Reference 

Commands & Variables

  1. Documentation
  2. Motion Control
  3. Commands & Variables

Command & Variable Groups #

Servo Drive Commands #

ENABLE , DISABLE , ALIGN , SETUP , ON , OFF , PWM , GO , STOP , ABORT , HOME , PVT , RESET , VER

Status Variables #

STA , POS , ERR , IND , INP , OUT , CC

Configuration Variables #

INVERT , PINVERT , HINVERT , HMASK , CMODE

Velocity Profile Generator Variables #

The variables below configure all aspects of the motion planning. All of the variables can be changed on the fly – while a velocity profile is being executed. The values below are buffered – they come into effect after the execution of the command GO . This is valid even after the motion has been started.

PRO , ABS , REL , VEL , ACC , DEC , FWD , REV

Position Loop / PID Variables #

The variables in the table below configure the operation of the PID filter. All of them except MOUT are buffered – their values are stored in a buffer and come into effect after the execution of the GO command. This mechanism allows the update of several or all PID parameters simultaneously.
The figure here describes the structure of the PIDVAFF regulator:

KP , KI , KD , IL , DS , AFF , VFF , MLIMIT , MOUT , BIAS , MAX

Field Oriented Control Setup Variables #

The variables below configure the PI regulators in the Field Oriented Control (FOC) algorithm. They range between 0 and 32767.
The figure below describes the structure of the FOC components:

QKP , QKI

3-Phase Motor Setup Variables #

The variables below configure the commutation of a brushless DC motor. Their initialization by the Host implicitly configures the type of the motor to be controlled.

PCMODE , PIMODE , PITIME , PIOUT , PPAIRS , PCOUNTS , ECPR , PMAP , PVECTOR , PANGLE , PORIGIN , PIOFFS , PSCALE

Data Tracing #

The following commands are supporting the controller data tracing capabilities:

CH1 , CH2 , CH3 , TRATE , TLEVEL , TRACE , PLAY

All Commands & Variables #

ABORT #

SUMMARY
Abrupt stop. Aborts a motion – sets the current position as target.

SYNTAX
ABORT

Parameters Necessary Param Description
NONE

EXAMPLE

>ABORT

ABS #

SUMMARY
Absolute Target Position – 32-bit signed integer.

ACCESS
Read & Write

SYNTAX
ABS [Value]

Parameters Necessary Param Description
Value NO

EXAMPLE

>ABS 1240
>ABS
1240
>GO
>

ACC #

SUMMARY
Target acceleration expressed in encoder counts per servo loop time slice squared. The number format is same as the one used for the VEL variable.

ACCESS
Read & Write

SYNTAX
ACC [Value] or ACC

Parameters Necessary Param Description
Value NO

EXAMPLE

>ACC

AFF #

SUMMARY
Acceleration Feed Forward

ACCESS
Read & Write

SYNTAX
AFF [Value] or AFF

Parameters Necessary Param Description
Value NO Parameter is in the range between 0 to 32767. The parameter can be changed at any time, but it goes into effect after the execution of the GO command. The GO command can be invoked at any time even after the motion is started.

EXAMPLE

>AFF 600
>GO

ALIGN #

SUMMARY
Starts Phase Alignment Procedure (Phasing).
The alignment algorithm is specified by the variable PIMODE .

SYNTAX
ALIGN

Parameters Necessary Param Description
NONE

EXAMPLE

>ALIGN

BIAS #

SUMMARY
Motor Bias – signed 16 bit integer.

ACCESS
Read & Write

SYNTAX
BIAS [Value] or BIAS

Parameters Necessary Param Description
Value NO Parameter is in the range between -32767 and +32767. The parameter can be changed at any time, but it goes into effect after the execution of the GO command. The GO command can be invoked at any time even after the motion is started.

EXAMPLE

>BIAS -340
>GO

CC #

SUMMARY
Current Consumption.

