VELMEX VXM-3 User manual

Important User Information
This information is for the end user of Velmex VXM Stepping Motor
Controllers.
VXM Stepping Motor Controller User’s Manual
VXM Stepping Motor Controller User’s Manual
VXMSteppingMotorController
ThisManualexplainsthegeneralandadvancedoperationoftheVXM-1,VXM-2,VXM-
3,andVXM-4steppingmotorcontrollers.
AlsoincludedontheCDROM:
1. COSMOSutility/controllersoftware(AuserfriendlyWindowsprogramforeasy
2.
setup,testing,andprogrammingofVXMcontrollers)
Softwareexamplesandsoftwaredrivers
User’s Manual
(ExtendedVersion)
Models VXM-1,2,3,4
Document#VXM-UM-E5 12-29-04

2
CAUTION:
ControllerandACpowersupplyshouldbeoperatingina
wellventilatedarea. Donotuseinawet,dirty,orexplosive
environment. Inindustrialenvironments,repackaginginto
aNEMAgradeenclosureisrequired.
Donotdisconnectmotorwhilerunning.KeepMotorand
Limitcablesminimumof2”apart.Onlyoperatewith
designatedmotor.Donotaltercablesinanywaywithout
firstconsultingVelmex
!
!
!
!WARNING:
TO REDUCE THE RISK OF ELECTRICALSHOCK, DO
NOTATTEMPT TO REMOVE COVERS ON POWER
SUPPLYOR CONTROLLER. THEREARE NO USER
SERVICEABLE PARTS INSIDE.Anyservicingshouldbe
donebyVelmexqualifiedservicepersonnel.
CAUTION:
THE VXM MUST BE SET TO THE EXACT
MODEL/TYPE MOTOR(S) BEFORE
OPERATING.
IMPROPER SETTINGS CAN CAUSE
SEVERE DAMAGE TO MOTORSAND
CONTROLLER.
UseVelmexCOSMOSsoftwareto
configureVXMbeforeuse.
CAUTION:
MOTOR(S) GET HOT WHEN RUNNING.
Motor(s) must be mounted to a metal surface
to dissipate internal heat.
Precautions
!!
CAUTION
Mismatched Motor
Settings Damage
Motor & Controller
:KHQ&RQQHFWLQJ
0RWRU6HW&RQWUROOHUWR
WKHH[DFWPRWRUPRGHO
W\SHEHIRUHRSHUDWLQJ
Motors mounted to Velmex actuators/positioners will usually provide
sufficient heat dissipation. Motor surface temperature should not exceed
152F (70°C.) In continuous duty applications when the motor is not
mounted to a suitable heat dissipating device, motor surface temperature
could exceed
°
152F (70°
°C.)

3
Table of Contents
Precautions.........................2
Features..............................4
Front VXM...........................5
Back.VXM...........................5
RS-232Port........................5
AuxiliaryI/O.........................6
Motorwiring........................6
LimitSwitchwiring..............6
Setup...................................7
JogMode............................7
OptionalJoystick.................7
CommunicationMethods....8
LinkingVXMsfor 3 & 4
Motors...............................10
Units&Directions..............11
CommandSummary
(CommonCommands)......12
CommandSummary
(AdvancedCommands)....14
CommandReference
(CommonCommands)......16
.........16
...................19
...................20
...................22
...23
....................24
.........25
Examples..........................26
Troubleshooting................30
Specifications....................31
COSMOSSoftware...........31
Warranty...........................
ContactInformation..........
MotorCommands
ProgramManagement
Commands
Looping/Branching
Commands
Pausing&I/O
Commands
OperationCommands
StatusRequest
Commands
SetupCommands
AppendixA
AppendixB
AppendixC
AppendixD
AppendixE
AppendixF
AppendixG
ComplexProfiles&CoordinatedMotion...4
AppendixH
AppendixI
AppendixJ
AppendixK
AppendixL
AppendixM
AppendixN
AppendixO
AppendixP
AppendixQ
AppendixR
AppendixS
AppendixT
Editing/DebuggingTools.........................32
AdvancedInput/Output...........................34
TheMultifunctionUserInputs.................38
ProducingTriggerOutputs.......................
GettingMotorPositionWhenMoving......4
MoreFeedback/Precision.......................4
AdvancedJogMode................................
TheAnalogInput.....................................5
TheAnalogJoystickOption.....................5
I/OElectricalSpecifications.....................
MotorTorqueCurves...............................6
AdvancedMotorSetup.............................6
LimitSwitchesandHomeSwitches.........6
ControllerMode.......................................
VXMComparisontoNF90/VP9000........
OutlineDimensions...................................7
ModelConfigurations................................
Pick-and-PlacewithJM-x..........................
Stand-aloneMethodstoSelect/Alter
Program......................................................

