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