MOTION |
ACCW value or variable |
Sets the linear acceleration of the W-axis to value or variable. |
ACCX value or variable |
Sets the linear
acceleration of the X-axis to value or variable. |
ACCY
value or variable |
Sets the linear acceleration of the Y-axis to value or variable. |
ACCZ
value or variable |
Sets the linear
acceleration of the Z-axis to value or variable. |
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|
DONEW? |
Halts the execution of the program until the motion of the W-axis is
completed. |
DONEX? |
Halts the
execution of the program until the motion of the X-axis is completed. |
DONEY? |
Halts the execution of the program until the motion of the Y-axis is
completed. |
DONEZ? |
Halts the
execution of the program until the motion of the Z-axis is completed. |
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|
HOMEW |
Instructs home searching sequence of the W-axis. |
HOMEX |
Instructs home
searching sequence of the X-axis. |
HOMEY |
Instructs home searching sequence of the Y-axis. |
HOMEZ |
Instructs home
searching sequence of the Z-axis. |
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JOGW |
Instructs jogging mode of the specified W-axis. |
JOGX |
Instructs jogging
mode of the specified X-axis. |
JOGY |
Instructs jogging mode of the specified Y-axis. |
JOGZ |
Instructs jogging
mode of the specified Z-axis. |
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|
MOVAALL |
Begins an absolute move on all axes. |
MOVAW |
Begins an absolute
move on the W-axis. |
MOVAX |
Begins an absolute move on the X-axis. |
MOVAY |
Begins an absolute
move on the Y-axis. |
MOVAZ |
Begins an absolute move on the Z-axis. |
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|
MOVRALL |
Begins a relative
move on all axes. |
MOVRW |
Begins a relative move on the W-axis. |
MOVRX |
Begins a relative
move on the X-axis. |
MOVRY |
Begins a relative move on the Y-axis. |
MOVRZ |
Begins a relative move on the Z-axis. |
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|
POSW
value or variable |
Sets the distance to move of the W-axis to value or variable. |
POSX
value or variable |
Sets the distance
to move of the X-axis to value or variable. |
POSY
value or variable |
Sets the distance to move of the Y-axis to value or variable. |
POSZ
value or variable |
Sets the distance to move of the Z-axis to value or variable. |
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|
STOPALL |
Stops the motion of all axes. |
STOPW |
Stops the motion
of the W-axis. |
STOPX |
Stops the motion of the X-axis. |
STOPY |
Stops the motion
of the Y-axis. |
STOPZ |
Stops the motion of the Z-axis. |
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|
VELMNW
value or variable |
Sets the minimum step rate of the W-axis to value or variable. |
VELMNX
value or variable |
Sets the minimum
step rate of the X-axis to value or variable. |
VELMNY
value or variable |
Sets the minimum step rate of the Y-axis to value or variable. |
VELMNZ
value or variable |
Sets the minimum
step rate of the Z-axis to value or variable. |
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|
VELW value or variable |
Sets the maximum step rate of the W-axis to value or variable. |
VELX
value or variable |
Sets the maximum
step rate of the X-axis to value or variable. |
VELY
value or variable |
Sets the maximum step rate of the Y-axis to value or variable. |
VELZ
value or variable |
Sets the maximum
step rate of the Z-axis to value or variable. |
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|
COORDINATED MOTION |
ARC |
Generates a circular arc. |
DONE? |
Halts the
execution of the program until the coordinated motion is completed. |
LINE |
Makes a coordinated linear motion. |
VACCEL
value or variable |
Sets the vector acceleration to value or variable. |
VVEL
value or variable |
Sets the vector velocity to value or variable. |
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|
GENERAL CONFIGURATION |
EPOSW |
Equates the current position of the W-axis to the value of the corresponding
step counter. |
EPOSX |
Equates the
current position of the X-axis to the value of the corresponding step
counter. |
EPOSY |
Equates the current position of the Y-axis to the value of the corresponding
step counter. |
EPOSZ |
Equates the
current position of the Z-axis to the value of the corresponding step
counter. |
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|
JOFF |
Disables the joystick and trackball operation. |
JON |
Enables the
joystick and trackball operation. |
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|
MOFFW |
Turns the motor driver of the W-axis off. |
MOFFX |
Turns the motor
driver of the X-axis off. |
MOFFY |
Turns the motor driver of the Y-axis off. |
MOFFZ |
Turns the motor
driver of the Z-axis off. |
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|
MONW |
Turns the motor driver of the W-axis on. |
MONX |
Turns the motor
driver of the X-axis on. |
MONY |
