Micronix MMC-200 Series User manual

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Table of Contents
1. Introduction ...........................................................................................................................................1-3
1.1 Product Description 1-3
1.2 Features 1-4
1.3 Package Contents 1-4
2. Quick Start Guide..................................................................................................................................2-4
2.1 Quick Start Guide Overview 2-4
2.2 Quick Start MMC-100 Motion Controller Platform 2-6
2.3 Using the MMC-100 Motion Controller Platform 2-7
3. Technical Information ...........................................................................................................................3-8
3.1 MMC-200 Specifications 3-8
3.2 Serial Port 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
5.3Global 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
5.10 Error Messages 5-90
6. Appendix .............................................................................................................................................6-94
6.1 Encoder Input Pin-out 6-94
6.2 Motor Pin-out 6-94
6.3 8-Pin Din IO connector 6-94
6.4 RS-485 Intermodular Connector Cable Pin-out 6-95
6.5 Firmware 6-95

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Command Index
Command
Description
Page
Command
Description
Page
ACC
Acceleration
16
MCS
Motor Current Setting
55
AMX
Maximum Allowable
Acceleration
17
MLN
Move to Negative Limit
56
ANR
Set Axis Number
18
MLP
Move to Positive Limit
57
CER
Clear Errors
19
MOT
Toggle Motor On/Off
58
CFG
Configuration Mode
20
MPL
Motor Polarity
59
CST
Correction Sample Time
21
MSA
Synchronous Move –Absolute
60
CVL
Correction Velocity
22
MSR
Synchronous Move –Relative
61
DAT
Dump Trace Data
23
MVA
Move Absolute
62
DBD
Closed Loop Deadband
24
MVR
Move Relative
63
DEC
Deceleration
25
PGL
Loop Program
64
DEF
Restore Factory Defaults
26
PGM
Begin Program Recording
65
DST
Derivative Sample Time
27
PGS
Run Program At Start-Up
66
DTG
Derivative Term Gain
28
PID
Set Feedback Constants
67
ENC
Select Encoder Resolution
29
POS
Position
68
END
End Program Recording
30
REZ
Set Resolution
69
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
Full Steps Per Rev
39
TLP
Positive Soft Limit Position
78
GRR
Gear Ratio
40
TRA
Perform Trace
79
HCG
Home Configuration
41
UMX
Max Micro Steps
80
HOM
Home
42
UST
Micro steps
81
ITG
Integrator Term Gain
43
VEL
Velocity
82
IST
Integrator Sample Time
44
VER
Firmware Version
83
IWL
Integrator Windup Limit
45
VMX
Max. Allowable Velocity
84
JAC
Jog Acceleration and
Deceleration
46
VRT
Encoder Velocity
85
JOG
Jog Mode
47
WST
Wait For Stop
86
LCG
Limit Configuration
48
WSY
Wait For Sync
87
LDR
Positive/Negative Limit Location
49
WTM
Wait For Time Period
88
LIM
Limit Status
50
ZRO
Zero Position
89
LSP
Lead Screw Pitch
51
ZZZ
Take Axis Offline
90
LST
Program List
52
LPL
Limit Switch Polarity
53
MCM
Max Motor Current
54

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1. Introduction
1.1 Product Description
The MMC-200 is a high-performance integrated stepper motor controller/driver designed to be
used as a standalone single axis unit, or stacked as a compact multi-axis module. The MMC-200 is
capable of driving a stepper motor 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 9-Pin Connector
5. Power Supply, +24VDC, Regulated
6. RS485 Intermodular Connector
7. USB Connector
8. I/O Connector

