Command Summary (Common Commands)
12
Motor
commands:
Program
management
commands:
Looping/
Pausing
and
input/output
commands:
I
16,777,215
Set
steps
to
incremental
Index
motor
CCW
(negative),
m=
motor#
(1,2,3,4),
x=1
to
16,777,215
Set
Absolute
Index
distance,
m=motor#
(1,2,3,4),
x=
±1
to
±16,777,215
steps
Index
motor
to
Absolute
zero
position,
m=motor#
(1,2,3,4)
Zero
motor
position
for
motor#
m,
m=
1,2,3,4
Index
motor
until
positive
limit
is
encountered,
m=motor#
(1,2,3,4)
Index
motor
until
negative
limit
is
encountered,
m=motor#
(1,2,3,4)
Set
Speed
of
motor
(70%
power),
m=
motor#
(1,2,3,4),
x=1
to
steps/sec.
(SAmMx
is
100%
power)
Acceleration/deceleration,
m=
motor#
(1,2,3,4),
x=1
to
127.
AmMx
IAmM0
IAmM-0
ImM-0
AmMx
L0
LM-0
Lx
L-x
LAx
LA-x
LM-2
LM-3
I
mMx
ImM-x
PMx
PM-x
PM
Jx
JMx
Px
PAx
U0
U1
U4
U5
Set
steps
to
incremental
Index
motor
CW
(positive),
m=
motor#
(1,2,3,4),
x=1
to
Select
Program
number
x,
x=
0
to
4
Select
and
clear
all
commands
from
Program
number
x,
x=
0
to
4
Request
the
number
of
the
current
Program
branching
commands:
Loop
continually
from
the
beginning
or
Loop-to-marker
of
the
current
program
Sets
the
Loop-to-marker
at
the
current
location
in
the
program
Resets
the
Loop-to-marker
to
the
beginning
of
the
current
program
Loop
from
beginning
or
Loop-to-marker
x-1
times
(x=2
to
65,535),
when
the
loop
reaches
its
last
count
the
non-loop
command
directly
preceding
will
be
ignored
Loop
from
beginning
or
Loop-to-marker
x-1
times,
alternating
direction
of
motor
1,
when
the
loop
reaches
its
last
count
the
non-loop
command
directly
preceding
will
be
ignored
Loop
Always
from
beginning
or
Loop-to-marker
x-1
times
(x=2
to
65,535)
Loop
Always
from
beginning
or
Loop-to-marker
x-1
times,
alternating
direction
of
motor
1
Loop
once
from
beginning
or
Loop-to-marker
reversing
index
direction
of
motor
2
Loop
once
from
beginning
or
Loop-to-marker
reversing
index
direction
of
motor
1
and
motor
2
Jump
to
the
beginning
of
program
number
x,
x=
0
to
4
Jump
to
the
beginning
of
program
number
x
and
come
back
for
More
after
program
x
ends,
x=
0
to
4
Pause
x
tenths
of
a
second,
(x=0
to
65,535
)
tenths
of
a
millisecond
when
x
is
negative
Pause
x
tenths
of
a
second
(x=0
to
65,535,
10
μsec
pause
when
x=0)
Altering
output
1
high
for
duration
of
the
pause,
tenths
of
a
millisecond
when
x
is
negative
Wait
for
a
"low"
on
user
input
1
Wait
for
a
low
on
user
input
1,
holding
user
output
1
high
while
waiting
User
output
1
"low"
(reset
state)
User
output
1
high
ImM0
SmMx
LM0
6000
The
following
are
the
most
common
commands,
refer
to
page
14
for
an
additional
listing
of
commands
for
advanced
users.