ACCESS
Read-Only

SYNTAX
CC

Parameters Necessary Param Description
NONE

EXAMPLE

>CC

CH1 #

SUMMARY
Specify the variable to be recorded in channel 1.

ACCESS
Read & Write

SYNTAX
CH1 [Value] or CH1

Parameters Necessary Param Description
Value NO Variable index. See table below.
Index Variable Description
0 Current Position The actual current position
1 Commanded Velocity The velocity output from the VPG
2 Commanded Acceleration The acceleration output from the VPG
3 Reserved
4 Reserved
5 Reserved
6 Reserved
7 Reserved
8 Position Error The difference between the actual and the commanded position
9 PID Output Output of the PID filter
10 Total Current Measured current consumption
11 Direct Current Current calculated by Clark/Park transformations
12 Quadrature Current Current calculated by Clark/Park transformations
13 Direct Current Error Direct Current loop error
14 Quadrature Current Error Quadrature Current loop error
15 Current A ADC A Output
16 Current B ADC B Output
17 Phase A Output Voltage output on Phase A
18 Phase B Output Voltage output on Phase B
19 Phase C Output Voltage output on Phase C

EXAMPLE

>CH1 9

CH2 #

SUMMARY
Specify the variable to be recorded in channel 2.

ACCESS
Read & Write

SYNTAX
CH2 [Value] or CH2

Parameters Necessary Param Description
Value NO Variable index. See table below.
Index Variable Description
0 Current Position The actual current position
1 Commanded Velocity The velocity output from the VPG
2 Commanded Acceleration The acceleration output from the VPG
3 Reserved
4 Reserved
5 Reserved
6 Reserved
7 Reserved
8 Position Error The difference between the actual and the commanded position
9 PID Output Output of the PID filter
10 Total Current Measured current consumption
11 Direct Current Current calculated by Clark/Park transformations
12 Quadrature Current Current calculated by Clark/Park transformations
13 Direct Current Error Direct Current loop error
14 Quadrature Current Error Quadrature Current loop error
15 Current A ADC A Output
16 Current B ADC B Output
17 Phase A Output Voltage output on Phase A
18 Phase B Output Voltage output on Phase B
19 Phase C Output Voltage output on Phase C

EXAMPLE

>CH2 1

CH3 #

SUMMARY
Specify the variable to be recorded in channel 3.

ACCESS
Read & Write

SYNTAX
CH3 [Value] or CH3

Parameters Necessary Param Description
Value NO Variable index. See table below.
Index Variable Description
0 Current Position The actual current position
1 Commanded Velocity The velocity output from the VPG
2 Commanded Acceleration The acceleration output from the VPG
3 Reserved
4 Reserved
5 Reserved
6 Reserved
7 Reserved
8 Position Error The difference between the actual and the commanded position
9 PID Output Output of the PID filter
10 Total Current Measured current consumption
11 Direct Current Current calculated by Clark/Park transformations
12 Quadrature Current Current calculated by Clark/Park transformations
13 Direct Current Error Direct Current loop error
14 Quadrature Current Error Quadrature Current loop error
15 Current A ADC A Output
16 Current B ADC B Output
17 Phase A Output Voltage output on Phase A
18 Phase B Output Voltage output on Phase B
19 Phase C Output Voltage output on Phase C

EXAMPLE

>CH3 16

CMODE #

SUMMARY
This is a variable which determines the trigger used to capture the current position.

ACCESS
Read & Write

SYNTAX
CMODE [Value] or CMODE

Parameters Necessary Param Description
Value NO Hex value
CMODE (hex) Trigger Event
0001 Reverse Limit Input Change
0002 Forward Limit Input Change
0008 Encoder Index (default)
0040 Position Error Exceeded
0080 Current Limit Exceeded

EXAMPLE

>CMODE

DEC #

SUMMARY
Target deceleration expressed in encoder counts per servo loop time slice squared. The number format is same as the one used for the VEL variable. If the DEC variable is not initialized then the ACC value is used instead.

