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MMC-200
Reference Manual
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Micronix MMC-200 Reference Manual

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MICRONIX USA, LLC
Rev: 3.02
Table of Contents
1. Introduction ........................................................................................................................................... 1-3
1.1 Product Description 1-3
1.2 Features 1-4
1.3 Package Contents 1-4
2. Quick Start Guide .................................................................................................................................. 2-4
2.1 Quick Start Guide Overview 2-4
2.2 Quick Start MMC-100 Motion Controller Platform 2-6
2.3 Using the MMC-100 Motion Controller Platform 2-7
3. Technical Information ........................................................................................................................... 3-8
3.1 MMC-200 Specifications 3-8
3.2 Serial Port Setup 3-8
3.3 RJ11 RS485 Bus 3-8
4. Operation ............................................................................................................................................... 4-9
4.1 Axis Addressing 4-9
4.2 Feedback Control 4-10
4.3 HOM, MLN, and MLP 4-10
5. Commands .......................................................................................................................................... 5-11
5.1 Command Line Syntax 5-11
5.2 Command Line Format 5-11
5.3 Global Commands 5-12
5.4 Multiple Parameters 5-12
5.5 Synchronous Move 5-12
5.6 Internal Programming 5-12
5.7 Terminating Characters 5-12
5.8 Summary of Commands 5-13
5.9 Command Descriptions 5-15
5.10 Error Messages 5-90
6. Appendix ............................................................................................................................................. 6-94
6.1 Encoder Input Pin-out 6-94
6.2 Motor Pin-out 6-94
6.3 8-Pin Din IO connector 6-94
6.4 RS-485 Intermodular Connector Cable Pin-out 6-95
6.5 Firmware 6-95
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Command Index
Command
Description
Page
Command
Description
Page
ACC
Acceleration
16
MCS
Motor Current Setting
55
AMX
Maximum Allowable
Acceleration
17
MLN
Move to Negative Limit
56
ANR
Set Axis Number
18
MLP
Move to Positive Limit
57
CER
Clear Errors
19
MOT
Toggle Motor On/Off
58
CFG
Configuration Mode
20
MPL
Motor Polarity
59
CST
Correction Sample Time
21
MSA
Synchronous Move – Absolute
60
CVL
Correction Velocity
22
MSR
Synchronous Move – Relative
61
DAT
Dump Trace Data
23
MVA
Move Absolute
62
DBD
Closed Loop Deadband
24
MVR
Move Relative
63
DEC
Deceleration
25
PGL
Loop Program
64
DEF
Restore Factory Defaults
26
PGM
Begin Program Recording
65
DST
Derivative Sample Time
27
PGS
Run Program At Start-Up
66
DTG
Derivative Term Gain
28
PID
Set Feedback Constants
67
ENC
Select Encoder Resolution
29
POS
Position
68
END
End Program Recording
30
REZ
Set Resolution
69
EPL
Encoder Polarity
31
RST
Perform Soft Reset
70
ERA
Erase Program
32
RUN
Start Synchronous move
71
ERR
Read and Clear Errors
33
SAV
Save Axis Settings
72
ERG
Error Gain
34
STA
Status Byte
73
EST
Emergency Stop
35
STP
Stop Motion
74
EXC
Execute Program
36
SVP
Save Startup Position
75
FBK
Set Open or Closed Loop Mode
37
SYN
Sync
76
FMR
Upload Firmware
38
TLN
Negative Soft Limit Position
77
FSR
Full Steps Per Rev
39
TLP
Positive Soft Limit Position
78
GRR
Gear Ratio
40
TRA
Perform Trace
79
HCG
Home Configuration
41
UMX
Max Micro Steps
80
HOM
Home
42
UST
Micro steps
81
ITG
Integrator Term Gain
43
VEL
Velocity
82
IST
Integrator Sample Time
44
VER
Firmware Version
83
IWL
Integrator Windup Limit
45
VMX
Max. Allowable Velocity
84
JAC
Jog Acceleration and
Deceleration
46
VRT
Encoder Velocity
85
JOG
Jog Mode
47
WST
Wait For Stop
86
LCG
Limit Configuration
48
WSY
Wait For Sync
87
LDR
Positive/Negative Limit Location
49
WTM
Wait For Time Period
88
LIM
Limit Status
50
ZRO
Zero Position
89
LSP
Lead Screw Pitch
51
ZZZ
Take Axis Offline
90
LST
Program List
52
LPL
Limit Switch Polarity
53
MCM
Max Motor Current
54
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1. Introduction
1.1 Product Description
The MMC-200 is a high-performance integrated stepper motor controller/driver designed to be used as a standalone single axis unit, or stacked as a compact multi-axis module. The MMC-200 is capable of driving a stepper motor with a resolution as fine as 4096 microsteps per fullstep in open loop. The closed loop resolution is dependent on the resolution of the encoder (typically 50 nm).
1. LED Error Indicator 1 a. Red – An error has occurred
2. LED Addressing Indicator 2 a. Orange – Controller is Unaddressed b. Green – Controller has an address and is ready
3. Encoder Input, Male D-Sub 9 Pin Connector
4. Motor/Axis Output, Female D-Sub 9-Pin Connector
5. Power Supply, +24VDC, Regulated
6. RS485 Intermodular Connector
7. USB Connector
8. I/O Connector
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1.2 Features
• Integrated controller/driver for stepper motors
• Compact, modular design allows for bench-top or standard 2U height rack mounting
• Configurable as a standalone unit or stackable up to 16 axes
• Open loop/closed loop operation
• Open loop resolution of 4096 Micro steps per full step*
• Closed loop resolution dependent on the encoder (typically 50 nm)
• A quad B encoder feedback
• USB interface (one interface for up to 99 axes)
• Windows GUI and LabVIEW VI
1.3 Package Contents
If product is damaged or there are missing components, contact MICRONIX USA immediately. Do not discard product packaging in case of return shipment.
Package Contents:
• MMC-200 Controller
• User Manual
• Supplemental CD
• Power Cable
2. Quick Start Guide
2.1 Quick Start Guide Overview
The following Quick Start Guide is intended to provide a basic set-up of the MMC-200 in the least amount of time. The following paragraphs will provide a walkthrough of the steps needed to set­up the controller and verify that the system is working correctly.
1. Install Drivers a. To ensure correct communication between the module and PC, install the proper
drivers onto the communicating computer prior to connecting the MMC-200.
b. The drivers may be found on the supplemental installation CD or can be downloaded
from: http://www.ftdichip.com/Drivers/VCP.htm
2. Connect Motion Devices a. A single MMC-200 controller is capable of driving one stepper motor in either open or
closed loop.
b. Connect the male D-sub 9-pin stepper motor cable to the Motor/Axis Input (as shown
in the Product Description).
c. If applicable, connect the female D-sub 9-pin closed loop feedback cable to the
Encoder Input.
*This value is theoretical actual value with vary depending on the attached stepper motor.
3. Connect Module/Stack to PC a. Use the supplied Mini USB to USB cable to connect the MMC-200 controller to the
communicating PC. Only one USB cable is required per module/stack.
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4. Power Up Controller a. Connect the controller to a 24V, regulated power supply with the correct amperage
rating.
b. Each MMC-200 requires 1A. If powering a stack; add up the amperage requirements
of the individual controllers to determine the necessary power supply for the stack.
5. Check COM Port a. It is necessary to note the COM Port assigned to the MMC-200 when connecting to a
PC.
i. In Windows Vista Open the Device Manager:
1 Windows Logo (in the bottom left corner by default) 2 Control Panel 3 Device Manager
ii. In Window XP Open Device Manager:
1 Start (in the bottom left corner by default) 2 Control Panel 3 System 4 select the Hardware tab 5 Click the device manager button
iii. In Windows 7 Open the Device Manager:
b. After powering up the controller (Step 4), note the USB Serial Port assigned. See the
figure below showing a snapshot of the Device Manager window:
6. Continue to Quick Start MMC-100 Motion Controller Platform a. The following section will help you get running with the MMC-100 Motion Controller
Platform program.
Connected MMC-200 is assigned to COM4
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2.2 Quick Start MMC-100 Motion Controller Platform
The following Quick Start Guide is intended to provide a basic set-up of the MMC-100 MCP program. The MMC-200 can be run with the MMC-100 MCP though some commands will not show up in the settings tab; you will be able to access the full functionality of the MMC-200 with the MMC-100 MCP. The following paragraphs will provide a walkthrough of the steps needed to install the program and verify that the system is working correctly.
1. Pre-Installation a. This guide assumes you have already run through the previous Quick Start guide and
that the controller is on and connected to a Com port on your computer. Please verify that this is true.
b. You will need the .NET Framework 4.0. If you are unsure if you have the .NET Framework
4.0 follow these steps.
i. Open the start menu (windows icon if using Vista).
ii. Open the Control Panel
iii. Open "Add or Remove Programs" ("Programs and Features" if using Vista)
iv. Scroll through the list and find “Microsoft .NET Framework” If it is 4.0 skip to step-
2. Otherwise continue with step c.
c. To install the .NET Framework 4.0 you will need a connection to the internet.
i. Navigate to this site:
http://www.microsoft.com/downloads/details.aspx?FamilyID=9cfb2d51-5ff4­4491-b0e5-b386f32c0992&displaylang=en
ii. Download and run the web installer
iii. At the conclusion of this install you will be asked to restart your computer. Do
this now.
2. Install a. To install the MMC-100 motion controller platform double click the setup.exe file on the
supplied CD and follow the on screen instructions.
3. Run a. The installer placed a start menu short-cut to the MMC-100 MCP program. Make sure
that your MMC-200 is connected to your computer, powered on, and connected to a valid COM port as discussed in section 2.1
b. Open the start menu (or windows icon for vista) c. Open the ‘all programs’ tab d. Open the MICRONIX USA folder e. Run the MMC-100 MCP program
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2.3 Using the MMC-100 Motion Controller Platform
In the Quick Start Guide Overview you connected your MMC-200 to your computer. In the Quick Start MMC-100 Motion Controller Platform you installed and ran the MMC-100 MCP software. This section will describe the capabilities of the MMC-100 MCP program and give you a brief understanding of how to use it.
1. Port Control – The picture below depicts the program when the Port has been opened
a. Select the COM port associated with your MMC-200 as discussed in section 2.1,
step 5.
b. Click the Open Port button to connect to the MMC-200
i. This button should change giving you the option to close the port
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c. The Port field should change to indicate the Port is Open
