COMMAND PAGE Q = QUERY C=CMD COMMAND DESCRIPTION
AA 5-31 C All axes mode
?AB 5-32 Q Report auxiliary bit state
AC 5-33 C Acceleration
?AC 5-34 Q Report AC command
?AD 5-34 Q Report default auxiliary bit state ADH 5-35 C Set auxiliary default to high
ADL 5-35 C Set auxiliary default to low
AF 5-36 C Auxiliary off
AJ 5-37 C Custom S-curve Definition
?AJ 5-40 Q Report custom S-curve parameters
AM 5-41 C Axes multitasking mode
AN 5-42 C Auxiliary on
AP 5-43 C Assign current parameter as power up defaults
?AQ 5-43 Q Query current axis
?BC 5-46 Q Report backlash compensation
BH 5-47 C Bit high
BI 5-47 C Bipolar
4BCOMMAND STRUCTURE 37BCOMMAND SUMMARY
ALPHABETICAL COMMAND SUMMARY
COMMAND PAGE Q = QUERY C=CMD COMMAND DESCRIPTION
CK 5-56 C Contour end and kill
CN 5-57 C Cosine on
CR 5-58 C Circular interpolation
CV 5-59 C Contour velocity
CW 5-59 C Clear while
CX 5-60 C Contour execute
?DA 5-61 Q Print a custom ramp
DAB 5-62 C Define custom ramp breakpoint
DAE 5-62 C End custom ramp definition
EG? 5-73 Q Report electronic gearing command EGF 5-73 C Turn off electronic gearing
?HD 5-85 Q Report position maintenance deadband
HE 5-86 C Home encoder
HF 5-87 C Hold off
37BCOMMAND SUMMARY 4BCOMMAND STRUCTURE
ALPHABETICAL COMMAND SUMMARY
COMMAND PAGE Q = QUERY C=CMD COMMAND DESCRIPTION
?HG 5-88 Q Report position maintenance gain
HH 5-89 C Home high
?HS 5-94 Q Report home switch true state selection
HV 5-95 C Hold velocity
?HV 5-95 Q Report position maintenance velocity
IC 5-96 C Interrupt clear
JF 5-101 C Jog fractional velocities
JG 5-102 C Jog
KA 5-104 C Acceleration feedforward
?KA 5-104 Q Report acceleration feedforward KB 5-105 C PID upper bound limit coefficient
?KB 5-105 Q Report axis PID upper bound limit
KD 5-106 Derivative gain coefficient
?KD 5-106 Q Report PID derivative gain KF 5-107 C Set servo axis PID friction coefficient
?KF 5-107 Q Report servo axis friction offset KI 5-108 C Integral gain coefficient
?KI 5-108 Q Report PID integral gain
KL 5-109 C Kill
KM 5-110 C Home and kill
4BCOMMAND STRUCTURE 37BCOMMAND SUMMARY
ALPHABETICAL COMMAND SUMMARY
COMMAND PAGE Q = QUERY C=CMD COMMAND DESCRIPTION
?KV 5-116 Q Report velocity feedforward
LA 5-117 C Linear ramp per axis
LE 5-118 C Loop end
LF 5-119 C Limits off
LH 5-120 C Limits high
3LL 5-121 C Limits low
?LM 5-122 Q Report limit switch selection
LN 5-123 C Limits on
37BCOMMAND SUMMARY 4BCOMMAND STRUCTURE
ALPHABETICAL COMMAND SUMMARY
COMMAND PAGE Q = QUERY C=CMD COMMAND DESCRIPTION RF 5-152 C Restore factory default values
3RD 5-153 C Restore power-up default values
RQ 5-157 Q Report queue entries available
?RT 5-157 Q Report ramp type
RU 5-158 Q Report current position in user units
RV 5-158 Q Report velocity
?SV 5-170 Q Report servo voltage inversion state
SVI 5-171 C Invert servo voltage
SVN 5-171 C Normalize servo voltage
SW 5-172 C Sync wait
4BCOMMAND STRUCTURE 38BSYSTEM STATUS AND CONTROL COMMANDS
ALPHABETICAL COMMAND SUMMARY
COMMAND PAGE Q = QUERY C=CMD COMMAND DESCRIPTION
UU 5-182 C User units
5.4. SYSTEM STATUS AND CONTROL COMMANDS 5.4.1. IDENTIFICATION COMMANDS
These commands allow the host to request the status of various move parameters, including the status of limit and home switches and/or allow control of various system parameters and operating modes to allow the user to optimize the response of the system for the application.
