Command Reference (Common Commands)
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This section gives detailed explanations of the most common VXM commands. For the
advanced user, refer to the Appendices for more information
Most commands with variables (except set commands) use the VXM's program memory
space. The required memory needed per command is specified in this section. The VXM
has 256 bytes of program memory for each program. There are 5 (0,1,2,3,4) programs.
A program can be cleared by a "C" and selected by the "PMx" command. The default
program when the VXM is powered up is #0. Using different programs is only relevant to
users who will be operating the VXM in a stand-alone mode (P8.) Using the VXM in a
RS-232 interactive mode (P9.) would only require that the default program be cleared
after the Rcommand.
The Difference Between Incremental and Absolute Indexes:
An incremental Index is, a move relative to the present position, a distance and direction
specified by the Index from the present position.
Incremental: I1M1200
An absolute Index is, a move relative to absolute zero position, a distance and direction
from the present position calculated by the VXM based on absolute zero position.
Absolute zero is established when the VXM is powered-up, by use of the "N", or the
"IAmM-0" command.
Absolute: IA1M2200
Sending Commands to the VXM:
The standard RS-232 communication settings on the VXM are 9600 baud, 8 data, no
parity, and 1 stop bit.
When sending commands that require a value, the commands must end with a carriage
return (Enter key or Return on most keyboards), comma, or a period.
ImMxSet steps to incremental Index (move) motor CW (positive, Slider/Carriage
will move away from motor end , Rotary Table will rotate CCW), m=motor#
(1,2,3,4), x=1 to 16,777,215.
Memory usage = 4 bytes.
Examples: NOTE: The "<cr>" is a carriage return character ( <Enter> key
on most keyboards). Command characters are in LARGE BOLD.
This example sets motor 1 to index 1200 steps CW: I1M1200<cr>
This example sets motor 2 to index 9200 steps CW: I2M9200<cr>
This example sets motor 3 to index 10200 steps CW: I3M10200<cr>
ImM-xSet steps to incremental Index (move) motor CCW (negative, UniSlide Slider
will move toward motor end , UniSlide Rotary Table will rotate CW), m= motor#
(1,2,3,4), x=1 to 16,777,215.
Memory usage = 4 bytes.
Examples:
This example sets motor 1 to index 120 steps CCW: 1M-120<cr>
This example sets motor 2 to index 20 steps CCW: I2M-20<cr>
This example sets motor 4 to index 1 step CCW: I4M-1<cr>
.
start end
Absolute Position 0 1000 2200
start end
Absolute Position 0 1000 2200
Motor Commands
IAmMx Set an Index to an Absolute position, the distance and direction for the move
from the present position is calculated by the VXM based on absolute zero
position, m= motor# (1,2,3,4), x= ±1 to ±16,777,215. NOTE: Since the absolute
position registers have a range of -8,388,608 to 8,388,607 steps, xshould not be
set to any number less than -8,388,608 or greater than 8,388,607.
Memory usage = 4 bytes.
Examples:
This example sets motor 1 to index to absolute position 1200 :
IA1M1200<cr>
This example sets motor 4 to index to absolute position -90200 :
IA4M-90200<cr>
IAmM0 Set an Index to Absolute zero position, m=motor# (1,2,3,4). When this
command is used the VXM calculates the distance and direction to get back
to absolute zero position. The "absolute zero" position was established when the
"N" (Null Absolute Position Registers), "IAmM-0" command was used, or when
the VXM was powered up.
Memory usage = 4 bytes.
Examples:
This example sets motor 1 to index to absolute zero position:
IA1M0<cr>
This example sets motor 2 to index to absolute zero position:
IA2M0<cr>
This example sets motor 3 to index to absolute zero position:
IA3M0<cr>
IAmM-0 Zero motor position for motor# m, m=motor# (1,2,3,4). This command
clears the position register for the motor selected, making this position absolute
zero. The display will show all zeros for the motor selected.
Memory usage = 4 bytes.
Examples:
This example makes the present position for motor 1 absolute zero:
IA1M-0<cr>
This example makes the present position for motor 2 absolute zero:
IA2M-0<cr>
ImM0 Move positive until the positive limit switch is encountered ( Home to Positive
Limit ), m=motor# (1,2,3,4). If the limit switch input was disabled in setup, the
limit switch input will be re-enabled for the duration of this command. The Index
will end if the limit switch is not encountered after 16 million steps.
Memory usage = 4 bytes.
Example: This example sets motor 1 to seek the positive limit switch:
I1M0<cr>
ImM-0 Move negative until the negative limit switch is encountered ( Home to
Negative Limit ), m=motor# (1,2,3,4). If the limit switch input was disabled in
setup, the limit switch input will be re-enabled for the duration of this command.
The Index will end if the limit switch is not encountered after 16 million steps.
Memory usage = 4 bytes.
Example: This example sets motor 1 to seek the negative limit switch:
I1M-0<cr>