ACCESS
Read & Write

SYNTAX
DEC [Value] or DEC

Parameters Necessary Param Description
Value NO

EXAMPLE

>DEC

DISABLE #

SUMMARY
Disables Amplifier Power.

SYNTAX
DISABLE

Parameters Necessary Param Description
NONE

EXAMPLE

>DISABLE

DS #

SUMMARY
Derivative Sample Interval

ACCESS
Read & Write

SYNTAX
DS [Value] or DS

Parameters Necessary Param Description
Value NO Parameter is multiples of 50 microseconds.

EXAMPLE

>DS 600
>GO

ECPR #

SUMMARY
Encoder Counts per one motor revolution

ACCESS
Read & Write

SYNTAX
ECPR [Value] or ECPR

Parameters Necessary Param Description
Value NO

EXAMPLE

>ECPR

ENABLE #

SUMMARY
Enables Amplifier Power.

SYNTAX
ENABLE

Parameters Necessary Param Description
NONE

EXAMPLE

>ENABLE

ERR #

SUMMARY
Current position error – 16-bit signed integer.

ACCESS
Read-Only

SYNTAX
ERR

Parameters Necessary Param Description
NONE

EXAMPLE

>ERR

FWD #

SUMMARY
Time in milliseconds to jog in positive direction. The variables define the jogging time once the maximum velocity is reached. If the assigned value is 0 then the jogging continues indefinitely until STOP or ABORT command is issued.

ACCESS
Read & Write

SYNTAX
FWD [Value] or FWD

Parameters Necessary Param Description
Value NO

EXAMPLE

>FWD 0
>GO
>STOP

GO #

SUMMARY
Starts a motion / updates PID and Velocity Profile Generator (VPG) Parameters. This command activates all buffered PID and VPG parameters. If the variable ABS is set to value different than the current position then a motion is started to the newly defined target. The same is true if the variable REL is set to a value different than 0.
The command will be rejected if the servo control is turned off.

SYNTAX
GO

Parameters Necessary Param Description
NONE

EXAMPLE

>GO

HINVERT #

SUMMARY
This variable allows rearranging and inverting the hall sensors feedback.
The default value is 0 (no inversion).

ACCESS
Read & Write

SYNTAX
HINVERT [Value] or HINVERT

Parameters Necessary Param Description
Value NO The values from 0 to 5 define one of the six possible mappings between the sensors and the controller.
HINVERT Hall Sensors
0 (default) A-B-C
1 B-A-C
2 A-C-B
3 C-A-B
4 B-C-A
5 C-B-A

Adding 16 to the above values inverts the logic level of all sensors effectively changing the reported direction of movement. The correct value of this variable can be set automatically by the SETUP command after the motor and the sensors are wired.

EXAMPLE

>HINVERT
4

HMASK #

SUMMARY
This is a variable that sets a mask applied to the inputs word (returned by the INP command) used by the home procedure. This is the way to specify the input connected to the home switch.

ACCESS
Read & Write

SYNTAX
HMASK [Value]

Parameters Necessary Param Description
Value NO

EXAMPLE

>HMASK

HOME #

SUMMARY
Starts the Home procedure.
This command initiates a homing procedure consisting of the following steps:
1. Check the home sensor (default INP 8) and start jogging depending on its state (positive direction if the input state is 0).
2. Jog in positive direction after the home sensor changes its state.
3. Setup index position capture
4. Stop motion after index position is captured
5. Subtract the index position from the current position and sets the result as a new current position.
The command will be rejected if the servo control is turned off. Similarly the procedure will be interrupted in case of current overload or other event causing the servo to turn off.

SYNTAX
HOME

Parameters Necessary Param Description
NONE

EXAMPLE

>HOME

IL #

SUMMARY
Integration Limit

ACCESS
Read & Write

SYNTAX
IL [Value] or IL

Parameters Necessary Param Description
Value NO Parameter is in the range between 0 to 32767. The parameter can be changed at any time, but it goes into effect after the execution of the GO command. The GO command can be invoked at any time even after the motion is started.