and the terminal should populate with some information about the system and then turn blank. You are now ready to start moving a stage with your MMC-200. For more information about this program see the MMC-100 MCP program guide.
2. More information – more information about the MMC-100 MCP can be found in the MMC-100 MCP
program guide.
3. Technical Information
3.1 MMC-200 Specifications
Parameter
Description
Axes
1 (stackable up to 99 axes)
Motor Type
Stepper motors
Interface
USB 2.0 compliant
Commands
ASCII Commands
Trajectory Mode
Trapezoidal velocity profile
Servo Clock
10 kHz
Trajectory Update
1 kHz
Power Supply
Regulated 24V DC (1A per module/axis*)
Enclosure Dimensions
145 x 85 x 25
Software Interface
MMC-200 MCP, LabVIEW VI’s
*A single power supply may be used per stack. Each module/axis requires 1A maximum depending on the type of motor it is driving, therefore add up Individual module amperages to determine the power supply amperage requirement.
3.2 Serial Port Setup
If the MMC-200 is not automatically recognized by your computer, you will have to first install the FTDI interface drivers before communicating with the controller. The drivers are supplied on the supplemental CD under the folder MMC-200 Drivers or can be downloaded from:
http://www.ftdichip.com/Drivers/VCP.htm
Below are the virtual RS-232 configuration settings necessary for correct communication setup:
Software Parameter
Setting
Data Bits
8
Stop Bits
1
Parity
No
Handshake
No
Baud rate
38400
3.3 RJ11 RS485 Bus
The RS485 Intermodular RJ11 connector connects directly to the same Serial bus as the FTDI interface above. The RS485 line needs a terminating resistor of 22kΩ or higher. This connector can be used to communicate with the MMC-100 in the place of the USB connection. For more on the RS-485 Intermodular RJ11 connector see the Appendix 6.4.
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4. Operation
4.1 Axis Addressing
Auto Addressing is the default method of assigning axis numbers on start up. Controllers are automatically assigned axis numbers on every power up, starting with axis 1 and increasing consecutively until reaching axis 99.
Manual axis numbers may be assigned to a unique controller using the ANR Command. This overrides Auto Addressing, as the controller stores the axis number until reassigned or reset back to Auto Addressing. In the case of having a mix of manually assigned and auto addressed controllers, the Auto Addressed axis numbers increase consecutively after each manually assigned axis in the stack. For example; in a stack of 5 controllers with the third controller manually assigned to axis 10, the axis numbers will read: 1, 2, 10, 11, 12
If two controllers are accidentally assigned the same axis number, use a global command to reset all controllers back to Auto Addressing.
The figures shown below illustrate axis numbers for a 5 module stack with Auto Addressing assigned. Axis 1 is noted and shown in grey.
Horizontal stack (rear view)
With power inputs along bottom, Axis
1 is on the far left.
Vertical stack (rear view)
With power inputs along left hand
side, Axis 1 is on the very top.
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4.2 Feedback Control
The MMC-200 has four different movement modes of operation. When executing a move command, the controller will drive a stage differently when set to different modes. The FBK command is used to switch between these modes.
The first mode (nFBK0) is a traditional Open Loop. It follows a standard trapezoidal velocity characteristic. It bases the transition between acceleration, constant velocity and deceleration on counting steps of the stepper motor. This requires the FSR, LSP, and GRR settings to be correctly set for the attached motor. This feature is only available in firmware version 1.3.1 and higher.
The second mode (nFBK1) is a version of closed loop; meaning it takes position data from an attached encoder and uses it to ensure that it stops at the desired position. In this mode, the controller operates in open loop, but makes small open loop corrections to adjust the end position to within the deadband (DBD).
The third mode (nFBK2) is a version of closed loop; meaning it takes position data from an attached encoder and uses it to ensure that it stops at the desired position. In this mode the controller runs in the first open loop mode (nFBK0) until it reaches the deceleration point. At this point it activates the PID and actively corrects its trajectory to arrive at the correct position. This, unlike the first two modes can guarantee position within the specified deadband (DBD Command). However, this mode cannot guarantee a desired trajectory.
The fourth mode (nFBK3) is not applicable on the MMC-200.
4.3 HOM, MLN, and MLP
The HOM command all requires the attached stage to have an encoder. The MLN and MLP commands require either an attached encoder, or limit switches. HCG, LCG, LDR and LPL are all commands that affect the operation of either HOM or MLN and MLP. The HOM command will move negative direction by default. This can be changed using the HCG command. If the stage is above the index, it will move until it reaches the index then move a predetermined distance out of the index in the negative direction. The stage will then travel in the positive direction at a slower speed stopping at the edge of the index. If the stage is below the index it will move until it reaches a hard limit or the maximum travel. It then reverses direction and proceeds until it reaches the index. It will then travel a predetermined distance out of the index in the negative direction and finally travel toward the index at a slower velocity finally resting on the edge of the index. The HOM command will always home to the negative side of the limit.
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5. Commands
5.1 Command Line Syntax
There are three components to every command prompt. The first is the “Axis Number” which designates which controller, or axis, will receive the command. If the “Axis Number” is 0, then the
command will be sent globally to all connected controllers. It is possible to connect up to 99 controllers; therefore the “Axis Number” will be an integer value from 0 through 99.
The second component is the “Command”, which is always comprised of three letters. Each command is outlined, along with its corresponding parameters, in the Command Description section 5.9 of this manual.
The third and final component is the “Parameter”. This portion is command dependent, meaning
that the parameter value will change depending on the specific requirements of the “Command”.
Where applicable, a question mark (?) may be substituted to initiate a read operation which will return information regarding the particular command. There may be up to three separate parameters for a particular command, each parameter value is separated by a comma (,).
All white space (blank spaces) are ignored in the command format. The following are examples of equivalent commands:
4TRM13,45 4 TRM 13 , 45
5.2 Command Line Format
Commands are first executed in the order that they are input, then line by line. This means that two commands on the same line are executed significantly closer to each other than if they were on two separate lines. Each command is separated by a semicolon (;) and every command line ends in a terminator (EX: carriage return). The following is an example of a command line entry:
1MVR16;3MVR12 |Axis 1, Move 16 mm [16 degrees]; Axis 3, Move 12 mm [12 degrees]
Using multiple commands on the same command line allows for synchronization of different commands to different axes. Up to 8 commands are allowed per command line.
Only one read operation is allowed per line. The controller will not send information unless requested to do so by a read operation.
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5.3 Global Commands
Some commands have the option of being called globally. This means that you can send the same command to all available axes. To do this, replace the axis number of a global command with a
‘0’. For example; 0ACC 50 will set the acceleration of all available axes to 50 mm/s2 [degrees/s
2
].
5.4 Multiple Parameters
When dealing with a command that has multiple parameters, it is possible to change a single parameter by omitting numbers for the parameters that will remain unchanged. For example;
4PID,,3 will only change the third parameter to a new value, “3”.
5.5 Synchronous Move
It is possible to move multiple motion devices at the same time, or extremely close to, by setting up and executing a synchronous move. To set up a synchronous move, use the MSA and MSR commands on the same command line (up to 8 allowed) or on separate lines followed by a line terminator. To execute the move, use the RUN command on the proceeding command line followed by a line terminator. For example; 1MSA4;2MSA4;3MSA4 |Axis 1, Move 4mm; Axis 2, Move 4mm; Axis 3 Move 4mm 0RUN |Run Synchronous Move Or
1MSA4 |Axis 1, Move 4mm
2MSA4 |Axis 2, Move 4mm 3MSA4 |Axis 3 Move 4mm
0RUN |Run Synchronous Move
5.6 Internal Programming
A program may be used to save time when repeatedly using a sequence of commands. Each controller or axis must be programmed individually; however, multiple controllers may execute the same program at the same time. A list of available program numbers may be viewed with the PGM? command. Existing program numbers cannot be overridden unless previously erased using the ERA command.
To record a program sequence, enter the PGM command on a unique line followed by a line terminator. End a program sequence by entering the END command on a unique line followed by a line terminator. When you want to execute this program, use the EXC command. See the Summary of Commands page for a list of program compatible commands and more information about the PGM, END and EXC commands.
5.7 Terminating Characters
When communicating with the controller, it is necessary to note the terminating characters involved in transmitting and receiving data. To send data to the controller, enter the desired commands in the command line followed by the new line and carriage return terminating characters [\n\r], or just the carriage return terminating character [\r]. When receiving, each line of data will be followed by the new line terminating character [\n] and the final line will end in the new line and carriage return terminating characters [\n\r]. The Hexadecimal value for new line [\n] is 0X0A and for carriage return [\r] is 0X0D. The following is an example of data transmission:
1VEL0.005 \n\r |Axis 1, Set velocity to .005 mm/s [degrees/s
2
] [New line, Carriage Return]
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Summary of Commands
Command
Description
During
Motion
Real-time
Program
Global
Page
Set
Read
Set
Read
Set
Read
Set
Read
ACC
Acceleration
 
