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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.
   
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.
   
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.
   
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.
   
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.
   
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.
   
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.
   
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.
   
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.
   
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.
   
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.
   
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.
   
JOFF Disables the joystick and trackball operation.
JON Enables the joystick and trackball operation.
   
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.
   
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.
   
MSGOFF Turns off the feedback messages sent from the controller.
MSGON Turns on the feedback messages sent from the controller.
   
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.
   
   
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.
   
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.
   
   
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.
   
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.
   
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.
   
SETBIT value or variable Sets the discrete output specified by value to high state.
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.
   
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.
   
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.
   
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.
   
REM Designates a comment line.
   
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.
   
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.
   
VARIABLES and OPERATIONS
Logical and Mathematical  
RAND variable Assigns a random value to variable
 
EXAMPLES