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1.2 Features
•Integrated controller/driver for stepper motors
•Compact, modular design allows for bench-top or standard 2U height rack mounting
•Configurable as a standalone unit or stackable up to 16 axes
•Open loop/closed loop operation
•Open loop resolution of 4096 Micro steps per full step*
•Closed loop resolution dependent on the encoder (typically 50 nm)
•A quad B encoder feedback
•USB interface (one interface for up to 99 axes)
•Windows GUI and LabVIEW VI
1.3 Package Contents
If product is damaged or there are missing components, contact MICRONIX USA immediately. Do not
discard product packaging in case of return shipment.
Package Contents:
•MMC-200 Controller
•User Manual
•Supplemental CD
•Power Cable
2. Quick Start Guide
2.1 Quick Start Guide Overview
The following Quick Start Guide is intended to provide a basic set-up of the 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 installation CD or can be downloaded
from: http://www.ftdichip.com/Drivers/VCP.htm
2. Connect Motion Devices
a. A single MMC-200 controller is capable of driving one stepper motor in either open or
closed loop.
b. Connect the male D-sub 9-pin stepper motor cable to the Motor/Axis Input (as shown
in the Product Description).
c. If applicable, connect the female D-sub 9-pin closed loop feedback cable to the
Encoder Input.
*This value is theoretical actual value with vary depending on the attached stepper motor.
3. Connect Module/Stack to PC
a. Use the supplied Mini USB to USB cable to connect the MMC-200 controller to the
communicating PC. Only one USB cable is required per module/stack.

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4. Power Up Controller
a. Connect the controller to a 24V, regulated power supply with the correct amperage
rating.
b. Each MMC-200 requires 1A. If powering a stack; add up the amperage requirements
of the individual controllers to determine the necessary power supply for the stack.
5. Check COM Port
a. It is necessary to note the COM Port assigned to the MMC-200 when connecting to a
PC.
i. In Windows Vista Open the Device Manager:
1Windows Logo (in the bottom left corner by default)
2Control Panel
3Device Manager
ii. In Window XP Open Device Manager:
1Start (in the bottom left corner by default)
2Control Panel
3System
4select the Hardware tab
5Click 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
figure below showing a snapshot of the Device Manager window:
6. Continue to Quick Start MMC-100 Motion Controller Platform
a. The following section will help you get running with the MMC-100 Motion Controller
Platform program.
Connected MMC-200
is assigned to COM4

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2.2 Quick Start MMC-100 Motion Controller Platform
The following Quick Start Guide is intended to provide a basic set-up of the MMC-100 MCP
program. The MMC-200 can be run with the MMC-100 MCP though some commands will not show
up in the settings tab; you will be able to access the full functionality of the MMC-200 with the
MMC-100 MCP. The following paragraphs will provide a walkthrough of the steps needed to install
the program and verify that the system is working correctly.
1. Pre-Installation
a. This guide assumes you have already run through the previous Quick Start guide and
that the controller is on and connected to a Com port on your computer. Please verify
that this is true.
b. You will need the .NET Framework 4.0. If you are unsure if you have the .NET Framework
4.0 follow these steps.
i. Open the start menu (windows 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=9cfb2d51-5ff4-
4491-b0e5-b386f32c0992&displaylang=en
ii. Download and run the web installer
iii. At the conclusion of this install you will be asked to restart your computer. Do
this now.
2. Install
a. To install the MMC-100 motion controller platform double click the setup.exe file on the
supplied CD and follow the on screen instructions.
3. Run
a. The installer placed a start menu short-cut to the MMC-100 MCP program. Make sure
that your MMC-200 is connected to your computer, powered on, and connected to a
valid COM port as discussed in section 2.1
b. Open the start menu (or windows icon for vista)
c. Open the ‘all programs’ tab
d. Open the MICRONIX USA folder
e. Run the MMC-100 MCP program

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2.3 Using the MMC-100 Motion Controller Platform
In the Quick Start Guide Overview you connected your MMC-200 to your computer. In the Quick Start
MMC-100 Motion Controller Platform you installed 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 change giving you the option to close the port