 
16
AMX
Maximum Allowable Acceleration
 
17
ANR
Set Axis Number
  
18
CER
Clear Errors
 
19
CFG
Configuration Mode
20
CST
Correction Sample Time
21
CVL
Correction Velocity
22
DAT
Dump Trace Data
  23
DBD
Closed Loop Deadband
24
DEC
Deceleration
  
 
25
DEF
Restore Factory Defaults


26
DST
Derivative Sample Time
27
DTG
Derivative Term Gain
28
ENC
Select Encoder Resolution
29
END
End Program Recording
30
EPL
Encoder Polarity
31
ERA
Erase Program
32
ERG
Error Gain
 
33
ERR
Read and Clear Errors
 
34
EST
Emergency Stop
35
EXC
Execute Program
 
36
FBK
Set Open or Closed Loop Mode
37
FMR
Upload Firmware

38
FSR
Full Steps Per Rev
 
39
GRR
Gear Ratio
40
HCG
Home Configuration
 
41
HOM
Home
  
 
42
ITG
Integrator Term Gain
43
IST
Integrator Sample Time
44
IWL
Integrator Windup Limit
45
JAC
Jog Acceleration and Deceleration
46
JOG
Jog Mode
47
LCG
Limit Configuration


48
LDR
Positive/ Negative Limit Location


49
LIM
Limit Status
  50
LSP
Lead Screw Pitch
51
LST
Program List

52
LPL
Limit Switch Polarity


53
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Continued…
see ANR command page 18 for more info
Command
Description
During
Motion
Real-time
Program
Global
Page
Set
Read
Set
Read
Set
Read
Set
Read
MCM
Max Motor Current
  54
MCS
Motor Current Setting
55
MLN
Move to Negative Limit

 
56
MLP
Move to Positive Limit

 
57
MOT
Toggle Motor On/Off
58
MPL
Motor Polarity
59
MSA
Synchronous Move – Absolute
 
60
MSR
Synchronous Move – Relative
 
61
MVA
Move Absolute
  
62
MVR
Move Relative
  
63
PGL
Loop Program
64
PGM
Begin Program Recording
 
65
PGS
Run Program At Start-Up

66
PID
Set Feedback Constants
67
POS
Read Current Position
  68
REZ
Set Resolution
69
RST
Perform Soft Reset
 
70
RUN
Start Synchronous move
 
71
SAV
Save Axis Settings

72
STA
Status Byte
  73
STP
Stop Motion
74
SVP
Save Startup Position

 
75
SYN
Sync

 
76
TLN
Negative Soft Limit Position
  
 
77
TLP
Positive Soft Limit Position
  
 
78
TRA
Perform Trace
  
 
79
UMX
Max Micro Steps
  80
UST
Micro Steps
81
VEL
Velocity
82
VER
Firmware Version
  83
VMX
Max. Allowable Velocity
  84
VRT
Encoder Velocity
  85
WST
Wait For Stop
  
86
WSY
Wait For Syc
  
87
WTM
Wait For Time Period
  
88
ZRO
Zero Position
  
89
ZZZ
Take Axis Offline
  
90
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5.8 Command Descriptions
Acceleration
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
 
Command Description:
This command is used to set the desired acceleration for the specified axis, distinct from the deceleration [DEC]. The acceleration value must be less than the maximum acceleration [AMX] for the command to be accepted.
Returns:
A read operation returns the acceleration value in mm/s2 for the specified axis.
Syntax:
nACCx – Standard syntax nACC? – Read acceleration value 0ACCx –All axes set acceleration value
Error [#]:
ACC? – Read operation with missing axis number [27]
nACC – Missing acceleration parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Acceleration ? – Read acceleration value
Parameter Range:
n – 0 to 99 x – 000.001 to AMX (500.000 mm/s
2
[degrees/s2])
Related Commands:
DEC, VEL, JAC, AMX
Example:
3ACC0.250 |Axis 3, Set acceleration to 0.25mm/s
2
[degrees/s2]
­4ACC? |Axis 4, Read acceleration value
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Maximum Allowable Acceleration
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
This command is used to set the maximum allowable acceleration for the specified axis.
Returns:
A read operation returns the maximum allowable acceleration value in mm/s2 for the specified axis.
Syntax:
nAMXx – Standard syntax nAMX? – Read maximum allowable acceleration value 0AMXx – All axes set maximum allowable acceleration value
Error [#]:
AMX? – Read operation with missing axis number [27]
nAMX – Missing maximum acceleration parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Maximum acceleration ? – Read maximum allowable acceleration value
Parameter Range:
n – 0 to 99 x – 000.001 to 500.000 mm/s
2
[degrees/s2]
Related Commands:
DEC, VEL, JAC, VMX, ACC
Example:
2AMX1.500 |Axis 2, Set max acceleration to 1.500
mm/s
2
[degrees/s2]
­6AMX? |Axis 6, Read max acceleration value
5-17
MICRONIX USA, LLC
Rev: 3.02
Set Axis Number
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to override Auto Addressing by manually assigning an axis number to a controller. Auto Addressing is the default method of assigning axis numbers on power up and may be reassigned to an axis by substituting a “0” for the parameter value. Simultaneous axis swapping is possible by using multiple ANR commands on the same command line.

This command can be called globally by specifying a ‘0’ for the
axis number; however it will only work if the new axis number parameter is set to ‘0’ for auto-addressing.
Returns:
A read operation returns the following axis number values for the specified axis: 0 – Auto Addressing assigned (default) 1-99 – Manually assigned, axis number displayed
Syntax:
nANRx – Standard syntax nANR? – Read axis number value
Error [#]: ANR? – Read operation with missing axis number [27] nANR – Missing new axis number parameter [28] ANRx – Missing axis number [30]
Parameter Description:
n[int] – Axis number x[int] – New axis number, 0 for Auto Addressing ? – Read axis number value
Parameter Range:
n – 0 to 99 x – 0 to 99
Related Commands:
None
Example:
5ANR1;1ANR5 |Simultaneous axis swapping: Axis 5, Set to axis 1;
Axis 1, Set to axis 5
­4ANR0 |Axis 4 , Set to Auto Addressing. However it will
remain axis 4 until the MMC-200 is reset
5-18
MICRONIX USA, LLC
Rev: 3.02
Clear Errors
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
Command Description:
This command is used to clear all error messages without reading them.
Returns:
A read operation cannot be used with this command.
Syntax:
nCER – Standard syntax 0CER – All axes clear error messages
Parameter Description:
n[int] – Axis number
Parameter Range:
n – 0 to 99 Related Commands:
ERR
Example:
1CER | Axis 1, clear error messages
–
0CER | All axes, clear error messages
5-19
MICRONIX USA, LLC
Rev: 3.02
Configuration Mode
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This setting determines whether the system resolution is calculated from the LSP, GRR, FSR settings (CFG == 0), or if it is entered directly by the user (CFG==1).
Returns:
0 – Resolution is automatically calculated 1 – Resolution is set manually by the user
Syntax:
nCFGx – Standard syntax nCFG? – Read configuration setting 0CFGx – Set all axes to configuration x
Error [#]:
CFG? – Read operation with missing axis number [27]
nCFG – Missing Configuration parameter [28]
Parameter Description:
n[int] – Axis number x[int] – Configuration Mode ? – Read Configuration Mode
Parameter Range:
n – 0 to 99 x – 0 or 1
Related Commands:
LSP, GRR, FSR
Example:
1CFG0 |Axis 1, resolution automatic configuration
­5CFG1 |Axis 5, resolution manual configuration
5-20
MICRONIX USA, LLC
Rev: 3.02
Correction Sample Time
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to change the correction sample time. Sample rate = 5kHz/CST. This term is only used the FBK modes 1. This feature only available in firmware version
1.3.1 and higher.
Returns:
The time value for the correction sample period
Syntax:
nCSTx – Standard syntax
Error [#]: CSTx – Missing axis number [30]
Parameter Description:
n[int] – Axis number x[float] – Sample time ? – Read correction sample time
Parameter Range:
n – 1 to 99 x – 1 to 5000
Related Commands:
CVL, FBK
Example:
2CST1 |Axis 2, Set correction sample time to 1]
5-21
MICRONIX USA, LLC
Rev: 3.02
Correction Velocity
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to change the correction velocity. This term is only used the FBK modes 1. This feature only available in firmware version 1.3.1 and higher.
Returns:
The value for the correction velocity
Syntax:
nCVL – Standard syntax
Error [#]: CVLx – Missing axis number [30]
Parameter Description:
n[int] – Axis number x[float] – Correction velocity ? – Read correction velocity
Parameter Range:
n – 1 to 99 x – 000.001 to VMX [default: 50 µm /s]
Related Commands:
CST, FBK
Example:
2CVL1 |Axis 2, Set correction velocity to 1]
5-22
MICRONIX USA, LLC
Rev: 3.02
Dump Trace Data
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
This command is used to read trace data from a specified axis initially recorded by the trace command [TRA]. The retrieved trace data set is dumped from the controller, consequently allowing the data to be retrieved only once.
Returns:
A read operation returns the trace data values for the specified axis in the following format: [Theoretical Position (.5nm)],[Actual Position(.5nm)], [DAC Sin], [DAC Cos]
Syntax:
nDAT? – Read trace data values
Error [#]: DAT? – Read operation with missing axis number [27] nDAT – Missing read operation parameter [28]
Parameter Description:
n[int] – Axis number ? – Read trace data values
Parameter Range:
n – 1 to 99 Related Commands:
TRA
Example:
11DAT? |Axis 11, Read trace data values
5-23
MICRONIX USA, LLC
Rev: 3.02
Closed Loop Deadband
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to set the acceptable deadband and deadband timeout values.
Deadband refers to the number of encoder counts (±) from the target that is considered acceptable. If the parameter (x1) is set to “0”, the controller will continuously oscillate around the target.
Deadband timeout refers to the amount of time that the controller will try to move into the deadband area. If the parameter (x2) is set to “0”, the controller will seek continuously.
Returns:
A read operation returns the deadband and deadband timeout values for the specified axis.
Syntax:
nDBDx1,x2 – Standard syntax nDBD? – Read deadband and deadband timeout values 0DBDx1,x2 – All axes set deadband and deadband timeout values
Error [#]:
DBD? – Read operation with missing axis number [27]
nDBD – Missing deadband and deadband timeout parameter
values [28]
Parameter Description:
n[int] – Axis number x1[int] – Deadband x2[float] – Deadband timeout ? – Read deadband and deadband timeout values
Parameter Range:
n – 0 to 99 x1 – 1 to 999 encoder counts, x2 – 0 for infinite, Seconds (default 0)
Related Commands:
ENC, EPL
Example:
1DBD10,1 |Axis 1, Set deadband to 10 encoder counts
& deadband timeout to 1 second
­4DBD5,0 |Axis 4, Set deadband to 5 encoder counts &
deadband timeout to infinite
5-24
MICRONIX USA, LLC
Rev: 3.02
Deceleration
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
 
