Micronix MMC-110 Series User manual

MMC-110 Modular Motion Controller
Reference Manual
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MICRONIX USA, LLC
Santa Ana, California
www.micronixusa.com
Rev: 1.00
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-110 Motion Controller Platform 2-6
2.3 Using the MMC-110 Motion Controller Platform 2-7
3. Technical Information........................................................................................................................... 3-8
3.1 MMC-110 Specifications 3-8
3.2 Serial Port Setup 3-8
3.3 RJ11 RS232 Bus 3-9
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.......................................................................................................................................... 4-10
5.1 Command Line Syntax 5-11
5.2 Command Line Format 5-12
5.3 Global Commands 5-12
5.4 Multiple Parameters 5-12
5.5 Synchronous Move 5-12
5.6 Program Mode 5-12
5.7Summary of Commands 5-14
5.8Command Descriptions 5-16
5.9Error Messages 5-75
6. Appendix............................................................................................................................................. 6-79
6.1 Encoder Input Pin-out 6-799
6.2 Motor Input Pin-out 6-799
6.3 8-Pin Din IO connector 6-799
6.4 RS-232 RJ-11 Pin-out 6-80

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Command Index
Command
Description
Page
Command
Description
Page
ACC
Acceleration
16
MOT
Toggle Motor On/Off
46
AMX
Maximum Allowable
Acceleration
17
MPL
Motor Polarity
47
ANR
Set Axis Number
18
MSA
Synchronous Move –Absolute
48
CER
Clear Errors
19
MSR
Synchronous Move –Relative
49
DAT
Dump Trace Data
20
MVA
Move Absolute
50
DBD
Closed Loop Deadband
21
MVR
Move Relative
51
DEC
Deceleration
22
PGL
Loop Program
52
DEF
Restore Defaults
23
PGM
Begin Program Recording
53
EAD
Set Analog or Digital Encoder
24
PGS
Run Program At Start-Up
54
ENC
Select Encoder Resolution
25
PID
Set Feedback Constants
55
END
End Program Recording
26
POS
Position
56
EPL
Encoder Polarity
27
REZ
Set Resolution
57
ERA
Erase Program
28
RUN
Start Synchronous move
58
ERR
Read and Clear Errors
29
SAV
Save Axis Settings
59
EST
Emergency Stop
30
STA
Status Byte
60
EXC
Execute Program
31
STP
Stop Motion
61
FBK
Set Open or Closed Loop Mode
32
SVP
Save Startup Position
62
HCG
Home Configuration
33
SYN
Sync
63
HOM
Home
34
TLN
Negative Soft Limit Position
64
IOD
IO Pin Definition
35
TLP
Positive Soft Limit Position
65
IOF
IO Function
36
TRA
Run Trace
66
JAC
Jog Acceleration and
Deceleration
37
VEL
Velocity
67
JOG
Jog Mode
38
VER
Firmware Version
68
LCG
Limit Configuration
39
VMX
Max. Allowable Velocity
69
LDP
Load Parameters
40
VRT
Encoder Velocity
70
LDR
Limit Switch Direction
41
WST
Wait For Stop
71
LPL
Limit Switch Polarity
42
WSY
Wait For Sync
72
LST
Program List
43
WTM
Wait For Time Period
73
MLN
Move to Negative Limit
44
ZRO
Zero Position
74
MLP
Move to Positive Limit
45

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1. Introduction
1.1 Product Description
The MMC-110 is a high performance integrated piezo motor controller/driver designed to
be used as a standalone single axis unit, or stacked as a compact multi-axis module. The
MMC-110 is capable of driving a piezo motor with a resolution to less than 1 nm (motor
dependent). The closed loop resolution is dependent on the resolution of the encoder.
1. LED Error Indicator 1
a. Red –An error has occurred
2. LED Addressing Indicator 2
a. Red –Stage is Unaddressed
b. Green –Stage 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. RS232 Intermodular Connector
7. USB Connector
8. I/O Connector

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1.2 Features
•Integrated controller/driver for MICRONIX USA stick-slip piezo 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 less than 1 nm
•Closed loop resolution dependent on the encoder (typically 2 nm)
•A quad B encoder feedback or 1Vpp analog encoder input
•USB interface (one interface for up to 16 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-110 Controller
•Quick Start Guide
•Supplemental CD
•Power Supply
•USB 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-110 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-110.
b. The drivers may be found on the supplemental installation CD or can be
downloaded from:
http://www.micronixusa.com/motion/support/softwares.cfm
2. Connect Motion Devices
a. A single MMC-110 controller is capable of driving one piezo motor in either
open or closed loop.
b. Connect the male D-sub 9-pin piezo motor cable to the Motor/Axis Input (as
shown in the Product Description).