EXAMPLE

>IL
32000
>IL 32100
>GO

IND #

SUMMARY
Captured position – 32-bit signed integer. Reading of this variable enables a new position capture event.

ACCESS
Read-Only

SYNTAX
IND

Parameters Necessary Param Description
NONE

EXAMPLE

>IND

INP #

SUMMARY
Reports Digital Inputs State.

ACCESS
Read-Only

SYNTAX
INP

Parameters Necessary Param Description
NONE
Hex Mask Description | Hex Mask Description
0001 Hall U (Encoder #1) | 0100 Over Temperature – Channel #1
0002 Hall V (Encoder #1) | 0200 Forward Limit – Channel #1
0004 Hall W (Encoder #1) | 0400 Reverse Limit – Channel #1
0008 Address Enable Output State | 0800 Extra Limit – Channel #1
0010 Hall U (Encoder #2) | 1000 Over Temperature – Channel #2
0020 Hall V (Encoder #2) | 2000 Forward Limit – Channel #2
0040 Hall W (Encoder #2) | 4000 Reverse Limit – Channel #2
0080 Address Enable Input State | 8000 Extra Limit – Channel #2

EXAMPLE

>INP

INVERT #

SUMMARY
This variable specifies the input bits that need to be inverted. The default setting is 0. The bit map corresponds to the one of the INP command. The each bit set to 1 indicates that the corresponding INP bit will be inverted.

ACCESS
Read & Write

SYNTAX
INVERT

Parameters Necessary Param Description
NONE

EXAMPLE

>INVERT

KD #

SUMMARY
Differential Coefficient

ACCESS
Read & Write

SYNTAX
KD [Value] or KD

Parameters Necessary Param Description
Value NO Parameter is in the range between 0 to 32767. The parameter can be changed at any time, but it goes into effect after the execution of the GO command. The GO command can be invoked at any time even after the motion is started.

EXAMPLE

>KD
13640
>KD 100
>GO

KI #

SUMMARY
Integral Coefficient

ACCESS
Read & Write

SYNTAX
KI [Value] or KI

Parameters Necessary Param Description
Value NO Parameter is in the range between 0 to 32767. The parameter can be changed at any time, but it goes into effect after the execution of the GO command. The GO command can be invoked at any time even after the motion is started.

EXAMPLE

>KI
1640
>KI 11222
>GO

KP #

SUMMARY
Proportional Coefficient

ACCESS
Read & Write

SYNTAX
KP [Value] or KP

Parameters Necessary Param Description
Value NO Parameter is in the range between 0 to 32767. The parameter can be changed at any time, but it goes into effect after the execution of the GO command. The GO command can be invoked at any time even after the motion is started.

EXAMPLE

>KP
645
>KP 861
>GO

MAX #

SUMMARY
Maximum Position Error.

ACCESS
Read & Write

SYNTAX
MAX [Value] or MAX

Parameters Necessary Param Description
Value NO A setting of 0 disables the check for position error.
The parameter can be changed at any time, but it goes into effect after the execution of the GO command. The GO command can be invoked at any time even after the motion is started.

EXAMPLE

>MAX

MLIMIT #

SUMMARY
Motor Output Limit.

ACCESS
Read & Write

SYNTAX
MLIMIT [Value] or MLIMIT

Parameters Necessary Param Description
Value NO Parameter default setting is 30800. 32768 is 100%.

EXAMPLE

>MLIMIT
30800
>MLIMIT 31000
>GO

MOUT #

SUMMARY
Motor Output when position loop is open (servo is off)

ACCESS
Read & Write

SYNTAX
MOUT [Value] or MOUT

Parameters Necessary Param Description
Value NO

EXAMPLE

>MOUT

OFF #

SUMMARY
Turns off the servo control. This command turns off the output of the PID filter and replaces it with the value of the variable MOUT

SYNTAX
OFF

Parameters Necessary Param Description
NONE

EXAMPLE

>OFF

ON #

SUMMARY
Turns on the servo control. This command automatically enables the Amplifier Power.