4
Features
TheVXMisahighperformance,advanceddesignsteppingmotorcontroller.
Highreliability,andconsistentperformanceareachievedbythesedesign
features:
Singlechipmicrocontroller(MCU)digitallycontrolsthemotorphaseswitching
andallotherinterfacefunctions(noisesensitivestepanddirectiontranslation
circuitryareeliminated)
PulsewidthmodulatedtimingispresetbytheMCU,eliminatingerrorprone
analogfeedbackcircuits
Regulatedpowersupplywitha100to240VACinputrangeassuresconsistent
motoroutputtorque
4Xoversizemotordrivesforlonglifeandoverloadtolerance
AsingleVXMcanacceptandexecutecommandsforoperating4motors
CompleteController/Indexer/Driver/ACPowerSupplywithRS-232interface
Modulatedcurrentcontroldrivehaslesslowspeedvibrationthantypical400
step/revcontrollers
Nonvolatilememoryforuserprogramstorage
IncludedexternaldesktoptypepowersupplyisUL,CE,CSA,andTUVsafety
agencycompliant
Oneandtwomotorversions.Threeandfourmotorcapabilitywithtwo
ControlslinkedbytheVXMbus
BackwardcompatiblewithVelmexNF90andVP9000StepMotorcontrollers
Userprogrammableinputsandoutputs
10bitanaloginputforexternalsensor,settingspeed,orforanalogjoystick
control
Runs6or8leadpermanentmagnetstepmotorsratedfrom0.4to4.7amps
Jog,Run,andStopinputbuttonsonfrontpanel
UseinteractivelywithaPCorrunstandalone
Opticallyisolatedlimitswitchinputs
Userresettablecircuitbreakerprotected
Softwaresettablemotorpowerandmotormodelselection
Lowvoltage24VDCoperation
Energysavingdesign,automaticallyde-energizesmotorsatastandstill,
consumingonly1.4watts
FIFObuffertocapturemotorpositionsonexternaltrigger
Specialcommandsformatrix/arraypatternsandpick-and-placeapplications
Conditionalcommandstoskipornottoskipnextcommandoninputstate
CoordinatedmotionwithtwoVXMs
Complexmotionprofileswith“continuousindexmode”
·
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·
·
·
·
·
·
·
·
·
·
·
·
·
·
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·

RS-232 Port
5
RS-232
1
2
3
4
5
9876
TheRS-232portwillconnectdirectlytoaCOM
portofaPCwithastraightthrough9pinserial
cable(10footcableincludedwiththeVXM.)
PinAssignments:
1N/C
2Tx
3Rx
5Gnd
4
6
7
8
9N/C
N/C=NoConnection
OverCurrent
Protection
ExternalDCPowerSupply
InputConnection
(ToLambda
DT60PW240P)
SerialRS-232Port
CabletoMotor1
CabletoMotor2
CabletoLimit
SwitchesforMotor1
CabletoLimit
SwitchesforMotor2
AuxiliaryInputs
andOutputs
Rear
HostComputer
ControlledIndicating
LED
PowerSwitch
(Pressrightside
isOn)
Power
IndicatingLED
StartInternal
Program
Stop/Interrupt
Program
Busconnectionto
secondVXMfor
3and4motoroperation
MovesMotor1
CCW
MovesMotor2
CCW
MovesMotor1
CW
MovesMotor2
CW
VXM
Stepping

Motor

Controller
www.velmex.com
VXM
Bus
On-LineJog 1Jog 2
StopRunLocal
-+-+
++
+
+
Front
9DSUBSocket
DC24V 2.5A
Motor 2 Motor 1Circuit BreakerLimits 1 Limits 2
IOIOI
RS-232 I/O
Bloomfield,
NY, USA
Model VXM-2
Serial # 020835
2.5
++
+
+

Pin 6ZLWFK Cable
InnerSwitch
(MotorEnd)*
1 C W
2 R
OuterSwitch
(EndPlate)
3Gn
4
NC
NC
CBk
Pin# Name
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
PinMotorCable
(6wire)
Slo-SynVexta Pacific
Scientific*
1BC W W W W/Y&W/R
2B2 Gn Bu R
3AC Bk YW/Bk&W/O
4A2 W/R Bk O
5A1 RGn Bk
6B1
Gn
Bk
Or
R
Bu W/Gn R Y
Motor Wiring(forVelmexinstalledstepmotors)
*8leadmotorwithwirescombinedatACandBC
for6leadconfiguration
A1
AC
A2
B1BCB2
StepMotor
1
2
3
4
56
Amp1-480705-0
(mateswith:1-480704-0onCable)
Connector
onMotor
6
Limit Switch Wiring
43
21
*NegativedirectiononVXMcontrollers
Connectoron
SwitchHarness
Amp1-480703-0(mateswith:1-480702-0)
Switchesarewiredonthenormallyclosed(NC)terminals.
CAUTION: The VXM puts 24VDC on the limit switches,
do not connect limit inputs to any +5V logic devices
C
NC
NO
Auxiliary I/O Connection
I/O
1
2
3
45
1112
1314
15
10 9876
TheI/Oconnectionscanbeusedforsignalingexternal
equipmentorwaitingforanexternalsignal.Thefront
panelbuttoninputsarealsoavailableontheI/O
connectorforremotejog,run,andstop.
0V
+5V
Ain
Run
I1
I2
I3
I4
0V
J1-
J1+
J2-
J2+
O1
O2
Function
Logicreferencegroundforinputsandoutputs
+5VDCforJoystickpowerandotherexternallogic(75mAmax.output)
AnaloginputforJoystick,speedsetting,oranalogsensor.
Runinputtostartprogram,sameinputasRunbutton(activelow)
Input1(activelow)
Input2(activelow)
Input3(activelow)
Input4andStop(SameasStopbuttononfrontpanel)(activelow)
Logicreferencegroundforinputsandoutputs
JogMotor1CCW(Sameasfrontpanelbutton)(activelow)
JogMotor1CW(Sameasfrontpanelbutton)(activelow)
JogMotor2CCW(Sameasfrontpanelbutton)(activelow)
JogMotor2CW(Sameasfrontpanelbutton)(activelow)
Output1(normallylow)
Output2(normallylow)
NOTE:All inputs and outputs are TTLlevels (0 to +5VDC.) Inputs have resistive
pull-ups, and are activated by connecting to 0V. Outputs are normally low, and can
sink and source 20 mAmax.FormoreinformationrefertoAppendixK.
15DSUBHDSocket