Command Description:
This command is used to set the desired deceleration for the specified axis, distinct from the acceleration [ACC]. The deceleration value must be less than the maximum acceleration value [AMX] for the command to be accepted.
Returns:
A read operation returns the deceleration value in mm/s2 for the specified axis.
Syntax:
nDECx – Standard syntax nDEC? – Read deceleration value 0DECn – All axes set deceleration value
Error [#]: DEC? – Read operation with missing axis number [27] nDEC – Missing deceleration parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Deceleration ? – Read deceleration value
Parameter Range:
n – 0 to 99 x – 000.001 to AMX (500.000 mm/s
2
) [degrees/s2]
Related Commands:
ACC, AMX, VEL
Example:
2DEC1.25 |Axis 2, Set deceleration to 1.25 mm/s
2
[degrees/s2]
­7DEC? |Axis 7, Read deceleration value
5-25
MICRONIX USA, LLC
Rev: 3.02
Restore Factory Defaults
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
Command Description:
This command restores the factory default parameters.
Returns:
A read operation is not available with this command.
Syntax:
nDEF – Standard syntax
Error [#]: DEF – Missing axis number [30]
Parameter Description:
n[int] – Axis number
Parameter Range:
n – 1 to 99 Related Commands:
SAV
Example:
1DEF |Axis 2, Set default parameters]
5-26
MICRONIX USA, LLC
Rev: 3.02
Derivative Sample Time
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to change the Derivative sample time. Sample rate = 5kHz /IST. This term is only used the FBK modes 2 and 3. This feature only available in firmware version 1.3.1 and higher.
Returns:
The time value for the Derivative sample period
Syntax:
nDST – Standard syntax
Error [#]: DST – Missing axis number [30]
Parameter Description:
n[int] – Axis number x[int] – Derivative sample time ? – Read derivative sample time
Parameter Range:
n – 1 to 99 x – 1 to 5000
Related Commands:
PID, FBK
Example:
2DST1 |Axis 2, Set Derivative sample time to 1]
5-27
MICRONIX USA, LLC
Rev: 3.02
Derivative Term Gain
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to change derivative Term gain. Dterm*DTG, Strengthens the effect of the dTerm. This term is only used the FBK modes 2 and 3. This feature only available in firmware version 1.3.1 and higher.
Returns:
The time value for the correction sample period
Syntax:
nDTGx – Standard syntax
Error [#]: DTGx – Missing axis number [30]
Parameter Description:
n[int] – Axis number x[int] – derivative gain ? – Read derivative gain value
Parameter Range:
n – 1 to 99 x – 1 to 5000
Related Commands:
PID, FBK, DST
Example:
2DTG1 |Axis 2, Set Derivative gain term to 1]
5-28
MICRONIX USA, LLC
Rev: 3.02
Set Encoder Resolution
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to set the desired encoder resolution for the specified axis. When a digital encoder is connected, encoder resolution is determined by the encoder itself. Analog encoder resolution can be set by the controller.
Returns:
A read operation returns the encoder resolution value for the specified axis.
Syntax:
nENCx – Standard syntax nENC? – Read encoder resolution value 0ENCx – All axes execute encoder resolution value
Error [#]:
ENC? – Read operation with missing axis number [27]
nENC – Missing encoder resolution parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Encoder resolution ? – Read encoder resolution value
Parameter Range:
n – 0 to 99 x – 0.001 to 999.999 µm/count (milli-degrees/count)
Related Commands:
EAD
Example:
2ENC10 |Axis 2, Set encoder resolution to 10 microns/count
(10 milli- degrees/count)
5-29
MICRONIX USA, LLC
Rev: 3.02
End Program Recording
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
Command Description:
This command is used to exit out of program recording mode, which is initiated by the PGM command. The END command must be placed separately on the last line of the program sequence. The resulting program is saved upon exit for later use.
Returns:
A read operation is not available with this command.
Syntax:
nEND – Standard syntax
Error [#]: END – Missing axis number [30]
Parameter Description:
n[int] – Axis number
Parameter Range:
n – 1 to 99 Related Commands:
REC, EXC, PGM
Example:
1PGM |Axis 1, Begin program recording 1VEL1;1ACC.5 |Axis 1, Set velocity value to 1 mm/s; Axis 1, Set
acceleration value to 0.5 mm/s2 [degrees/s2]
1END |Axis 1, End program recording
5-30
MICRONIX USA, LLC
Rev: 3.02
Encoder Polarity
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to switch the encoder signal polarity for the specified axis. If the controller doesn’t seem to be recording encoder position correctly, the polarity of the encoder signals could be reversed. Use this command to switch from the default setting (normal operation, n=0).
Returns:
A read operation returns the following encoder polarity values for the specified axis:
0 – Normal operation
1 – Reverse operation
Syntax:
nEPLx – Standard syntax nEPL? – Read encoder polarity value 0EPLx – All axes execute encoder polarity value
Error [#]:
EPL? – Read operation with missing axis number [27]
nEPL – Missing encoder polarity parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Encoder polarity ? – Read encoder polarity value
Parameter Range:
n – 0 to 99 x – 0 for normal operation, 1 for reverse operation
Related Commands:
MPL
Example:
13EPL0 |Axis 13, Set encoder polarity to normal
operation
­6EPL1 |Axis 6, Set encoder polarity to reverse operation
5-31
MICRONIX USA, LLC
Rev: 3.02
Erase Program
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
Command Description:
This command is used to erase a specified program from an axis. Before recording a program, use the LST command to see what program numbers are available for that axis. There are 16 program numbers available allowing up to 16 programs to be stored. An existing program cannot be overwritten and must be erased first. Therefore, use this command to erase the specified program and make space for a new one.
Returns:
A read operation is not available with this command.
Syntax:
nERAx – Standard syntax
Error [#]: ERAx – Missing axis number [30] nERA – Missing program number parameter [28]
Parameter Description:
n[int] – Axis number x[int] – Program number to be erased
Parameter Range:
n – 1 to 99 x – 1 to 16
Related Commands:
LST
Example:
5ERA4 |Axis 5, Erase program 4
5-32
MICRONIX USA, LLC
Rev: 3.02
Error Gain
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to change the error gain. This term is only used the FBK modes 2 and 3. This feature only available in firmware version 1.3.1 and higher.
Returns:
The gain value for the PID error
Syntax:
nCST x – Standard syntax
Error [#]: ERGx – Missing axis number [30]
Parameter Description:
n[int] – Axis number x[int] – Error Gain ? – Read error gain value
Parameter Range:
n – 1 to 99 x – 1 to 50000
Related Commands:
PID, FBK
Example:
2ERG1 |Axis 2, Set Error Gain to 1]
5-33
MICRONIX USA, LLC
Rev: 3.02
Read and Clear Errors
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
This command is used to read and clear any pending error messages. See the error table on page 5-91 to 5-94
Returns:
A read operation returns a list of error messages for the specified axis in the following format. “AAA” signifies the specific command name that the error corresponds to.
Error Number – Description [AAA]
Syntax:
nERR? – Standard syntax
Error [#]: ERR? – Read operation with missing axis number [123]
Parameter Description:
n[int] – Axis number ? – Read error messages
Parameter Range:
n – 1 to 99 Related Commands:
None
Example:
3ERR? | Axis 3, Read error messages
5-34
MICRONIX USA, LLC
Rev: 3.02
Emergency Stop
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
Command Description:
This command is used to stop a specific axis or all connected axes simultaneously in case of an emergency. The controller executes the largest possible deceleration.
Returns:
A read operation is not available with this command.
Syntax:
nEST – Standard syntax 0EST – All axes execute emergency stop
Parameter Description:
n[int] – Axis number
Parameter Range:
n – 0 to 99 Related Commands:
STP
Example:
8EST |Axis 8, Emergency stop
­0EST |All axes, Emergency stop
5-35
MICRONIX USA, LLC
Rev: 3.02
Execute Program
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
Command Description:
This command is used to execute a specified program for one or multiple axes. If executing a program globally, all connected axes should have individual programs stored under the specified program number prior to execution.
Returns:
A read operation is not available with this command.
Syntax:
nEXCx – Standard syntax 0EXCx – All axes execute program
Error [#]: nEXC – Missing program number parameter [123]
Parameter Description:
n[int] – Axis number x[float] – Program number to be executed
Parameter Range:
n – 0 to 99 x – 1 to 64
Related Commands:
PGM
Example:
4EXC5 |Axis 4, Execute program 5
­0EXC2 |All axes, Execute program 2
5-36
MICRONIX USA, LLC
Rev: 3.02
Set Open or Closed Loop Mode
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to select the feedback mode of the controller. See section 4.2 for more details
Returns:
A read operation returns the following loop mode values for the specified axis:
0 – Open Loop [default] 1 – Open Loop with open loop position correction 2 – Open Loop Movement, Closed Loop deceleration 3 – Not for use on the MMC-200
Syntax:
nFBKx – Standard syntax nFBK? – Read encoder mode value
Error [#]: FBKx – Missing axis number [30]
FBK? – Read operation with missing axis number [27]
nFBK – Missing closed/open loop parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Open/closed loop mode ? – Read encoder mode value
Parameter Range:
n – 1 to 99 x – 0 for open loop mode, 1 for open loop with open loop corrections, 2
for open loop with closed loop deceleration, 3 closed loop
Related Commands:
ENC, EAD, EPL, DBD,PID, CST, CVL, DST, DTG, ERG, IST, IWL, ITG
Example:
2FBK3 |Axis 2, Set closed loop mode
5-37
MICRONIX USA, LLC
Rev: 3.02
Upload Firmware
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
Command Description:
This command is used by the bootloader to upload new firmware to the specified axis.
Returns: A read operation cannot be used with this command.
Syntax:
nFMR – Standard syntax
Error [#]: FMR – Missing axis number [30]
Parameter Description:
n[int] – Axis number
Parameter Range:
n – 1 to 99 Related Commands:
VER
Example:
1FMR | Axis 1, upload new firmware
5-38
MICRONIX USA, LLC
Rev: 3.02
Full Steps Per Revolution
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to set the number of full steps per single revolution of the motor shaft. It is determined by the motor.
Returns:
A read operation returns the Full Steps Per Revolution for the specified axis.
Syntax:
nFSRx – Standard syntax nFSR? – Read Full Steps Per Revolution
0FSRx –All axes set Full Steps Per Revolution to x
Error [#]:
FSR? – Read operation with missing axis number [27]
nFSR – Missing full step per rev parameter [28]
Parameter Description:
n[int] – Axis number x[int] – full steps per revolution ? – Read full steps per revolution value
Parameter Range:
n – 0 to 99 x – 0 to 10000
Related Commands:
Example:
1FSR2000 |Axis 1, Set 2000 Full Steps Per Rev
­5FSR? |Axis 5, Read Full steps/ Revolution
5-39
MICRONIX USA, LLC
Rev: 3.02
Gear Ratio
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to set the gear ratio. If no gearing is used it should be set to 1:1, which is the default.
Returns:
A read operation returns the velocity value in mm/s for the specified axis.
Syntax:
nGRRx,y – Standard syntax nGRR? – Read Gear ratio value 0GRRx,y – all axes set gear ratio to x:y
Error [#]:
GRR? – Read operation with missing axis number [27]
nGRR – Missing Gear Ratio parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Leadscrew Revs y[float] – Motor Shaft Revs ? – Read Gear Ratio value
Parameter Range:
n – 0 to 99 x – 1 – 50000 y – 1 – 50000
Related Commands:
Example:
1GRR100,1 |Axis 1, 100:1
­5GRR? |Axis 5, Read Gear Ratio value
5-40
MICRONIX USA, LLC
Rev: 3.02
Home Configuration
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
 