SYNTAX
ON

Parameters Necessary Param Description
NONE

EXAMPLE

>ON

OUT #

SUMMARY
Gets or Sets Digital Outputs State.

ACCESS
Read & Write

SYNTAX
OUT [Value] or OUT

Parameters Necessary Param Description
Value NO 16-bit reported as a 4 digit hex number
Hex Mask Description
0001 Out 0 (Channel #1 Brake)
0002 Out 1 (Channel #2 Brake)

EXAMPLE

>OUT
0001

PANGLE #

SUMMARY
Current Phase Angle [encoder counts]

ACCESS
Read-Only

SYNTAX
PANGLE

Parameters Necessary Param Description
NONE

EXAMPLE

>PANGLE

PCMODE #

SUMMARY
Phase Commutation Mode

ACCESS
Read & Write

SYNTAX
PCMODE [Value] or PCMODE

Parameters Necessary Param Description
Value NO PCMODE 0 – Sinusoidal
PCMODE 1 – Sinusoidal with Field Oriented Control
PCMODE 2 – Hall Based
PCMODE 3 – Stepper (phase angle is specified by the PVECTOR variable)

EXAMPLE

>PCMODE
0
>PCMODE 1

PCOUNTS #

SUMMARY
Phase Counts per one electrical cycle

ACCESS
Read & Write

SYNTAX
PCOUNTS [Value] or PCOUNTS

Parameters Necessary Param Description
Value NO

EXAMPLE

>PCOUNTS

PIMODE #

SUMMARY
Phase Initialization Mode

ACCESS
Read & Write

SYNTAX
PIMODE [Value] or PIMODE

Parameters Necessary Param Description
Value NO PIMODE 0 – Algorithmic
PIMODE 1 – Hall Sensors Based
PIMODE 2 – Dithering Based
PIMODE 3 – Encoder Index Based

EXAMPLE

>PIMODE
0
>PIMODE 3

PINVERT #

SUMMARY
This variable allows inverting the sign of the encoder position feedback. The default value is 0 (no inversion). The setting of 1 enables the sign inversion.

ACCESS
Read & Write

SYNTAX
PINVERT

Parameters Necessary Param Description
NONE

EXAMPLE

>PINVERT

PIOFFS #

SUMMARY
Distance between Phase Origin and the Encoder Index set by ALIGN 1

ACCESS
Read-Only

SYNTAX
PIOFFS

Parameters Necessary Param Description
NONE

EXAMPLE

>PIOFFS

PIOUT #

SUMMARY
Phase Initialization Output

ACCESS
Read & Write

SYNTAX
PIOUT [Value] or PIOUT

Parameters Necessary Param Description
Value NO Value between 0 and 32767. PIOUT 32767 corresponds to 100%

EXAMPLE

>PIOUT

PITIME #

SUMMARY
Phase Initialization Time

ACCESS
Read & Write

SYNTAX
PITIME [Value] or PITIME

Parameters Necessary Param Description
Value NO Number of servo loop time slices

EXAMPLE

>PITIME

PLAY #

SUMMARY
Reports the recorded data.

ACCESS
Read-Only

SYNTAX
PLAY

Parameters Necessary Param Description
NONE

EXAMPLE

>PLAY

PMAP #

SUMMARY
Phase Mapping to Amplifier Outputs [0 … 5]

ACCESS
Read & Write

SYNTAX
PMAP [Value] or PMAP

Parameters Necessary Param Description
Value NO

EXAMPLE

>PMAP

POS #

SUMMARY
Current position – 32-bit signed integer.