WhentheOn-Line(yellow)lightisnotlit,theVXMisintheLocal/Jogmode.Usingthe
frontpaneljogbuttons,eachmotorcanbejoggedasinglesteporslewedto2000sps(5
revs/sec.)ineitherdirection.
WhenaJogbuttonispressedthemotormoves1step(1/400rev.)Ifthebuttonisheld
for>0.3secondthemotorwillaccelerateto2000sps.PressingStopwhileusingthe
Jogbuttonswillholdthespeedat39sps.
Refertothe“setj”and“setJ”commandsinAppendixHformoreinformationabout
settingjogspeedstodifferentvalues.
7
Setup
Jog Mode
Optional Joysticks
TherearetwotypesofexternaljoysticksavailablefortheVXM.Oneisdigitalthat
functionslikethefrontpaneljogbuttons,andthesecondisananalogproportionalspeed
typethatcanoperateupto4motorswith2VXMsFormoreinformation/configuration
refertoAppendixHandJ.
1. Connectthecablestomotorsandlimitswitches(ifactuatorhaslimitswitches.)
Connectthe9pinserialcablefromtheVXM’srearpanelconnectorlabeled"RS-232"and
yourcomputer'sserialport(usuallylabeled“COM”or“|O|O|”.)Forcomputerswithonly
USBports,useaUSBtoRS-232adapter.
Motorcablesshould neverbebundledtogetherwiththeLimitSwitch,orany
I/Ocabling. putanyoftheVXM'scableswithpowercablesinacommonelectrical
keepLimit SwitchandI/Ocablesatleast2inchesfromMotorconduitorducting.
andPowercables.
CAUTION:Motorcablelengthorconnectorsshouldnotbealteredwithoutconsulting
Velmexfirst.ImproperwiringcanresultinpoorperformanceanddamagetotheVXM.
Alteredcablesandresultantdamageisnotcoveredbythewarranty.
IMPORTANT:TheVXMcanautomaticallydetectlimitswitchinputsthatarewired
normallyclosedtooperate(motorstopsonopencircuit.)Normallyclosedisthestandard
usedonallVelmexproducts.However,Velmexrotarytableswiththehomeswitchoption
requiresthatthelimitswitchinputsbereconfiguredinsetup.Refertothe“setL”
commandinAppendixN.
Neverconnectordisconnectmotorswiththepoweron,thiscanresultin
severedamagetomotordriveelectronics.
2. ConnectcablefromDCpowersupplytoVXM
3. PlugtheDCpowersupplyintoaACoutlet.
4. TurnontheVXMbypushingtherightsideoftherockerswitchlocatedonthefront
panel.
5. InitiallytheVXMissetfornomotorsselected(verylowpower,motorsbuzzbutwill
CAUTION:
Never
Always
CAUTION:
notmove.)Use the COSMOS software included on the CDROM to set VXM for the
proper motors.IfyourcomputerisnotaWindowsbasedsystem,refertothe“setM”
commandinthereferencesectionofthismanual.
BothOn-LineandPowerLEDswilllightfor1second,theOn-Linewillgoout,
thenthePowerLEDwillflash6times.