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c. If applicable, connect the female D-sub 9-pin closed loop feedback cable to
the Encoder Input.
3. Connect Module/Stack to PC
a. Use the supplied Mini USB to USB cable to connect the MMC-110 controller to
the communicating PC. Only one USB cable is required per module/stack.
4. Power Up Controller
a. Connect the controller to a 24V, regulated power supply with the correct
amperage rating.
b. Each MMC-110 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-110 when
connecting to a PC.
i. In Windows 8 Open the Device Manager:
1Press Ctrl + x
2Select device manager
ii. In Windows Vista/Windows 7 Open the Device Manager:
1Windows Logo (in the bottom left corner by default)
2Control Panel
3Device Manager
iii. 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
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-110 Motion Controller Platform
a. The following section will help you get running with the MMC-110 Motion
Controller Platform program.
Connected MMC-110
is assigned to COM4

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2.2 Quick Start MMC-110 Motion Controller Platform
The following Quick Start Guide is intended to provide a basic set-up of the MMC-110
MCP program. 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=9cfb2d5
1-5ff4-4491-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-110 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-110 MCP program.
Make sure that your MMC-110 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-110 MCP program

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2.3 Using the MMC-110 Motion Controller Platform
In the Quick Start Guide Overview you connected your MMC-110 to your computer. In the Quick
Start MMC-110 Motion Controller Platform you installed and ran the MMC-110 MCP software. This
section will describe the capabilities of the MMC-110 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-110 as discussed in
section 2.1, step 5.
b. Click the Open Port button to connect to the MMC-110
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-110. For more information about this program see the MMC-110 MCP program
guide.
2. More information –more information about the MMC-110 MCP can be found in the MMC-
110 MCP program guide.
3. Technical Information
3.1 MMC-110 Specifications
Parameter
Description
Axes
1 (stackable up to 16 axes)
Motor Type
Stick-slip piezo motors
Interface
RS-232 and USB 2.0
Commands
ASCII Commands
Trajectory Mode
Trapezoidal velocity profile
Servo Clock
20 kHz
Trajectory Update
2 MHz
Power Supply
Regulated 24V DC (1A inrush, 0.5A max operation per axis)
Enclosure Dimensions
145 x 85 x 25
Software Interface
MCP-GUI, LabVIEW VI’s
*A single power supply may be used per stack. Each module/axis requires 1A, therefore add up
Individual module amperages to determine the power supply amperage requirement.
3.2 Serial Port Setup
If the MMC-110 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-110 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

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3.3 RJ11 RS232 Bus
This connector can be used to communicate with the MMC-110 in the place of the USB
connection. For more information on the RS-232 Intermodular RJ11 connector, see the appendix
6.4.
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 16.
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 the global
command “0ANR0” 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-110 has three 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 the resolution settings (nREZx) or the distance it travels in one pulse. This is entirely open loop
and does not guarantee a set trajectory or end point.
The second mode (nFBK2) is a version of closed loop; taking position data from an attached
encoder and using it to ensure that it stops at the desired position. In this mode the controller
runs in open loop mode until it reaches the deceleration point. At this point it constantly reads
from encoder and corrects its position to arrive at the correct position. This guarantees position
within the specified deadband (DBN Command). However, this mode does not operate in
closed loop during motion.
The third mode (nFBK3) is closed loop. The controller will constantly try to achieve an ideal
trapezoidal velocity characteristic. Like the previous mode it too guarantees position final within
the specified deadband.
4.3 HOM, MLN, and MLP
The HOM, MLN and MLP commands all require the attached stage to have an encoder. 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. 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 16 controllers; therefore the “Axis Number” will be an integer value from 0
through 16.
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:
1VEL2
1 VEL 2
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 ASCII 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/s] [New line, Carriage Return]

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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 closer synchronization of
different commands to different axes.
5.3 Global Commands
Some commands have the option of being executed 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; 4DBD,0.3 will only change the second parameter to a new value, “0.3”.
5.5 Synchronous Move
It is possible to execute multiple motions at the same time by setting up and executing a
synchronous move. To set up a synchronous move, use the MSA and MSR commands. These
commands can be written 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
2MSA2 |Axis 2, Move 2mm
3MSA3 |Axis 3 Move 3mm
0RUN |Run Synchronous Move
5.6 Internal Programming
An internally stored 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.
Existing program numbers cannot be overridden unless previously erased using the ERA
command. nPGM? will return a binary representation of which program slots are already
programmed. nLST1 will return a list of the commands that are written in program 1.