Command Description:
This command is used to select the direction of motion when the Home [HOM] command is initialized.
Returns:
A read operation returns the current direction setting:
0 – Home starts in the direction of the negative limit 1 – Home starts in the direction of the positive limit
Syntax:
nHCGx – Standard syntax 0HCGx – All axes set direction nHCG? – Read direction setting
Error [#]:
HCG? – Read operation with missing axis number [27]
nHCG – Missing direction setting [28]
Parameter Description:
n[int] – Axis number x[int] – Set direction of motion.
Parameter Range:
n – 0 to 99 x – 0 for setting motion in the direction of the negative limit
1 for setting motion in the direction of the positive limit
Related Commands:
HOM
Example:
3HCG0 |Axis 3, Set initial direction of Home
command towards the negative limit
­0HCG1 |All Axes, Set initial direction of Home
command towards the positive limit
5-41
MICRONIX USA, LLC
Rev: 3.02
Home
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
 
Command Description:
This command is used to find the home (zero) position for a specified axis. An error will occur if there is no encoder signal at the time of execution. Home is configured using the HCG command. This command will jog the stage till it reaches the limit configured by the HCG command. It will then acquire the zero position by looking for the index. This command blocks all communication over the serial port during motion. The controller will buffer all commands sent during this period and execute them once the command has found the index. Caution: if you write too many commands while this command is executing you run the risk of overloading the receive buffer.
Returns:
A read parameter returns the following calibration values for the specified axis: 0 – Not calibrated to home position 1 – Calibrated to home position
Syntax:
nHOM – Standard syntax nHOM? – Returns 1 if homed since last startup otherwise returns 0 0HOM – All axes execute home position
Error [#]:
HOM? – Read operation with missing axis number [27]
Parameter Description:
n[int] – Axis number
Parameter Range:
n – 0 to 99 Related Commands:
HCG
Example:
1HOM |Axis 1, Move to home position
5-42
MICRONIX USA, LLC
Rev: 3.02
Integrator Sample Time
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to change the sample time for the I Term. Sample rate = 5kHz/IST. This term is only used the FBK modes 2 and
3. This feature only available in firmware version 1.3.1 and higher.
Returns:
The time value for the correction sample period
Syntax:
nISTx – Standard syntax
Error [#]: IST – Missing axis number [30]
Parameter Description:
n[int] – Axis number x[int] – sample time ? – Read Integrator sample time
Parameter Range:
n – 1 to 99 x – 1 to 5000
Related Commands:
FBK, PID, IWL, ITG
Example:
2IST1 |Axis 2, Set integrator sample time to 1]
5-43
MICRONIX USA, LLC
Rev: 3.02
Integrator Term Gain
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to change the Integrator gain. iTerm = iTerm/ ITG Lessens the effect of the iTerm. This term is only used the FBK modes 2 and 3. This feature only available in firmware version 1.3.1 and higher.
Returns:
The Integrator gain value.
Syntax:
nITGx – Standard syntax
Error [#]: ITG – Missing axis number [30]
Parameter Description:
n[int] – Axis number x[int] – Integrator Gain ? – Read integrator gain value
Parameter Range:
n – 1 to 99 x – 1 to 5000
Related Commands:
IST, IWL, PID, FBK
Example:
2ITG1 |Axis 2, Set integrator term gain to 1]
5-44
MICRONIX USA, LLC
Rev: 3.02
Integrator Windup Limit
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
Command Description:
This command is used to change the upper limit to the integrator wind up. This term is only used the FBK modes 2 and 3. This feature only available in firmware version 1.3.1 and higher.
Returns:
The integrator windup limit
Syntax:
nIWLx – Standard syntax
Error [#]: IWL – Missing axis number [30]
Parameter Description:
n[int] – Axis number x[int] – Windup Limit ? – Read Windup Limit value
Parameter Range:
n – 1 to 99 x – 1 to 999999
Related Commands:
IST, IWL, ITG, FBK
Example:
2IWL1 |Axis 2, Set integrator windup limit to 1]
5-45
MICRONIX USA, LLC
Rev: 3.02
Jog Acceleration and Deceleration
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to set the desired value for the jog acceleration and deceleration for a specified axis. The controller will not allow for JAC values that are greater than AMX.
Returns:
A read operation returns the jog acceleration and deceleration value in mm/s2 for the specified axis.
Syntax:
nJACx – Standard syntax 0JACx – All axes execute acceleration value nJAC? – Read acceleration value
Error [#]:
JAC? – Read operation with missing axis number [27]
nJAC – Missing acceleration parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Jog Acceleration ? – Read Jog acceleration value
Parameter Range:
n – 0 to 99 x – .001 to 500.000 mm/s
2
[degrees/s2]
Related Commands:
ACC, DEC, AMX
Example:
4JAC0.1 |Axis 4, Set jog acceleration & deceleration to
0.1 mm/s2 [degrees/s2]
5-46
MICRONIX USA, LLC
Rev: 3.02
Jog Mode
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
Command Description:
This command is used to jog a specific axis, or move continuously in a direction with no target position. The jog velocity is a percentage of the maximum velocity and may be changed on­the-fly by sending another JOG command during motion.
Returns:
A read operation is not available with this command.
Syntax:
nJOGx – Standard syntax
Error [#]: JOGx – Missing axis number [30] nJOG – Missing velocity parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Velocity
Parameter Range:
n – 1 to 99 x – -100.000% to 100.000 % (of maximum velocity)
– 0 to stop
Related Commands:
JAC
Example:
4JOG10 |Axis 4, Jog at 10% maximum velocity
5-47
MICRONIX USA, LLC
Rev: 3.02
Limit Configuration
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command selects whether the limit switch inputs on the motor connector are ignored, otherwise it will stop motion.
Returns:
A read operation is not available with this command.
Syntax:
nLCGx – Standard syntax
Error(s): LCGx – Missing axis number [30] nLCG – Missing program number parameter [28]
Parameter Description:
n[int] – Axis number x[int] – 0 – ignore [default]
1– active
Parameter Range:
n – 1 to 99 x – 0 – ignore [default]
1 – Home uses Soft Limits 2 – Limits Switches Enabled 3 – Home Uses Soft Limits and Limit Switches enabled
Related Commands:
LPL
Example:
1LCG1 |Axis 1, set limit switches active
5-48
MICRONIX USA, LLC
Rev: 3.02
Positive/ Negative Limit Location
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
Determines orientation of Positive limit, and negative limit. Returns:
A read operation returns the following limit direction values for the specified axis:
0 – Normal orientation
1 – Reverse orientation
Syntax:
nLDRx – Standard syntax nLDR? – Read velocity value 0LDRx – Missing axis number, all axes set limit direction
Error [#]:
LDR? – Read operation with missing axis number [27]
nLDR – Missing limit parameter [28]
Parameter Description:
n[int] – Axis number x[int] – limit direction value ? – Read limit direction value
Parameter Range:
n – 0 to 99 x – 0 or 1
Related Commands:
Example:
1LDR1 |Axis 1, set to reverse orientation
­5LDR? |Axis 5, Read limit switch orientation
5-49
MICRONIX USA, LLC
Rev: 3.02
Limit Status
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
   