8
++
+
+
9; 0
Stepping

MotorController
www
www
.velmex.com
.velmex.com
Bus
Bus
VXM
VXM
Stop Run
On-Line
Local - -
+ +
Jog 1 Jog 2
Windowsrunning
VelmexCOSMOS,
orWindows
HyperTerminal
E“”
command
:
:
:
R“”
waitfor“^”
C“”
¬
ÿ
RS-232 Interactive Mode
TheVXMcanbecontrolledinaninteractivemode.Interactivemodeiswhenahost
computersendsonlythecommandsnecessarytoperformasingleoperation(usuallyan
Index),thenthehostwillwaitfortheVXMtofinishbeforesendinganyadditionalcommands.
ThefollowingprocedurewouldbeusedforrunningtheVXMinaninteractivemode:
1.
2.
3.
4.
5.
ThehostputstheVXMOn-Linebysendingan"F"
Thehostsendsa"N"tozeropositionregistersifnecessary
Thehostsendsspeed,andaccelerationifnecessary
ThehostsendsanIndex("I"command)
Thehostsendsa"R"tostarttheIndex
6. Thehostthenwillwaituntilitreceivesareadyprompt("")fromtheVXM
:TheVXMdoesnotsendacarriagereturnorlinefeedfollowingthe"^",refer
tothe"G"commandin$SSHQGL[2IRUPRUHLQIRUPDWLRQ
7. Theuser'sroutineforoutputting,measuring,etc.wouldbeexecutedbythehost
8. A"C"wouldbesentfromthehosttoclearthepreviousIndexcommandfromthe
9.
VXM'smemory
Theprocessisrepeatedfromstep#3
^
NOTE
Communication Methods
ProgrammingoftheVXMisaccomplishedbysendingcommands(ASCIIcharacters)to
theVXMthroughtheRS-232interface.Thesimplestmethodtosendcommandsiswith
theVelmexCOSMOSprogram,orwithHyperTerminalinMicrosoftWindows.
Anothermethodtosendcommandsiswithcommerciallyavailablelanguagessuchas
VisualBASIC,C,LabVIEW,etc.
ToputtheVXMintheOn-Linemode/programmingmode,thehostmustsendeitheran
(RU):KHQWKH&RQWUROOHUUHFHLYHVDQ(RU)WKH2QOLQHOLJKWZLOOOLJKWDQGWKH
-RJLQSXWVZLOOEHGLVDEOHG
The"E"putstheVXMon-linewithecho"on"(echoesallcharactersreceivedbacktothe
host).The"F"putstheVXMon-linewithecho"off".IfyouareusingHyperTerminalto
communicatetotheVXMusethe"E"sotypedcharacterswillbedisplayed.Whenusinga
softwarelanguagetosendcommands, usethe"F"sothehost’sinputbufferwillnotbe
burdenedwithechoedcharactersfromtheVXM.
NOTE:All command characters are case sensitive

9
Index Motor 1 Example
++
+
+
VXMStepping Motor Controller
www.velmex.com
VXM On-line -- Jog 1 -- -- Jog 2 --
Bus Stop Run Local - + - +
++
+
+
VXM
Stepping
SteppingMotor
Motor
Controller
Controller
www
www
.velmex.com
.velmex.com
Bus
Bus
VXM
VXM
Stop Run
On-Line
Local - -
+ +
Jog 1
Jog 1 Jog 2
++
+
+
VXM
Stepping
SteppingMotor
Motor
Controller
Controller
www.velmex.com
Bus
Bus
VXM
VXM
Stop Run
On-Line
Local - -
+ +
Jog 1 Jog 2
VisualBASIC,C,
LabVIEW,etc.
F“”
command
:
:
:
R“”
waitfor“^”
C“”
¬
command
:
:
:
:
:
rsm“”
RS-232 Download/ Stand-alone Mode
EntireprogramscanbetransferredtotheVXMovertheRS-232interface.Whena
program(s)hasbeendownloadedtotheVXM,itwillkeeptheprogram(s)inmemoryuntila
clear(”C”)commandisused.Topreventlossofprogramdatawhenpoweristurnedoff,
programmemorycanbepermanentlysavedbyusingthe“rsm”command.Theabilityto
retainprogramsallowstheVXMtobeusedinastand-alonemode.Inastand-alonemode
theoperatorstartstheprogrambyRunbuttonlocatedonthefrontpanel,orbyusingtheRun
inputontheI/Oconnector.
G
Sendcommands
andpermanently
savethemin
VXMwith“rsm”
command
VXMholdsprogram(s)thatcanbeactivatedwiththe
Runinput.Thedefaultprogramtorunisprogram0.
Inputs2and3canconfiguredtobinaryselectandrun
programs0to3.
&
*.
3
&*.3
&OBCMF

0O-JOF

NPEFXJUIFDIPPO
*ODSFNFOUBM

*OEFY

.PUPS



TUFQTSFW
&
*.
3
¬
¬
¬
EnableOn-Linemodewithechoon
IncrementalIndexMotor#1+400steps(1rev.)
RunIndex
Commentscanbeincludedusingasemicolon:(Never use comments after“R”)
Commandscanbeonthesameline,separatedbycommas,spacesareoptional:
Graphic Representation: ®
start end