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c. The Port field should change to indicate the Port is Open
and the terminal should populate with some information about the system and then turn
blank. You are now ready to start moving a stage with your MMC-200. For more information
about this program see the MMC-100 MCP program guide.
2. More information –more information about the MMC-100 MCP can be found in the MMC-100 MCP
program guide.
3. Technical Information
3.1 MMC-200 Specifications
Parameter
Description
Axes
1 (stackable up to 99 axes)
Motor Type
Stepper motors
Interface
USB 2.0 compliant
Commands
ASCII Commands
Trajectory Mode
Trapezoidal velocity profile
Servo Clock
10 kHz
Trajectory Update
1 kHz
Power Supply
Regulated 24V DC (1A per module/axis*)
Enclosure Dimensions
145 x 85 x 25
Software Interface
MMC-200 MCP, LabVIEW VI’s
*A single power supply may 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 supplied on the
supplemental CD under the folder MMC-200 Drivers or can be downloaded from:
http://www.ftdichip.com/Drivers/VCP.htm
Below are the virtual RS-232 configuration settings necessary for correct communication setup:
Software Parameter
Setting
Data Bits
8
Stop Bits
1
Parity
No
Handshake
No
Baud rate
38400
3.3 RJ11 RS485 Bus
The RS485 Intermodular RJ11 connector connects directly to the same Serial bus as the FTDI interface
above. The RS485 line needs a terminating resistor of 22kΩ or higher. This connector can be used to
communicate with the MMC-100 in the place of the USB connection. For more on the RS-485
Intermodular RJ11 connector see the Appendix 6.4.

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4. Operation
4.1 Axis Addressing
Auto Addressing is the default method of assigning axis numbers on start up. Controllers are
automatically assigned axis numbers on every power up, starting with axis 1 and increasing
consecutively until reaching axis 99.
Manual axis numbers may be assigned to a unique controller using the ANR Command. This
overrides Auto Addressing, as the controller stores the axis number until reassigned or reset back
to Auto Addressing. In the case of having a mix 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 controllers back to Auto Addressing.
The figures shown below illustrate axis numbers for a 5 module stack with Auto Addressing
assigned. Axis 1 is noted and shown in grey.
Horizontal stack (rear view)
With power inputs along bottom, Axis
1 is on the far left.
Vertical stack (rear view)
With power inputs along left hand
side, Axis 1 is on the very top.

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4.2 Feedback Control
The MMC-200 has four different movement modes of operation. When executing a move command,
the controller will drive a stage differently when set to different modes. The FBK command is used to
switch between these modes.
The first mode (nFBK0) is a traditional Open Loop. It follows a standard trapezoidal velocity
characteristic. It bases the transition between acceleration, constant velocity and deceleration on
counting steps of the stepper motor. This requires the FSR, LSP, and GRR settings to be correctly set for
the attached motor. This feature is only available in firmware version 1.3.1 and higher.
The second mode (nFBK1) is a version of closed loop; meaning it takes position data from an attached
encoder and uses it to ensure that it stops at the desired position. In this mode, the controller operates
in open loop, but makes small open loop corrections to adjust the end position to within the deadband
(DBD).
The third mode (nFBK2) is a version of closed loop; meaning it takes position data from an attached
encoder and uses it to ensure that it stops at the desired position. In this mode the controller runs in the
first open loop 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 command all requires the attached stage to have an encoder. The MLN and MLP commands
require either an attached encoder, or limit switches. HCG, LCG, LDR and LPL are all commands that
affect the operation of either HOM or MLN and MLP. The HOM command will move negative direction
by default. This can be changed using the HCG command. If the stage is above the index, it will move
until it reaches the index then move a predetermined distance out of the index in the negative
direction. The stage will then travel in the positive direction at a slower speed stopping at the edge of
the index. If the stage is below the index it will move until it reaches a hard limit or the maximum travel. It
then reverses direction and proceeds until it reaches the index. It will then travel a predetermined
distance out of the index in the negative direction and finally travel toward the index at a slower
velocity finally resting on the edge of the index. The HOM command will always home to the negative
side of the limit.