COMMAND PAGE Q = QUERY C=CMD COMMAND DESCRIPTION
?AB 5-32 Q Report auxiliary bit state
?AC 5-34 Q Report AC command
?AD 5-34 Q Set auxiliary default to high
?AJ 5-40 Q Report custom S-curve parameters
?AQ 5-43 Q Query current axis
?BC 5-46 Q Report backlash compensation
?DA 5-61 Q Print a custom ramp
38BSYSTEM STATUS AND CONTROL COMMANDS 4BCOMMAND STRUCTURE
COMMAND PAGE Q = QUERY C=CMD COMMAND DESCRIPTION
?HM 5-91 Q Report home state selection
?HS 5-94 Q Report home switch true state selection
?HV 5-95 Q Report position maintenance velocity
?KA 5-104 Q Report acceleration feedforward
?KB 5-105 Q Report axis PID upper Bound limit
?KD 5-106 Q Report PID derivative gain
?KF 5-107 Q Report servo axis friction offset
?KI 5-108 Q Report PID integral gain
?KO 5-111 Q Report PID offset
?KP 5-112 Q Report proportional gain
?KU 5-115 Q Report PID integration sum upper limit
?KV 5-116 Q Report velocity feedforward
?LM 5-122 Q Report limit switch selection
?LS 5-128 Q Report limit active state
?SV 5-170 Q Report servo voltage invert state
?TL 5-176 Q Report software overtravel limits
?UU 5-183 Q Report axis user units
?VB 5-185 Q Report base velocity
?VL 5-187 Q Report peak velocity setting
WY 5-195 Q Who are you
4BCOMMAND STRUCTURE 38BSYSTEM STATUS AND CONTROL COMMANDS
5.4.2. POWER-UP DEFAULTS
The PCIx can store most user-settable parameters and reload them when the board powers-up or is reset. The following commands can be used to store these parameters, return the board to factory default, reload the stored parameters, and reset the board to reload the stored parameters. The following list of parameters can have their values saved to flash memory: AC, BI/UN, BRER, ES, HD, HG, HH/HL, HV, KA, KB. KD, KF, KI, KO, KP, KU, KV, LA/SC/PR/SS/AJ, LH/LL, LN/LF, PA0/PA1, SE, SF/SL, VB, VL, and UU
COMMAND PAGE Q = QUERY C=CMD COMMAND DESCRIPTION AP 5-43 C Archive current parameters in back up archive
RF 5-152 C Restore factory defaults
4RD 5-153 C Restore power-up default values
5.4.3. QUEUE SELECTION COMMANDS
The following commands set the context to direct the commands which follow to the appropriate axis. They remain in effect until superseded by another command of the same type, specifying a different axis.
COMMAND PAGE Q = QUERY C=CMD COMMAND DESCRIPTION
AA 5-31 C All axes mode
5.4.4. QUEUE STATUS COMMANDS
Commands sent to the PCIx are either queued or immediate. As the type names imply, queued commands are stored in first-in-first-out buffers to be executed in the order they were sent while immediate commands are executed the moment they are received. There are several internal queues in the PCIx corresponding to the various axis and command modes and each of these queues has a limited amount of storage space. For example, the X axis command queue can hold 800 “units”. Each command requires some number of storage units. The amount of storage required is listed in a table with each command. The following commands provide control and monitoring capability for the queues.
COMMAND PAGE
Q = QUERY
C=CMD COMMAND DESCRIPTION