Command Description:
Returns the status of both limit switches in the form LSP, LSN. This is useful for limit switch configuration. Returns:
A read operation returns current limit status for the specified axis.
Syntax:
nLIM? – Standard syntax
Error [#]: LIM? – Read operation with missing axis number [123]
Parameter Description:
n[int] – Axis number ? – Read limit switches
Parameter Range:
n – 1 to 99 Related Commands:
None
Example:
6LIM? | Axis 6, read current limit status
5-50
MICRONIX USA, LLC
Rev: 3.02
Lead Screw Pitch
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command sets the lead screw pitch. Returns:
A read operation returns the lead screw pitch value in mm for the specified axis.
Syntax:
nLSPx – Standard syntax nLSP? – Read lead screw pitch value 0LSPx – All axes set lead screw pitch to x
Error [#]:
LSP? – Read operation with missing axis number [27]
nLSP – Missing pitch parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Lead Screw Pitch ? – Read Lead Screw Pitch
Parameter Range:
n – 0 to 99 x – 1nm(.000001) to 999.999999mm
Related Commands:
Example:
1LSP.25 |Axis 1, Set pitch to 0.25mm
­5LSP? |Axis 5, Read Lead Screw Pitch
5-51
MICRONIX USA, LLC
Rev: 3.02
Program List
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
Command Description:
This command is used to display the individual commands entered by the user to create the specified program. NOTE: Commands are returned sequentially and individually, which means in the Micronix GUI they will be listed from bottom (first returned) to top (last returned).
Returns:
A read operation returns the program table for the specified axis.
Syntax:
nLSTx – Standard syntax
Error [#]: LSTx – Read operation with missing axis number [123]
Parameter Description:
n[int] – Axis number x[int] – # program table to be read
Parameter Range:
n – 1 to 99 Related Commands:
PGM, ERA,
Example:
6LST1 | Axis 6, read program table for program 1
5-52
MICRONIX USA, LLC
Rev: 3.02
Limit Switch Polarity
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command sets whether the limit switch inputs are active high[1] or low[0]
Returns:
A read operation returns the program table for the specified axis.
Syntax:
nLPLx – Standard syntax
Error(s): LPLx – Missing axis number [30] nLPL – Missing limit polarity parameter [28]
Parameter Description:
n[int] – Axis number x – 0 –Active Low – 1 – Active High
Parameter Range:
n – 1 to 99 x – 0 – active low [default]
1– active high
Related Commands:
LCG
Example:
6LPL1 | Axis 6, limit switches set to active high
5-53
MICRONIX USA, LLC
Rev: 3.02
Max Motor Current
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
This command is used to read the maximum output current to the motor as determined by hardware. The MCS setting cannot exceed this value.
Returns:
A read operation returns the max motor current value in Amps for the specified axis.
Syntax:
nMCMx – Standard syntax nMCM? – Read max motor current value
Error [#]:
MCM? – Read operation with missing axis number [27]
nMCM – Missing current parameter [28]
Parameter Description:
n[int] – Axis number ? – Read max motor current value
Related Commands: MCS, MCR
Example:
5MCM? |Axis 5, Read max motor current value
5-54
MICRONIX USA, LLC
Rev: 3.02
Motor Current Setting
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command sets the desired current output level.
Returns:
A read operation returns the Motor current value in Amps for the specified axis.
Syntax:
nMCSx – Standard syntax nMCS? – Read Motor Current value 0MCSx – All axes set Motor Current
Error [#]:
MCS? – Read operation with missing axis number [27]
nMCS – Missing current parameter [28]
Parameter Description:
n[int] – Axis number x[float] – motor current in Amps ? – Read current value
Parameter Range:
n – 0 to 99 x – 0 to MCM (2A)
Related Commands:
MCM
Example:
1MCS.25 |Axis 1, Set motor current to 0.25A
­5MCS? |Axis 5, Read motor current value
5-55
MICRONIX USA, LLC
Rev: 3.02
Move to Negative Limit
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
This command initiates a move to the negative limit position. An error will occur if there is no encoder signal at the time of execution. This command blocks all communication over the serial port during motion. The controller will buffer all commands sent during this period and execute them once the command has found the limit.
Returns:
A read operation is not available with this command.
Syntax:
nMLN – Standard syntax 0MLN – All axes execute move to negative limit position
Error [#]: MLN – Missing axis number [30]
Parameter Description:
n[int] – Axis number
Parameter Range:
n – 0 to 99 Related Commands:
MLP,LCG
Example:
8MLN |Axis 8, Move to negative limit position
­0MLN |All Axes, Move to negative limit position
5-56
MICRONIX USA, LLC
Rev: 3.02
Move to Positive Limit
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
This command initiates a move to the positive limit position. An error will occur if there is no encoder signal at the time of execution. This command blocks all communication over the serial port during motion. The controller will buffer all commands sent during this period and execute them once the command has found the limit.
Returns:
A read operation is not available with this command.
Syntax:
nMLP – Standard syntax 0MLP – All axes execute move to positive limit position
Error [#]: MLP – Missing axis number [30]
Parameter Description:
n[int] – Axis number
Parameter Range:
n – 0 to 99 Related Commands:
MLN, LCG
Example:
1MLP |Axis 1, Move to positive limit position
­0MLP |All Axes, Move to positive limit position
5-57
MICRONIX USA, LLC
Rev: 3.02
Toggle Motor Off/On
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to turn the motor current flow “Off” or “On” for a specified axis. Primarily used for stages utilizing stepper motors where the motor would be unable to rotate freely while powered.
Returns:
A read operation returns the following motor current off/on values for the specified axis: 0 – Motor current is off 1 – Motor current is on
Syntax:
nMOTx – Standard syntax nMOT? – Read motor current off/on value 0MOTx – All axes set motor value
Error [#]:
MOT? – Read operation with missing axis number [27]
xMOT – Missing motor off/on parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Motor current off/on ? – Read motor current off/on value
Parameter Range:
n – 0 to 99 x – 0 for motor current off
1 for motor current on
Related Commands:
None
Example:
1MOT0 |Axis1, Set motor current to off
5-58
MICRONIX USA, LLC
Rev: 3.02
Toggle Motor Polarity
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command set the motor polarity for the specified axis. If the theoretical positive direction is away from the motor, changing this setting will make the theoretical positive direction towards to motor.
Returns:
A read operation returns the current motor polarity setting for the specified axis.
Syntax:
nMPLx – Standard syntax nMPL? – Read Motor polarity value 0MPLx – All axes set motor polarity value
Error [#]:
MPL? – Read operation with missing axis number [27]
nMPL – Missing motor polarity parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Motor Polarity setting ? – Read motor current off/on value
Parameter Range:
n – 0 to 99 x – 0 Normal
1 Reverse
Related Commands:
MVR
Example:
1MPL0 |Axis1, To normal Polarity
5-59
MICRONIX USA, LLC
Rev: 3.02
Synchronous Move - Absolute
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
This command is used to set up a synchronous move using the absolute position of the axes involved. This command is most useful when coordinating motion to an absolute position between 2 or more axes and requires a RUN command on a separate line to execute the synchronous move. It is recommended to run multiple MSA commands on the same command line, as they are executed closer together than on separate lines. If the position is outside of the soft limits, the command will be ignored.
Returns:
A read operation is not available with this command.
Syntax:
nMSAx – Standard syntax 0MSAx – All axes setup synchronous move
Error [#]: nMSA – Missing absolute position parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Absolute position
Parameter Range:
n – 0 to 99 x – ± 0.000001 to 999.999999 mm (degrees)
Related Commands:
RUN, MSR
Example:
1MSA10;2MSA10 |Axis 1, Move to absolute position: 10
mm[degrees]; Axis 2, Move to absolute position: 10 mm [degrees]
0RUN |All axes, Execute synchronous move
­0MSA5 |All axes, Move to absolute position: 5 mm
[degrees]
0RUN |All axes, Execute synchronous move
5-60
MICRONIX USA, LLC
Rev: 3.02
Synchronous Move – Relative
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
This command is used to set up a relative move using the relative position of the axes involved. This command is most useful when coordinating relative positions between 2 or more axes and requires a RUN command on a separate line to execute the synchronous move. It is recommended to use multiple MSR commands on the same command line, as they are executed closer together than on separate lines. If the position is outside of the soft limits, the command will be ignored.
Returns:
A read operation is not available with this command.
Syntax:
nMSRx – Standard syntax 0MSRx – All axes setup synchronous move
Error [#]: nMSR – Missing relative position parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Relative position
Parameter Range:
n – 0 to 99 x – ± 0.000001 to 999.999999 mm (degrees)
Related Commands:
RUN, MSA
Example:
4MSR.1;5MSR.5 |Axis 4, Move 0.1 mm [degrees]; Axis 5, Move 0.5
mm [degrees]
0RUN |Execute synchronous move
­0MSR0.01 |All axes, Move 0.01 mm [degrees] 0RUN |All axes, execute synchronous move
5-61
MICRONIX USA, LLC
Rev: 3.02
Move Absolute
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
This command is used to initiate an instantaneous move to an absolute position for a specified axis. If the position is outside of the soft limits, the command will be ignored.
Returns:
A read operation is not available with this command.
Syntax:
nMVAx – Standard syntax 0MVAx – All axes execute instantaneous move
Error(s): nMVA – Missing absolute position parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Absolute position
Parameter Range:
n – 0 to 99 x – -999.999999 to 999.999999 mm (degrees)
Related Commands:
MVR, POS
Example:
4MVA14.5 |Axis 4, Move to absolute position: 14.5 mm [degrees]