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5. Commands
5.1 Command Line Syntax
There are three components to every command prompt. The first is the “Axis Number” which
designates which controller, or axis, will receive the command. If the “Axis Number” is 0, then the
command will be sent globally to all connected controllers. It is possible to connect up to 99
controllers; therefore the “Axis Number” will be an integer value from 0 through 99.
The second component is the “Command”, which is always comprised of three letters. Each
command is outlined, along with its corresponding parameters, in the Command Description
section 5.9 of this manual.
The third and final component is the “Parameter”. This portion is command dependent, meaning
that the parameter value will change depending on the specific requirements of the “Command”.
Where applicable, a question mark (?) may be substituted to initiate a 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 they are input, then line by line. This means that
two commands on the same line are executed significantly closer to each other than if they were
on two separate lines. Each command is separated by a semicolon (;) and every command line
ends in a terminator (EX: carriage return). The following is an example of a command line entry:
1MVR16;3MVR12 |Axis 1, Move 16 mm [16 degrees]; Axis 3, Move 12 mm [12 degrees]
Using multiple commands on the same command line allows for synchronization of different
commands to different axes. Up to 8 commands are allowed per command line.
Only one read operation is allowed per line. The controller will not send information unless
requested to do so by a read operation.

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5.3 Global Commands
Some commands have the option of being called globally. This means that you can send the same
command to all available axes. To do this, replace the axis number of a global command with a
‘0’. For example; 0ACC 50 will set the acceleration of all available axes to 50 mm/s2 [degrees/s2].
5.4 Multiple Parameters
When dealing with a command that has multiple parameters, it is possible to change a single
parameter by omitting numbers for the parameters that will remain unchanged. For example;
4PID,,3 will only change the third parameter to a new value, “3”.
5.5 Synchronous Move
It is possible to move multiple motion devices at the same time, or extremely close to, by setting up and
executing a synchronous move. To set up a synchronous move, use the MSA and MSR commands on
the same command line (up to 8 allowed) or on separate lines followed by a line terminator. To execute
the move, use the RUN command on the proceeding command line followed by a line terminator. For
example;
1MSA4;2MSA4;3MSA4 |Axis 1, Move 4mm; Axis 2, Move 4mm; Axis 3 Move 4mm
0RUN |Run Synchronous Move
Or
1MSA4 |Axis 1, Move 4mm
2MSA4 |Axis 2, Move 4mm
3MSA4 |Axis 3 Move 4mm
0RUN |Run Synchronous Move
5.6 Internal Programming
A program may be used to save time 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 unique line followed by a line
terminator. End a program sequence by entering the END command on a unique line followed
by a line terminator. When you want to execute this program, use the EXC command. See the
Summary of Commands page for a list of program compatible commands and more information
about the PGM, END and EXC commands.
5.7 Terminating Characters
When communicating with the controller, it is necessary to note the terminating characters
involved in transmitting and receiving data. To send data to the controller, enter the desired
commands in the command line followed by the new line and carriage return terminating
characters [\n\r], or just the carriage return terminating character [\r]. When receiving, each line
of data will be followed by the new line terminating character [\n] and the final line will end in
the new line and carriage return terminating characters [\n\r]. The Hexadecimal value for new
line [\n] is 0X0A and for carriage return [\r] is 0X0D. The following is an example of data
transmission:
1VEL0.005 \n\r |Axis 1, Set velocity to .005 mm/s [degrees/s2] [New line, Carriage Return]

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Summary of Commands
Command
Description
During
Motion
Real-time
Program
Global
Page
Set
Read
Set
Read
Set
Read
Set
Read
ACC
Acceleration






16
AMX
Maximum Allowable Acceleration



17
ANR
Set Axis Number




18
CER
Clear Errors





19
CFG
Configuration Mode



20
CST
Correction Sample Time




21
CVL
Correction Velocity




22
DAT
Dump Trace Data


23
DBD
Closed Loop Deadband




24
DEC
Deceleration





25
DEF
Restore Factory Defaults




26
DST
Derivative Sample 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




43
IST
Integrator Sample Time




44
IWL
Integrator Windup Limit




45
JAC
Jog Acceleration and Deceleration




46
JOG
Jog Mode



47
LCG
Limit Configuration




48
LDR
Positive/ Negative Limit Location




49
LIM
Limit Status


50
LSP
Lead Screw Pitch




51
LST
Program List




52
LPL
Limit Switch Polarity




53

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Continued…
 see ANR command page 18 for more info
Command
Description
During
Motion
Real-time
Program
Global
Page
Set
Read
Set
Read
Set
Read
Set
Read
MCM
Max Motor Current