ACCESS
Read & Write

SYNTAX
POS [Value] or POS

Parameters Necessary Param Description
Value NO Position in 32-bit signed integer.

EXAMPLE

>POS

PORIGIN #

SUMMARY
Phase Origin Coordinate [encoder counts]

ACCESS
Read & Write

SYNTAX
PORIGIN [Value] or PORIGIN

Parameters Necessary Param Description
Value NO

EXAMPLE

>PORIGIN

PPAIRS #

SUMMARY
Pole Pairs per one motor revolution

ACCESS
Read & Write

SYNTAX
PPAIRS [Value] or PPAIRS

Parameters Necessary Param Description
Value NO

EXAMPLE

>PPAIRS

PRO #

SUMMARY
Velocity Profile Mode.

ACCESS
Read & Write

SYNTAX
PRO [Value] or PRO

Parameters Necessary Param Description
Value NO PRO 0 – Trapezoidal (default)
PRO 1 – S-Profile
PRO 2 – Velocity Contouring
PRO 3 – Velocity / Time Streaming

EXAMPLE

>PRO
1
>

PSCALE #

SUMMARY
Encoder Counts Pre-Scaling Factor expressed as a power of 2.

ACCESS
Read & Write

SYNTAX
PSCALE [Value] or PSCALE

Parameters Necessary Param Description
Value NO

EXAMPLE

>PSCALE

PVECTOR #

SUMMARY
Phase Vector [0 … 5]

ACCESS
Read & Write

SYNTAX
PVECTOR [Value] or PVECTOR

Parameters Necessary Param Description
Value NO

EXAMPLE

>PVECTOR

PVT #

SUMMARY
Adds a target position (the content of the variable ABS ) and velocity (the content of the variable VEL ) to the PVT buffer. This buffer can accommodate 16 entries.

SYNTAX
PVT

Parameters Necessary Param Description
NONE

EXAMPLE

>PVT

PWM #

SUMMARY
Specifies the output voltage when the servo control is turned off.

SYNTAX
PWM

Parameters Necessary Param Description
NONE

EXAMPLE

>PWM

QKI #

SUMMARY
Quadrature and Direct current loop integral coefficient

ACCESS
Read & Write

SYNTAX
QKI [Value] or QKI

Parameters Necessary Param Description
Value NO

EXAMPLE

>QKI

QKP #

SUMMARY
Quadrature and Direct current loop proportional coefficient

ACCESS
Read & Write

SYNTAX
QKP [Value] or QKP

Parameters Necessary Param Description
Value NO

EXAMPLE

>QKP

REL #

SUMMARY
Relative Target Position – 32-bit signed integer.

ACCESS
Read & Write

SYNTAX
REL [Value] or REL

Parameters Necessary Param Description
Value NO

EXAMPLE

>REL 245
>ABS
245
>GO
>

RESET #

SUMMARY
Resets all controller settings. All PID and Velocity Profile Generator parameters are set to their last saved values.

SYNTAX
RESET

Parameters Necessary Param Description
NONE

EXAMPLE

>RESET

REV #

SUMMARY
Time in milliseconds to jog in negative direction. The variables define the jogging time once the maximum velocity is reached. If the assigned value is 0 then the jogging continues indefinitely until STOP or ABORT command is issued.

ACCESS
Read & Write

SYNTAX
REV [Value] or REV

Parameters Necessary Param Description
Value NO

EXAMPLE

>REV 0
>GO
>STOP

SETUP #

SUMMARY
Starts Motor / Halls wiring identification procedure. The algorithm moves the motor within one electrical cycle and sets the variables PMAP and HINVERT

SYNTAX
SETUP

Parameters Necessary Param Description
NONE

EXAMPLE

>SETUP

STA #

SUMMARY
Current status – 16-bit reported as a 4 digit hex number.