­0MVA5.5 |All axes, Move to absolute position: 5.5 mm [degrees]
5-62
MICRONIX USA, LLC
Rev: 3.02
Move Relative
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
This command is used to initiate an instantaneous move to a relative position for a specified axis. If the position is outside of the soft limits, the command will be ignored.
Returns:
A read operation is not available with this command.
Syntax:
nMVRx – Standard syntax 0MVRx – All axes execute command.
Error(s): nMVR – Missing relative position parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Relative position
Parameter Range:
n – 0 to 99 x – ± 0.000001 to 999.999999 mm [degrees]
Related Commands:
MVA, POS
Example:
6MVR10 |Axis 6, Move 10 mm [degrees]
­0MVR.89 |All axes, Move 0.89 mm [degrees]
5-63
MICRONIX USA, LLC
Rev: 3.02
Loop Program
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to change the number of times a program will execute. If the program loop setting is 0, any program that is executed will run in a continuous loop. It can be combined with the PGS command to run a program continuously on startup. To disable program looping, set PGL to 1. A looping program can be stopped at any time by sending the STP or EST commands.
This version of the command available in firmware version 1.3.11 and up. Prior version have an on/off PGL setting 1/0.
Returns:
A read operation returns the program loop setting for the specified axis.
Syntax:
nPGLx – Standard syntax
Error(s): PGLx – Missing axis number [30] nPGL – Missing program number parameter [28]
Parameter Description:
n[int] – Axis number x[int] – loop flag parameter
Parameter Range:
n – 1 to 99 x – 0 – Loop indefinitely
1 – Don’t Loop
2 to 999999 – number of times an executed command will repeated
Related Commands:
PGS, STP
Example:
1PGL0 |Axis 1, Run program 1 continuously 1PGL5 |Axis 1, Run program 5 times
5-64
MICRONIX USA, LLC
Rev: 3.02
Begin Program Recording
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to enter program recording mode for a specified axis. The program being recorded must use a unique program number or else the program will be ignored. Us the LST command to check program number availability and use the ERA command to erase any previously recorded programs. Each program has a size limit of 4Kb.
Returns:
A read operation in not available for this command
Syntax:
nPGMx – Standard syntax nPGM? – Read a binary representation of written program numbers
If programs 1 and 2 are written it will return 3 If programs 1 and 4 are written it will return 9 If only program 1 is written it will return 1 If only program 3 is written it will return 4
Error(s): PGMx – Missing axis number [30] nPGM – Missing program number parameter [28]
Parameter Description:
n[int] – Axis number x[int] – Program number to be recorded
Parameter Range:
n – 1 to 99 x – 1 to 16
Related Commands:
END, EXC, LST, ERA
Example:
1PGM3 |Axis 1, Begin recording program. Save program
as program 3
5-65
MICRONIX USA, LLC
Rev: 3.02
Run Program At Start-Up
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to set a program to run immediately on start­up. Only one program per axis can run on start up.
Returns:
A read operation returns a value for the specified axis in the format below: 0 – No program set to run 1-16 – Program set to run on start-up
Syntax:
nPGSx – Standard syntax 0PGSx – Missing axis number, all axes set program to run on start-up nPGS? – Read program(s) set to run on start-up
Error [#]: PGS? – Read operation with missing axis number [27]
nPGS – Missing program set to run on start-up parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Program set to run on start-up ? – Read encoder mode value
Parameter Range:
n – 0 to 99 x – 0 - No program 1 to 16- Specific program set to run on start-up
Related Commands:
LST, PGM
Example:
6PGS5 | Axis 6, set program 5 to run on start-up – 0PGS23 | All axes, set program 23 to run on start-up – 3PGS? | Axis 3, Read program to run on start-up – 3PGS0 | Axis 3, Set no program to run on start-up
5-66
MICRONIX USA, LLC
Rev: 3.02
Set Feedback Constants
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command is used to set the encoder feedback constants for a specified controller.
Returns:
A read operation returns the encoder feedback constant values for the specified axis.
Syntax:
nPIDx1,x2,x3 – Standard syntax nPID? – Read encoder feedback constant values
Error(s): PIDx1,x2,x3 – Missing axis number [30]
PID? – Read operation with missing axis number [27]
nPID – Missing encoder feedback constant parameters
[28]
Parameter Description:
n[int] – Axis number x1[float] – K
p
(proportional term)
x2[float] – K
i
(integral term)
x3 [float] – K
d
(derivative term)
? – Read encoder feedback constants and values
Parameter Range:
n – 1 to 99 x1 – 0.000 to 1.000 x2 – 0.000 to 1.000 x3 – 0.000 to 1.000
Related Commands:
FBK, ENC, POS
Example:
5PID.02,.04,.05 |Axis 5, Set encoder feedback constants to 0.02,
0.04 and 0.05, respectively
­2PID.03,, |Axis 2, Set encoder feedback constant K
p
to
0.03, other constants remain unchanged
­4PID,,.07 |Axis 4, Set encoder feedback constant K
d
to
0.07, other constants remain unchanged
5-67
MICRONIX USA, LLC
Rev: 3.02
Read Current Position
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
This command is used to read the position information from the specified axis controller
Returns:
A read operation returns the position values in mm for the specified axis in the following format:
[Theoretical position in mm; Encoder position in mm]
[Theoretical position in degrees; Encoder position in degrees]
Syntax:
nPOS? – Standard syntax
Error(s):
POS? – Read operation with missing axis number [27]
Parameter Description:
n[int] – Axis number ? – Read position values
Parameter Range:
n – 1 to 99 Related Commands:
MVR
Example:
4POS? | Axis 4, Read position values
5-68
MICRONIX USA, LLC
Rev: 3.02
Set Resolution
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
Command Description:
This command sets the system resolution. If CFG is 0 this value is calculated automatically based of LSP, FSR and GRR The units are (picometers/fullstep)/ 10.
Returns:
A read operation returns the resolution value in (pico meters/fullstep)/10 for the specified axis.
Syntax:
nREZx – Standard syntax nREZ? – Read (picometers/fullstep)/ 10 value
Error(s):
REZ? – Read operation with missing axis number [27] REZx – Missing axis number [30]
nREZ – Missing (picometers/fullstep)/ 10 parameter [28]
Parameter Description:
n[int] – Axis number x[float] – (picometers/fullstep)/ 10 ? – Read (picometers/fullstep)/ 10
Parameter Range:
n – 1 to 99 x – 0 to 0-2^32 (pico meter/fullstep )/ 10
Related Commands:
None
Example:
9REZ25 | Axis 9, Set resolution to 25
(picometers/fullstep)/ 10
­3REZ? | Axis 3, Read (picometers/fullstep)/ 10
resolution value
5-69
MICRONIX USA, LLC
Rev: 3.02
Perform Soft Reset
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
Command Description:
This command is used to perform a soft reset of the specified axis. Returns:
A read operation cannot be used with this command.
Syntax:
nRST – Standard syntax 0RST – All axes execute soft reset
Parameter Description:
n[int] – Axis number
Parameter Range:
n – 1 to 99 Related Commands:
None
Example:
8RST | Axis 8, execute soft reset
5-70
MICRONIX USA, LLC
Rev: 3.02
Start Synchronous Move
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
Command Description:
This command is used to start a global synchronous move previously set up by using the MSA or MSR commands.
Returns:
A read operation cannot be used with this command.
Syntax:
RUN – Standard syntax
Parameter Description:
-
Parameter Range:
­Related Commands:
MSA, MSR
Example:
3MSR5;4MSR5 | Axis 3, Move 5 mm [degrees];
Axis 4, Move 5 mm [degrees]
0RUN | All axes, Execute synchronous move
5-71
MICRONIX USA, LLC
Rev: 3.02
Save Axis Settings
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
Command Description:
This command is used to save all settings for the specified axis. This allows an axis to be configured on power up.
Returns:
A read operation cannot be used with this command.
Syntax:
nSAV – Standard syntax 0SAV – All axes save settings
Parameter Description:
n[int] – Axis number
Parameter Range:
n – 0 to 99 Related Commands:
None
Example:
16SAV | Axis 16, save settings
5-72
MICRONIX USA, LLC
Rev: 3.02
Status Byte
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
This command is used to check the status register for a specified axis.
Returns:
A read operation will return an integer from 0 to 255 describing the status of the axis. The byte must be decoded in binary to determine the value of each bit.
Bit 7 6 5 4 3 2 1 0
Name
ERR
ACC
CNST
DEC
STP
PGM
PLS
NLS
Note: Bits 2, 1 and 0 are unused
Bit 7: 1 – One or more errors have occurred. Use ERR? Or CER to clear. 0 – No Errors have occurred.
Bit 6: 1 – Currently in Acceleration phase of motion. 0 – Not in Acceleration phase of motion.
Bit 5: 1 – Currently in Constant Velocity phase of motion. 0 – Not in Constant Velocity phase of motion.
Bit 4: 1 – Currently in Deceleration phase of motion. 0 – Not in Deceleration phase of motion.
Bit 3: 1 – Stage has stopped. (In Closed Loop Stage, is in the deadband) 0 – Stage is moving. (In Closed Loop, Stage is out of deadband)
Bit 2: 1 – A Program is currently running 0 – No program is running
Bit 1: 1 – Positive Switch is Activated 0 – Positive Switch is not Activated
Bit 0: 1 – Negative Switch is Activated 0 – Negative Switch is not Activated
Syntax:
nSTA? – Standard syntax Error(s):
STA? – Read operation with missing axis number [27]
nSTA – Missing read operation parameter [28]
Parameter Description:
n[int] – Axis number ? – Read status register
Parameter Range:
n – 1 to 99 Related Commands:
None
Example:
6STA? | Axis 6, Read status register
5-73
MICRONIX USA, LLC
Rev: 3.02
Stop Motion
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
Command Description:
This command is used to stop motion for a specified axis. Returns:
A read operation cannot be used with this command.
Syntax:
nSTP – Standard syntax 0STP – All axes execute stop
Parameter Description:
n[int] – Axis number
Parameter Range:
n – 0 to 99 Related Commands:
EST, DEC
Example:
8STP | Axis 4, execute stop
5-74
MICRONIX USA, LLC
Rev: 3.02
Save Startup Position
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
 
