure Derivative
Gain
BCIG—Buffered Configure Integral Gain
BCIL—Buffered Configure Integral Limit
BCPE—Buffered Configure Position
Error
BCPG—Buffered Configure Proportional
Gain
BCTG—Buffered Configure Derivative
Sampling Period
BS—Buffer Size Status
C—Continue
CDG—Configure Derivative Gain
CEW—Configure In Position Error Window
CIG—Configure Integral Gain
CIL—Configure Integral Limit
CIT—Configure In Position Time
CPE—Configure Maximum Position Error
CPG—Configure Proportional Gain
CR—Carriage Return
CTG—Configure Filter Time Constant
D—Distance
DPA—Display Position Actual
DPE—Display Position Error
DVA—Display Velocity Actual
E—Enable Communications
ER—Encoder Resolution
F—Disable Communications
G—Go
GH—Go Home
^H—Delete
H—Set Direction
IN—Set Input Functions
IS —Input Status
K—Kill
L—Loop
LD—Limit Disable
LF—Line Feed
MC—Mode Continuous
MN—Mode Normal
MPA—Mode Position Absolute
MPI—Mode Position Incremental
N—End of Loop
O—Output
OFF—Servo Disable
ON—Servo Enable
OS—Report Homing Function Set-Ups
OSA—Define Active State of End-of-
Travel Limits
OSB—Back Up To Home
OSC—Define Active State of Home
Switch
OSD—Enable Encoder Z Channel for Home
OSH—Reference Edge of Home Switch
PR—Position Report
PS—Pause
PX—Report Absolute Encoder Position
PZ—Set Absolute Counter to Zero
“—Quote
Q1—Enter Velocity Profiling Mode
QØ—Exit Velocity Profiling Mode
R—Request Controller Status
RA—Limit Switch Status Report
RB—Loop, Pause, Shutdown, Trigger
Status Report
RC—Homing Status Report
RFS—Return Servo Gains to Factory
Settings
RM—Rate Multiplier in Velocity Streaming
Mode
RSE—Report Servo Erros
RV—Revision Level
S—Stop
SN—Scan
SS—Software Switch Function Status
SSA—RS-232C Echo Control
SSC—Output #1 on In Position
SSE—Enable/Disable Communication Error
Checking
SSG—Clear/Save the Command Buffer on
Limit
SSH—Clear/Save Command Buffer on
Stop
ST—Shutdown
T—Time Delay
TR—Wait For Trigger
U—Pause and Wait for Continue
V—Velocity
XC—Sequence Checksum
XD—Sequence Definition
XE—Sequence Erase
XP—Set Power-up Sequence Mode
XQ—Sequence Interrupted Run Mode
XR—Run a Sequence
XRP—Sequence Run With Pause
XSD—Sequence Status Definition
XSP—Sequence Status Power-up
XSR—Sequence Status Run
XSS—Sequence Status
XT—Sequence Termination
XU—Upload Sequence
Y—Stop Loop
Z—Reset
#—Address Numbering
%—Reset Communication
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