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
host
Send
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
and 2 ( 8 b i t binary
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
3
Different command/ function for NF90 mode
Legend:
3
New Commands for VXM not available on VP9000 or NF90