TwocontrolslinkedtogetherbytheVXMbusmakeitpossibletorun3or4motorswith
allprogramsresidinginoneVXM,andallcommunicationfromahostwiththisoneVXM.
(Input4.)
TheVXMbusisaserialbusconformingtotheICspecification.Thisbusisusedto
transferdatabackandforthbetweentwoVXMcontrolsthatareconfiguredasMaster
andSlave.
UseonlyaVelmexapprovedcableforthebusconnection,telephonehandsetcables
willnotwork.Telephonecablesreversethe1and4connection,astraightthroughcable
isrequired.
Buscablesshouldbeshortandnotbenearothercablesorelectronicdevices.
BydefaultallVXMsareSlaves.
TolinkVXMs,onecontrolshouldbesettobeaMaster(seeControlModeFRPPDQG
"setDM"intheAppendixO.)TheVelmexCOSMOSprogramwillconfiguretheVXMs
forMaster/Slaveoperation.
AdesignatedMasterwillattempttoestablishcommunicationstoaSlaveonpower-up.
IftheMastercannotfindtheSlaveitwilltryagainwhenitisrequiredtosendamotor3
ItisnormalfortheSlavenottoflashitspowerlight(greenLED)
atpower-up.
Abuserrorwilloccur(”ËB”senttohostandVXMresets)iftheMastercannotfindthe
Slave,eitherbecausethereisnotoneconnected,oritisnotpowered.
TheMasteristheVXMthatrunsmotors1and2,communicateswithahost,andcan
bestartedwiththeRuninputandstoppedwiththeStopinput
TheSlaverunsmotors3and4(TheMasterassignsmotors3and4tomotors1and2
ontheSlave)andreceivesallcommandsovertheVXMbusfromtheMaster.
·TheMasterdisablestheRun,Stop,andRS-232inputsontheSlave.
2
Considerations when linking VXM controls together:
or4command.NOTE:
·
·
·
·
·
·
·
·
Linking VXMs for 3 & 4 Motors (VXM-3,4)
10
++
+
+
VX M
Stepping
SteppingMotor
Motor
Controller
Controller
www.velmex.com
Bus
Bus
VXM
VXM
Stop
Run
Run
On-Line
On-Line
Local
Local
- -
+ +
Jog 1 Jog 2
++
+
+
VX M
Stepping
SteppingMotor
Motor
Controller
Controller
www
www
.velmex.com
.velmex.com
Bus
Bus
VXM
VXM
Stop Run
On-Line
Local - -
+ +
Jog 1
Jog 1
Jog 2
Jog 2
M2 M4
M1 M3
L2L1 L4L3
Master Slave
VXMBusCable
Part#4-2122
$*.3
Index Motor 3 Example
Graphic Representation: ®
start end
¬Clearpreviousentries,IndexMotor3+400steps
NOTE:SlaveRS-232portisnotused

Unit Conversion for Velmex Positioners
*TypicalUniSlidemodel(wherexisfromabovetable):MB4024xJ-S4
Example#1:Tomove3.000incheswiththeBiSlideE04leadscrew(3.000÷0.001=3,000)requiresa3,000step
index.
Example#2:Tomove90degreeswiththeB5990rotarytable(90÷0.01=9,000)requiresa9,000stepindex.
Example#3:Tomove4.000incheswiththeUniSlideW1leadscrew(4.000÷0.00025=16,000)requiresa16,000
stepindex.
Other formulas:
1Motorrev=400steps
LinearSpeed=Advanceperstepxstepspersecond
RotarySpeed=Advanceperstepxstepspersecond
Stepspersecond÷400=rev/sec
**TypicalBiSlidemodel(wherexisfromabovetable):MN10-0100-x-21
To convert from "real" units to steps, divide the distance desired to move by the
Advance per step. (Distance ÷Adv per step = Steps)
11
TheVXMusesstepunitsforIndexandSpeedparameters.Onestepis1/400ofamotor
revolution.StepunitsfordistanceareusedwiththeIndexcommands(”I”command.)
SpeedisinunitsofSteps/Second(SPS.)Steps/Secondunitsforspeedareusedwith
theSpeedcommands(”S”command.)
Accelerationcommands(”A”command)arevaluesfrom1to127thatarerelativeto
steps/secunits.RefertoApplicationNote#106formoreinformationaboutacceleration
unitsandmoveprofiles.
2
Directionisrelativetothedevicethemotorisusedon.Onscrewdriveactuatorslike
UniSlidesandBiSlides,positiveisthedirectionmovingawayfromthemotor.
OnwormgeartyperotarytablesliketheVelmexB4800orB5990,positiveiscounter
clockwise(CCW.)Toreorientdirectionsrefertothe“setDM”commandinAppendix
O.
Units & Directions
Positive®
Positive
CCW
Positive
CW
WormGear
RotaryTable
ScrewDriveActuator
Motor
Lead Screw Models
UniSlide* BiSlide**Advance per turn Advance per step
Speed
@ 1000 SPS (2.5 rev/sec)
Units Units
C P40 E25 0.025inch 0.0000625inch
Units
0.0625inch/sec
B P20 E50 0.0001250inch
W1 P10 E01 0.0002500inch
W2 P5 E02 0.0005000inch
W4 P2.5 E04
0.05inch
0.1 inch
0.2 inch
0.4inch 0.0010000inch
0.125inch/sec
0.25inch/sec
0.5inch/sec
1 inch/sec
K1 Q1 M01 1mm 0.0025mm 2.5mm/sec
K2 Q2 M02 2mm 0.0050mm 5mm/sec
Rotary Tables
GearRatio
B4872 72:1 5degree 0.0125degree 12.5degree/sec
B4836 36:1 10degree 0.0250degree 25degree/sec
B4818 18:1 20degree 0.0500degree 50degree/sec
B5990 90:1 4degree 0.0100degree 10degree/sec

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
ImMx
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.