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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.
Commands intended to be stored in a program must be preceded with the '%'
character, or else they will be executed immediately.
Program Examples:
1pgm1
%1mvr2
%1vel?
1mvr2 //This will happen immediately and will not be part of the program.
%1end
1pgm2
%1mvr2
%1vel? //Program output is routed using the PRT setting. Options listed in attachment
%1end
A command stored into a program with a hard-coded axis (ex. '1mvr5'), will no longer
execute after a change in the axis number (ANR command). Programs can contain a
special 'me' character ('*'), this allows programs to function properly if the address for a
controller is changed.
1pgm2
%*mvr2
%*vel?
%*end

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5.7 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
DAT
Dump Trace Data

20
DBD
Closed Loop Deadband






21
DEC
Deceleration







22
DEF
Restore Factory Defaults


23
EAD
Set Analog or Digital Encoder






24
ENC
Select Encoder Resolution






25
END
End Program Recording


26
EPL
Encoder Polarity






27
ERA
Erase Program



28
ERR
Read and Clear Errors




29
EST
Emergency Stop




30
EXC
Execute Program


31
FBK
Set Open or Closed Loop Mode





32
HCG
Home Configuration







33
HOM
Home







34
IOD
IO Pin Definition


35
IOF
IO Function


36
JAC
Jog Acceleration and Deceleration






37
JOG
Jog Mode








38
LCG
Limit Configuration






39
LDP
Load Parameters


40
LDR
Limit Switch Direction







41
LPL
Limit Switch Polarity





42
LST
Program List





43
MLN
Move to Negative Limit






44
MLP
Move to Positive Limit






45
MOT
Toggle Motor On/Off







46
MPL
Motor Polarity







47
MSA
Synchronous Move –Absolute





48
MSR
Synchronous Move –Relative



49
MVA
Move Absolute




50

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Continued…

Command
Description
During
Motion
Real-time
Program
Global
Page
Set
Read
Set
Read
Set
Read
Set
Read
MVR
Move Relative




51
PGL
Loop Program







52
PGM
Begin Program Recording





53
PGS
Run Program At Start-Up






54
PID
Set Feedback Constants






55
POS
Position




56
REZ
Set Resolution






57
RUN
Start Synchronous move


58
SAV
Save Axis Settings


59
STA
Status Byte




60
STP
Stop Motion




61
SVP
Save Startup Position







62
SYN
Sync





63
TLN
Negative Soft Limit Position







64
TLP
Positive Soft Limit Position







65
TRA
Perform Trace





66
VEL
Velocity








67
VER
Firmware Version




68
VMX
Max. Allowable Velocity




0 69
VRT
Encoder Velocity




70
WST
Wait For Stop




71
WSY
Wait For Sync


72
WTM
Wait For Time Period


73
ZRO
Zero Position



74





MMC-110 Modular Motion Controller
Reference Manual
5-16
MICRONIX USA, LLC
Santa Ana, California
www.micronixusa.com
Rev: 1.00
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 –000.000001 to AMX
Related Commands:
DEC, VEL, JAC, AMX
Example:
3ACC100 |Axis 3, Set acceleration to 100 [degrees/s2]
-
4ACC? |Axis 4, Read acceleration value

MMC-110 Modular Motion Controller
Reference Manual
5-17
MICRONIX USA, LLC
Santa Ana, California
www.micronixusa.com
Rev: 1.00
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 2000.000 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

MMC-110 Modular Motion Controller
Reference Manual
5-18
MICRONIX USA, LLC
Santa Ana, California
www.micronixusa.com
Rev: 1.00
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-110 is reset

MMC-110 Modular Motion Controller
Reference Manual
5-19
MICRONIX USA, LLC
Santa Ana, California
www.micronixusa.com
Rev: 1.00
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

MMC-110 Modular Motion Controller
Reference Manual
5-20
MICRONIX USA, LLC
Santa Ana, California
www.micronixusa.com
Rev: 1.00
Dump Trace Data
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read

Command
Description:
This command is used to read trace data from a specified axis
initially recorded by the trace command [TRA]. The retrieved trace
data set is dumped from the controller, consequently allowing the
data to be retrieved only once.
Returns:
A read operation returns the trace data values for the specified
axis in the following format:
[Theoretical Position (.5nm)],[Actual Position(.5nm)], [DAC Value],
[Not Used]
Syntax:
nDAT? –Read trace data values
Error [#]:
DAT? –Read operation with missing axis number [27]
nDAT –Missing read operation parameter [28]
Parameter
Description:
n[int] –Axis number
? –Read trace data values
Parameter
Range:
n –1 to 99
Related Commands:
TRA
Example:
11DAT? |Axis 11, Read trace data values