ACCESS
Read-Only

SYNTAX
STA

Parameters Necessary Param Description
NONE
Hex Mask Description Set Event Reset Event
0001 Motion Complete Motion is completed regardless of any error presence. Motion is started by GO , HOME or ALIGN commands
0002 Servo Control On ON command. OFF command, exceeded following error limit or amplifier current limit
0004 Amplifier Enabled ENABLE or ON command. DISABLE command.
0008 Position Captured Encoder Index Pulse IND variable read
0010 Homing HOME command Motion completed
0020 Homing Completed HOME completed successfully RESET , HOME command
0040 Phase Aligning ALIGN command Motion completed
0080 Phase Alignment Completed ALIGN completed successfully RESET command
0100 Hall Sensor Scanning ENABLE command Hall Sensor detected
0200 Reserved
0400 PVT queue is full PVT queue is full. PVT queue is not full
0800 PVT queue is empty PVT queue is empty PVT queue is not empty
1000 Amplifier Over Current Warning Amplifier signal Amplifier signal
2000 Motion Error – Amplifier Current Limit Amplifier signal ON command
4000 Motion Error – Following Error Limit Exceeded position error limit GO command
8000 Position Counter Wrap Around Current position exceeds the range of a 32-bit signed integer GO command

EXAMPLE

>STA

STOP #

SUMMARY
Smooth stop. This command stops the currently executed motion with the programmed deceleration.

SYNTAX
STOP

Parameters Necessary Param Description
NONE

EXAMPLE

>STOP

TLEVEL #

SUMMARY
Specify the threshold level compared with CH2 variable for synchronization.

ACCESS
Read & Write

SYNTAX
TLEVEL [Value] or TLEVEL

Parameters Necessary Param Description
Value NO

EXAMPLE

>TLEVEL

TRACE #

SUMMARY
Starts or stop data tracing.

ACCESS
Read & Write

SYNTAX
TRACE [Value] or TRACE

Parameters Necessary Param Description
Value NO Indexed value. See values below
Index Trigger Description
0 Stop Data Tracing Stops the current recording
1 Continuous Tracing Continuous recording
2 One Shot Start now, stop on buffer full
3 End of Motion Start now, stop an end of motion
4 Input Change Stop Start now, stop at input change
5 Start on Value > Trigger Threshold Positive edge to start the recording
6 Start on Value < Trigger Threshold Negative edge to start the recording
7 Beginning of Motion Start at beginning of motion, stop on buffer full
8 Input Change Start Start at input change, stop on buffer full
9 Stop on Value > Trigger Threshold Positive edge to stop the recording
10 Stop on Value < Trigger Threshold Negative edge to stop the recording

EXAMPLE

>TRACE

TRATE #

SUMMARY
Specify the recording rate as multiples of the servo rate ( DS )

ACCESS
Read & Write

SYNTAX
TRATE [Value] or TRATE

Parameters Necessary Param Description
Value NO

EXAMPLE

>TRATE

VEL #

SUMMARY
Target velocity expressed in encoder counts per servo loop time slice.

ACCESS
Read & Write

SYNTAX
VEL [Value] or VEL

Parameters Necessary Param Description
Value NO The value is a 32-bit number expressed as a fixed point number in 16:16 format. The higher 16 bits represent the whole part and the lower 16 bit represents the fractional part. This means that a velocity of one encoder count per servo time slice should be entered as 65536. In general any velocity value should be multiplied by 65536 before being sent as a value for the VEL variable.

EXAMPLE

>VEL

VER #

SUMMARY
Returns firmware version.

SYNTAX
VER

Parameters Necessary Param Description
NONE

EXAMPLE

>VER

VFF #

SUMMARY
Velocity Feed Forward

ACCESS
Read & Write

SYNTAX
VFF [Value] or VFF

Parameters Necessary Param Description
Value NO Parameter is in the range between 0 to 32767. The parameter can be changed at any time, but it goes into effect after the execution of the GO command. The GO command can be invoked at any time even after the motion is started.

EXAMPLE

>VFF