13
Operationcommands:
Statusrequestcommands
Q
R
N
K
C
D
E
F
:
X
Y
Z
T
M
QuitOn-Linemode(returntoLocalmode)
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hostSend
Send
Send
positionofmotor3tohost
positionofmotor4tohost
RequestMemoryavailableforcurrentlyselectedprogram
rsm
V
lst
getMmM
Setupcommands:
setMmMx
setBx
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”
Runsavememory(savessetup/programvaluestononvolatilememory)
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)
Listcurrentprogramtohost(ASCIItext)
Readmotortype/sizeselectedforaxism
Setaxismformotortype/sizex.
SetRS-232Baudrate(9=9600,19=19200,38=38400)

Command Summary (Advanced Commands)
14
ThefollowingcommandsareforadvancedVXMusers.
commandsrefertoAppendicesinthisUser’sManual.
Formoreinformationonthese
Motorcommands:
range(SAmM-xis100%power)
Programmanagementcommands:
(available only on VXM firmware versions 1.20 & up)
Input/outputcommands:
SmM-x
PMAx
PMA
JM-x
U2
U3
U6
U7
U77
U8
U9
U91
U92
U99
U11
U12
U21
U22
U13
U14
U15
U16
U17
U18
U19
U23
U30
U31
U32
U33
U50
U51
U90
Readandassignanaloginputvaluetomotormspeed(70%power),x=speed
ProgramAssociateprogramxinMastertoprogramxinSlave(LinkedVXMsstart
thesametime)
Requestthecurrentprogramassociatenumber
SimilartoJMxexceptautomaticallymovesbackfromabsoluteindexesafter
programxends:Forpick-and-placewithinmatrixloopingpatterns
EnableJogmodewhilewaitingforaninput
DisableJogmodewhilewaitingforaninput
Send"W"tohostandwaitfora"G"tocontinue
StartofContinuousIndexwithpulseonoutput2
StartofContinuousIndexwithnooutput
StartofContinuousIndexsending"@"tothehost
EndofContinuousIndexwithautodeceltostop
EndofContinuousIndexwithauto-generateadecelerationIndexasnext
command
EndofContinuousIndexusingnextIndexfordecelerationtostop
EndofContinuousIndexwithinstantaneousstop
Skipnextcommandifinput1ishigh
Skipnextcommandifinput2ishigh
Skipnextcommandifinput1islow
Skipnextcommandifinput2islow
Waitforafrontpanelbuttontojumptoaprogramorcontinue:"Motor1Jog-"
buttontojumptoprogram#1,"Motor1Jog+"button
tojumptoprogram#2,"Run"buttontoproceedincurrentprogram.
Useroutput2low(resetstate)
Useroutput2high
OptionalUseroutput3low(resetstate)
OptionalUseroutput3high
OptionalUseroutput4low(resetstate)
OptionalUseroutput4high
Waitforafrontpanelbuttontojumptoaprogramandcomeback,orcontinue:
"Motor1Jog-"buttontojumpandreturntoprogram#1,“Motor1Jog+"button
tojumpandreturntoprogram#2,"Run"buttontoproceedincurrentprogram
Waitforalowtohightransitiononuserinput1
Waitforalowtohightransitiononuserinput1,holdinguseroutput1highwhile
waiting
Waitfor"Motor1Jog-"buttontobepressedonfrontpanelwithdebouncingWait
for"Motor1Jog+"buttontobepressedonfrontpanelwithdebouncingWaitfora
lowandhighonuserinput1withdebouncingforamechanicalpush-buttonswitch
Waitforalowandhighonuserinput1withdebouncingforamechanicalpush-
buttonswitch,holdinguseroutput1highwhilewaiting
WaitforalowtohighontheRunbuttonorconnectionI/O,4withdebouncingfora
mechanicalpush-buttonswitch
Branchingcommands:
(available only on ver. 1.22 & up)
(available only on ver. 1.22 & up)
(available only on ver. 1.30 & up)
(available only on ver. 1.30 & up)

15
Operationcommands:
Statusrequestcommands:
G
H
!
res
del
x
y
#
?
~
$
@
B
O
getDx
getDA
getjmM getjAmM
getJmM getJAmM
getLmM
getPmM
getPA
getI
(i3,i1..)
[i1,i2...]
:
D
Bx
Ox
setDMx
setDAx
setjmM setjAmM
setJmM setJAmM
setLmMx
setPmMx
setPAx
setIx
EnableOn-LinemodewithechooffGroupinga<cr>with"^",":","W","O"
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
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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a
nd2(8bitbinary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)(only on ver. 1.22 & up)
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
setting
ReadsecondrangeJogSpeedformotorm.forJoystick
rangesetting
Readmodeoflimitsformotorm
Read“PulseEveryx#Steps”valueforaxismReadPulsewidthused
bysetPmMxandU7(only on ver. 1.24 & up)Readoperatingmode
ofuserinputs
CombineIndexcommandstorunsimultaneouslyontwoVXMcontrollers
connectedbyVXMbus
SenddatatoSlavethroughMaster
Readmotorposition(Digitize)
Backlashcompensation,0=off(default),1=20steps,Ver. 1.25 up: x=0 to 255
IndicatelimitswitchOver-traveltohost,offwhenx=0,VXMsends"O"whenx=1
andhitlimit,x=3programstopstoo
SetVXM/VP9000orNF90emulationmodes,andotheroperatingparameters
SetJoystickDeadbandvalue
SetfirstrangeJogSpeedformotorm.forJoystickrangesetting
SetsecondrangeJogSpeedformotorm.forJoystickrangesetting
Setlimitswitchmodeforaxism
Set“PulseEveryx#Steps”onoutput2foraxismSetPulsewidthused
bysetPmMxandU7,x=1to255(10msecincrements)(available only on
versions 1.24 & up)
Setoperatingmodeofinputs
F
CommandsfortwocontrolsconnectedbyVXMbus:
Jogmodecommands
Specialfunctionandsetupcommands:

Command Reference (Common Commands)
16
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Rcommand.
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
"command.
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.
SetstepstoincrementalIndex(move)motorCW(positive,Slider/Carriage
willmoveawayfrommotorend,RotaryTablewillrotateCCW),=motor#
(1,2,3,4),x=1to16,777,215.
.
The"<cr>"isacarriagereturncharacter(<Enter>key
onmostkeyboards).Commandcharactersarein LARGE BOLD.
<cr>
<cr>
Thisexamplesetsmotor1toindex1200stepsCW:
Thisexamplesetsmotor2toindex9200stepsCW:
Thisexamplesetsmotor3toindex10200stepsCW: <cr>
Thisexamplesetsmotor1toindex120stepsCCW: <cr>
<cr>
Thisexamplesetsmotor2toindex20stepsCCW:
Thisexamplesetsmotor4toindex1stepCCW: <cr>
"IAmM-0
Memoryusage=
Examples:
4 bytes
NOTE:
I1M1200
I2M9200
I3M10200
Set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:
1M-120
I2M-20
I4M-1
IA1M2200
m
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startend
Absolute:startend
AbsolutePosition 0 1000 2200
AbsolutePosition 0 1000 2200
MotorCommands
ImM[
ImM-[

17
positionregistershavearangeof-8,388,608to8,388,607steps,xshould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
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
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>
Movepositiveuntilthepositivelimitswitchisencountered(HometoPositive
LimiW),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.
4 bytes.
Thisexamplesetsmotor1toseekthepositivelimitswitch:
<cr>
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.
4 bytes.
Thisexamplesetsmotor1toseekthenegativelimitswitch:
<cr>
Memoryusage=
Example:
I1M0
Memoryusage=
Example:
I1M-0
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IURPWKHSUHVHQWSRVLWLRQLVFDOFXODWHGE\WKH9;0EDVHGRQDEVROXWH]HUR
SRVLWLRQP PRWRU[ WR127(6LQFHWKHDEVROXWH
6HWDQQGH[WR$EVROXWH]HURSRVLWLRQP PRWRU:KHQWKLV
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ImM0
ImM-0

18
6000steps/sec.in1step/sec.intervals.Ifthiscommandisneverused,the
defaultspeedwillbe2000steps/sec.
NOTE:motortorquedecreasesasspeedincreases,andsomemotorshave
limitedtorqueabove2000steps/sec.Ifthemotortorqueisbelowtheneeded
torquetomovetheload,themotorwillstall(losesynchronismandproper
position.)
Memoryusage=3 bytes.
Example:
Thisexamplesetsthespeedofmotor1to500steps/secat70%power:
S1M500<cr>
Whenthe"S"speedcommandisusedforsettingspeed,motorrunningtorquewillbe
70%ofthemaximumoutput.Formostapplications70%motortorquewillbeadequate.
Formovingheavyloadsthe"SA"speedcommand(100%power)maybeneeded.
Motorpowerwillalwaysbezerowhenthemotorisstationary(motorsare
normallyun-energizedatastandstill.
Savesenergy.1.
2.
3.
4.
Motorsrunsmootherandquieter
Reducesmid-speedmotorresonance.
ReducesMotorandControllerheating.
6HW6SHHGRIPRWRUSRZHUDSSOLHGWRPRWRUP PRWRU[ WR
to6000steps/sec.in1step/sec.intervals.
Example:
Thisexamplesetsthespeedofmotor2to3000steps/secat100%power:
SA2M3000<cr>
Withaccelerationsetto2(default)increasespeed
untilmotorstalls,use75%ofthisspeedasthemaximumspeed.
:MotorandControllersurfacetemperaturesbecomehotwhenrunningmotors
continuously.Onlyuse100%(""command)motorpowerifmaximumtorqueis
required.Formaximumefficiencywhenliftingheavyloadsvertically,usethe"SA”
commandtosetspeedfortraversingupwards,andusethe"S"speedcommandforthe
speeddown.
is2.Thehigherthenumberused,thefasterthemotorwillreachthesetspeed,
andthefasteritwillslowdowntoastop.:motorsmaystallifthisvalueis
settohigh.
Memoryusage=2 bytes
Example:
Thisexamplesetstheacceleration/decelerationofmotor1to3:
A1M3<cr>
Withspeedsettomaximumasdetermined
increaseaccelerationuntilthemotorstalls,use1/2ofstallaccelerationasthe
above,
maximum
NOTE:
Advantages of the "S" speed command (70% motor power)
How to Determine Maximum Speed:
CAUTION
SA
NOTE
How to Determine MaximumAcceleration:
SeeApplicationNote#106formoreinformationaboutacceleration.
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6$P0[
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19
A2,S4000,I400,
I2M200,I-200,S2000,IA0,
PM1
PM-0
Programming Shortcut:
ThemotordesignationinAcceleration,Speed,andIndexcommandsisoptionalifthe
desiredmotorhasalreadybeensetasthecurrentmotor.Thecurrentmotorismotor1
whentheControllerisfirstturnedon.Thelastmotorjog/slewedwillbethecurrentmotor
number.ThecurrentmotorwillbethenumberusedinthelastAcceleration,Speed,or
Indexcommand.UsersthathaveonlyaonemotorVXM(ModelVXM-1)donothaveto
usethemotordesignationinacommand.Forexample,thesecommandswouldalways
bemotor1commandsofaonemotorVXM:
Forrunningaparticularmotorofamulti-motorVXM,onlythefirstCommandneedsthe
motornumber.Forexample,allofthesecommandswouldbeformotor2:
Example:
Thisexampleselectsprogram#1forthecurrentprogram:
<cr>
commandwillselectprogramxasthecurrentprogramanddeleteallcommands
fromthisprogram.
Memoryusage=0 bytes.Thiscommandisimmediate(notstored)
Example:
Thisexampleselectsprogram#0anderasesallcommandswithinit:
<cr>
PM
PMx
x
hold256bytesofcommands.Thedefaultprogramnumberis0.
Program3canbeinteractivewithuserinput3,andProgram4canbeinteractive
formoreinformation.
Memoryusage=.Thiscommandisimmediate(notstored)
<cr>
6HOHFWDQGFOHDUDOOFRPPDQGVIURP3URJUDPQXPEHU[[ WR7KLV
<cr>
‘setI
0 bytes
Requestthenumberofthecurrentprogram.theVXMwillsendavaluebetween
0and4indicatingtheprogramnumberselected.
Example:
PM
3
-
PM
ProgramManagementCommands
withuserinput4.Seethe”commandintheReferenceManualonthe
CDROM
6HOHFW3URJUDPQXPEHU[DVWKHFXUUHQWSURJUDP[ WR(DFKSURJUDPFDQ
,IWKHFXUUHQWSURJUDPLVWKH9;0ZLOOVHQGWKHIROORZLQJWRWKHKRVW:

20
Looping/BranchingCommands
L0
LM0
LM-0
L
L-
LA
LoopcontinuallyfromthebeginningorLoop-to-markerofthecurrentprogram.
TheloopwilloccurtothelastLoop-to-markerofthecurrentprogramifitwasset
previously.Thiscommandcanbeusedonceinaprogramasthelastcommand,
itfunctionsthesameasa"continuousruninput".
Memoryusage=1 byte.
LoopfrombeginningorLoop-to-markerofthecurrentprogram[-1times[ WR
65,535).Amaximumof10nestedloopcommandscanbeusedperrun.
NOTE:WhentheLoopreachesitslastcount,thenon-loopcommanddirectly
precedingtheLoopwillbeignored.
Memoryusage=3 bytes.
Example:
Thisexamplesetsalooptorepeat,anypreviouscommands4000-1times,while
repeatingthedirectlyprecedingnon-loopcommand4000-2times:
L4000<cr>
LoopfrombeginningorLoop-to-markerofthecurrentprogramx-1times
alternatingdirectionofmotor1indexes(x=2to65,535).Amaximumof10
nestedloopcommandscanbeusedperrun.
NOTE:WhentheLoopreachesitslastcount,thenon-loopcommanddirectly
precedingtheLoopwillbeignored.
Memoryusage=3 bytes.
Example:
Thisexamplesetsalooptorepeat,anypreviouscommands100-1times
alternatingmotor1directioneveryrepeat,whilerepeatingthedirectlypreceding
non-loopcommand100-2times:L-100<cr>
/RRS$OwaysfrombeginningorLoop-to-markerofthecurrentprogramx-1
times(=2to65,535).Maximum10nestedloopcommandsperrunallowed.
Memoryusage=3 bytes.
Examples:
Thisexamplesetsalooptorepeatallpreviouscommands4000-1times:
LA4000<cr>
Consecutivelynestedloopsareequaltotheproductoftheirloopvalues.For
example,thefollowingloopstogetherareequalto10,000,000-1(50,000x200):
`LA50000,LA200<cr>
SetstheLoop-to-markeratthispointinthecurrentprogram.Alllooping
commandsinthecurrentprogramthatfollowwillbranchtohere.Anyloop
commandsintheprogrampriortothismarkerwillbranchtothebeginningofthe
programorapreviousmarker.
NOTE:Multiplemarkerscanbeusedinaprogram,thenumberisonlylimitedby
theprogrammemoryavailable(256bytesperprogram).
Memoryusage=1 byte
ResetstheLoop-to-markertothebeginningofthecurrentprogram.
NOTE:Multipleresetscanbeusedinaprogram,thenumberisonlylimitedby
theprogrammemoryavailable(256bytesperprogram).
Memoryusage=1 byte
x
x
x
x