Turns the motor driver of the Y-axis on. |
MONZ |
Turns the motor
driver of the Z-axis on. |
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|
MSGOFF |
Turns off the feedback messages sent from the controller. |
MSGON |
Turns on the feedback messages sent from the controller. |
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|
SPOSW
value or variable |
Sets the current position of the W-axis to value or variable. |
SPOSX
value or variable |
Sets the current
position for the X-axis to value or variable. |
SPOSY
value or variable |
Sets the current position for the Y-axis to value or variable. |
SPOSZ
value or variable |
Sets the current
position for the Z-axis to value or variable. |
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SQUADW
value or variable |
Sets the W-axis quadrature decoder to
value or variable.. |
SQUADX
value or variable |
Sets the X-axis quadrature decoder to
value or variable. |
SQUADY
value or variable |
Sets the Y-axis
quadrature decoder to
value or variable. |
SQUADZ
value or variable |
Sets the Z-axis quadrature decoder to
value or variable. |
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|
DATA FLOW |
CLRBIT
value or variable |
Resets the discrete output specified by
value to low state. |
INPUT
variable |
Receives numeric data from the serial port and places it in
variable. |
IN
variable |
Reads the input
ports and places its value
in variable. |
OUT
value or variable |
Writes the value to the output ports. |
PRINT
string, value or variable |
Prints the
specified string, value or variable to the serial
port. |
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|
RQUADW
variable |
Places the value of W-axis quadrature input in variable. |
RQUADX
variable |
Places the value of X-axis quadrature input in variable. |
RQUADY
variable |
Places the
value of Y-axis quadrature input in variable. |
RQUADZ
variable |
Places the value of Z-axis quadrature input in variable. |
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|
RSTSW
variable |
Places the status of W-axis in variable. |
RSTSX
variable |
Places the status
of X-axis in variable. |
RSTSY
variable |
Places the status of Y-axis in variable. |
RSTSZ
variable |
Places the status
of Z-axis in variable. |
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|
RW |
Reports the value of W-axis step counter. |
RX |
Reports the value
of X-axis step counter. |
RY |
Reports the value of Y-axis step counter. |
RZ |
Reports the value
of Z-axis step counter. |
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|
SETBIT
value or variable |
Sets the discrete output specified by
value to high state. |
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|
PROGRAM FLOW |
CONT |
Continues the program after a PAUSE command is received. |
END |
Terminates the
program execution. |
GOSUB line |
Branches to subroutine starting at line number specified by line. |
GOTO line |
Transfers program
execution to line number specified by line. |
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|
IF expr
THEN statement |
If expr is true executes statement , otherwise continues
execution on to next line. |
IF expr
THEN statement1
ELSE statement2 |
If expr is
true executes statement1 , otherwise executes statement2. |
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|
IFBIT
value THEN statement |
If the specified bit is high then executes statement. |
IFBIT
value THEN
statement1
ELSE statement2 |
If the specified
bit is high then executes statement1 , otherwise executes
statement2. |
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|
IFNOTBIT
value THEN statement |
If the specified bit is low then executes
statement. |
IFNOTBIT
value THEN
statement1 ELSE
statement2 |
If the specified
bit is low then executes statement1 , otherwise executes
statement2. |
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|
REM |
Designates a comment line. |
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|
RETURN |
Ends a subroutine and causes execution to resume at the statement after the
line, which called the subroutine. |
PAUSE |
Pauses program
execution until CONT is received. |
WAIT
value or variable |
Waits for value number of milliseconds. |
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|
MISCELLANEOUS |
DOWNLOAD |
Prepares the controller to receive the BASIC code. The mode is terminated
upon receiving a dollar sign "$”. |
LIST |
Sends the current
program to the serial port. |
NEW |
Purges the memory. |
ROM |
Used for updating
the controller code |
RUN |
Runs the program. |
SAVE |
Saves the current
program in the non-volatile memory. |
UPLOAD |
Retrieves the program from the non-volatile memory into controller’s RAM. |
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VARIABLES and
OPERATIONS |
Logical and
Mathematical |
|
RAND
variable |
Assigns a random
value to variable |
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EXAMPLES |
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