54
MCS
Motor Current Setting




55
MLN
Move to Negative Limit





56
MLP
Move to Positive Limit





57
MOT
Toggle Motor On/Off




58
MPL
Motor Polarity




59
MSA
Synchronous Move –Absolute


60
MSR
Synchronous Move –Relative


61
MVA
Move Absolute



62
MVR
Move Relative



63
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
TRA
Perform Trace





79
UMX
Max Micro Steps


80
UST
Micro Steps




81
VEL
Velocity






82
VER
Firmware Version


83
VMX
Max. Allowable Velocity


84
VRT
Encoder Velocity


85
WST
Wait For Stop



86
WSY
Wait For Syc



87
WTM
Wait For Time Period



88
ZRO
Zero Position



89
ZZZ
Take Axis Offline



90

5-15
MICRONIX USA, LLC
www.micronixusa.com
Rev: 3.02
5.8 Command Descriptions
Acceleration
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read





Command
Description:
This command is used to set the desired acceleration for the
specified axis, distinct from the deceleration [DEC]. The
acceleration value must be less than the maximum acceleration
[AMX] for the command 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 99
x –000.001 to AMX (500.000 mm/s2 [degrees/s2])
Related Commands:
DEC, VEL, JAC, AMX
Example:
3ACC0.250 |Axis 3, Set acceleration to 0.25mm/s2 [degrees/s2]
-
4ACC? |Axis 4, Read acceleration value

5-16
MICRONIX USA, LLC
www.micronixusa.com
Rev: 3.02
Maximum Allowable Acceleration
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read



Command
Description:
This command is used to set the maximum allowable
acceleration for the specified axis.
Returns:
A read operation returns the maximum allowable
acceleration value in mm/s2 for the specified 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/s2[degrees/s2]
Related
Commands:
DEC, VEL, JAC, VMX, ACC
Example:
2AMX1.500 |Axis 2, Set max acceleration to 1.500
mm/s2[degrees/s2]
-
6AMX? |Axis 6, Read max acceleration value

5-17
MICRONIX USA, LLC
www.micronixusa.com
Rev: 3.02
Set Axis Number
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read




Command
Description:
This command is used to override Auto Addressing by manually
assigning an axis number to a controller. Auto Addressing is the
default method of assigning axis numbers on power up and may
be reassigned to an axis by substituting a “0” for the parameter
value. Simultaneous axis swapping is possible by using multiple ANR
commands on the same command line.

This command can be called globally by specifying a ‘0’ for the
axis number; 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 parameter [28]
ANRx –Missing axis number [30]
Parameter
Description:
n[int] –Axis number
x[int] –New axis number, 0 for Auto Addressing
? –Read axis number value
Parameter
Range:
n –0 to 99
x –0 to 99
Related Commands:
None
Example:
5ANR1;1ANR5 |Simultaneous axis swapping: Axis 5, Set to axis 1;
Axis 1, Set to axis 5
-
4ANR0 |Axis 4 , Set to Auto Addressing. However it will
remain axis 4 until the MMC-200 is reset

5-18
MICRONIX USA, LLC
www.micronixusa.com
Rev: 3.02
Clear Errors
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read



Command
Description:
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

5-19
MICRONIX USA, LLC
www.micronixusa.com
Rev: 3.02
Configuration Mode
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read




Command
Description:
This setting determines whether the system resolution is calculated
from the LSP, GRR, FSR settings (CFG == 0), or if it is entered directly
by the user (CFG==1).
Returns:
0 –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
Related Commands:
LSP, GRR, FSR
Example:
1CFG0|Axis 1, resolution automatic configuration
-
5CFG1|Axis 5, resolution manual configuration