Section 2 . 3
M D r i v e M o t i o n C o n t r o l C o m m a n d S e t S u m m a r y
S e t u p I n s t r u c t i o n s , Va r i a b l e s a n d F l a g s
Mnemonic | Function | Unit | Range | Syntax Example |
BD | Communications BAUD Rate | BAUD | 48, 96, 19, 38, 11 | BD=<baud> |
DE | Enable/Disable Drive | - | 1/0 | DE=<1/0> |
DN | Device Name | Character | DN=<char> | |
EM | Echo Mode 0 (def)=Full Duplex, 1=Half Duplex | Mode | 0/1 | EM=<mode> |
IP | Initial Parameters from EEPROM | - | - | IP |
PY | Enable/Disable Party Mode | Mode | 1/0 | PY=<mode> |
UG | Upgrade Firmware | Code | 2956102 | IMS Term. Upgrader |
M i s c e l l a n e o u s I n s t r u c t i o n s , Va r i a b l e s a n d F l a g s
Mnemonic | Function | Unit | Range | Syntax Example |
AL | All Parameters, Used with PR (Print) | - | - | PR AL |
BY | BSY Flag 1=Prog. Running | - | 0/1 | PR BY |
PR | Print Selected Data and/or Text | - | - | PR <data/text string> |
R1 | User Register 1 | Number | Signed 32 bit | R1=<number> |
R2 | User Register 2 | Number | Signed 32 bit | R2=<number> |
R3 | User Register 3 | Number | Signed 32 bit | R3=<number> |
R4 | User Register 4 | Number | Signed 32 bit | R4=<number> |
VR | Firmware Version | Number | - | PR VR |
UV | Read User Variables | - | = | PR UV |
M o t i o n I n s t r u c t i o n s , Va r i a b l e s a n d F l a g s
Mnemonic | Function | Unit | Range | Syntax Example |
Do Previously Set Mode to/at This Value | per mode |
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A | Set Acceleration | Steps/Sec2 | 1000000000 | A=<accel> |
D | Set Deceleration | Steps/Sec2 | 1000000000 | D=<decel> |
HC | Set Hold Current | % (Percent) | 0 to 100 | HC=<percent> |
HT | Set Hold Current Delay Time | milliseconds | HT=<msec> | |
MA | Set Mode and Move to Abs. Position | ±Position | Signed 32 bit | MA <±pos> |
MD | Motion Mode Setting | - | - | - |
MR | Set Mode and Move to Relative Position | ±Distance | Signed 32 bit | MR <±dist> |
MS | Set Microstep Resolution | Microsteps/step | MSEL Table | MS=<param> |
MT | Motor Settling Delay Time | milliseconds | MT=<msec> | |
MV | Moving Flag | - | - | PR MV |
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RC | Set Run Current | % (Percent) | 1 to 100 | RC=<percent> |
SL | Set Mode and Slew Axis | Steps/sec | ±5000000 | SL=<velocity> |
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V | Read Current Velocity | Steps/sec | ±5000000 | PR V |
VI | Set Initial Velocity | Steps/sec | VI=<velocity> | |
VM | Set Maximum Velocity | Steps/sec | VM=<velocity> |
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