Command Description:
This command is used to set the startup position. Default is 0. This setting does not require the SAV command to save it into memory. It also does not change with a DEF command. To reset the Startup position to the default, send nSVP0.
Returns:
A read operation returns the Startup position setting for the specified axis.
Syntax:
nSVP – Standard syntax 0SVP – Missing axis number, command accepted as standard
syntax
Parameter Description:
n[int] – Axis number x[float] – Startup Position mm ? – Read Startup Position
Parameter Range:
n – 0 to 99 x – TLN (-999.999999mm) to TLP(999.999999mm)
Related Commands:
None
Example:
4SVP | Set current position to Startup position 2SVP2.3 | Set startup position to 2.3mm
5-75
MICRONIX USA, LLC
Rev: 3.02
Sync
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
This command is used in a program together with the wait for sync [WSY] command in order to synchronize motion between multiple axes.
Returns:
A read operation cannot be used with this command.
Syntax:
nSYN – Standard syntax 0SYN – Missing axis number, command accepted as standard
syntax
Parameter Description:
n[int] – Axis number
Parameter Range:
n – 0 to 99 Related Commands:
None
Example:
4SYN | Send sync to axis 4
5-76
MICRONIX USA, LLC
Rev: 3.02
Negative Soft Limit Position
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
 
Command Description:
This command is used to set the desired negative soft limit position, using absolute position, for the specified axis. The negative soft limit position value must be less than the positive soft limit position value [TLP] for the command to be accepted.
Returns:
A read operation returns the negative soft limit position value.
Syntax:
nTLNx – Standard syntax nTLN? – Read negative soft limit position value
0TLNx – All axes set limit position value
nTLN – Set current position to negative limit
Error(s):
TLN? – Read operation with missing axis number [27]
Parameter Description:
n[int] – Axis number x[float] – Negative soft limit position ? – Read negative soft limit position
Parameter Range:
n – 0 to 99 x – -999.999999 to TLP mm [degrees]
Related Commands:
TLP
Example:
2TLN0.005 | Axis 2, Set negative soft limit position to 0.005
mm [degrees]
­6TLN? | Axis 6, Read negative soft limit position
value
5-77
MICRONIX USA, LLC
Rev: 3.02
Positive Soft limit Position
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
 
Command Description:
This command is used to set the desired positive soft limit position, using absolute position, for the specified axis. The positive soft limit position value must be greater than the negative soft limit position value [TLN] for the command to be accepted.
Returns:
A read operation returns the positive soft limit position value for the specified axis.
Syntax:
nTLPx – Standard syntax nTLP? – Read positive soft limit position value
0TLPx – All axes set limit position value
nTLN – Set current position to negative limit
Error(s):
TLP? – Read operation with missing axis number [27]
Parameter Description:
n[int] – Axis number x[float] – Positive soft limit position ? – Read positive soft limit position
Parameter Range:
n – 0 to 99 x – TLN to 999.999999 mm [degrees]
Related Commands:
TLN
Example:
4TLP10.005 | Axis 2, Set positive soft limit position to 10.005
mm [degrees]
­9TLP? | Axis 9, Read positive soft limit position
value
5-78
MICRONIX USA, LLC
Rev: 3.02
Perform Trace
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
 
Command Description:
This command is used to execute a trace of the specified axis.
Returns:
A read operation returns the position samples taken for the specified axis.
Syntax:
nTRAx1,x2,x3 – Standard syntax nTRA? – Read position values 0TLPx1,x2,x3 – All axes execute trace
Error(s):
TRA? – Read operation with missing axis number [27]
nTRA – Missing parameters [28]
Parameter Description:
n[int] – Axis number x1[int] – Number of samples taken (default is 1000) x2[int] – 10kHz /Sampling frequency (default is 1) x3[float] – Trace starting position (default is immediate) ? – Read position
Parameter Range:
n – 0 to 99 x1 – 1 to 9000 x2 – 1 to 1000 Servo clocks per cycle x3 – 000.000000 to 999.999999 mm [degrees]
Related Commands:
DAT
Example:
5TRA5,10,1 | Axis 5, execute trace with 5 samples at a
sampling frequency of 1kHz starting at a position of 1 mm [degrees]
3TRA2000,, | Axis 3, execute trace with 2000 samples at
a sampling frequency of 10kHz starting at the current position
5-79
MICRONIX USA, LLC
Rev: 3.02
Max Microsteps
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
Query only. Returns the max number of microsteps achievable based on the motor current setting. Returns:
A read operation returns the maximum possible microsteps for the specified axis.
Syntax:
nUMXx – Standard syntax nUMX? – Read Max Microsteps value
Error [#]:
UMX? – Read operation with missing axis number [27]
Parameter Description:
n[int] – Axis number ? – Read velocity value
Parameter Range:
n – 0 to 99 Related Commands:
Example: 5UMX? |Axis 5, Read Maximum microsteps
5-80
MICRONIX USA, LLC
Rev: 3.02
Microsteps
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
  
 
Command Description:
This command sets the current Microstepping value. Max determined by UMX. 4096 at full current. Returns:
A read operation returns the microstepping value for the specified axis.
Syntax:
nUSTx – Standard syntax nUST? – Read microstepping rate 0USTx – Missing axis number, all axes set to x microstepping
Error [#]:
UST? – Read operation with missing axis number [27]
nUST – Missing microstep parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Microsteps ? – Read microstep value
Parameter Range:
n – 0 to 99 x – 1 to UMX (4096)
Related Commands:
UMX
Example:
1UST2000 |Axis 1, Set 2000 microsteps [degrees/s]
­5UST? |Axis 5, Read microstep value
5-81
MICRONIX USA, LLC
Rev: 3.02
Velocity
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
Command Description:
This command is used to set the desired velocity for the specified axis. The velocity may be changed on-the-fly by sending another VEL command during motion. The velocity value should be lower than the maximum allowable velocity [VMX] for the command to be accepted.
Returns:
A read operation returns the velocity value in mm/s for the specified axis.
Syntax:
nVELx – Standard syntax nVEL? – Read velocity value 0VELx – Missing axis number, all axes set velocity
Error [#]:
VEL? – Read operation with missing axis number [27]
nVEL – Missing velocity parameter [28]
Parameter Description:
n[int] – Axis number x[float] – Velocity value ? – Read velocity value
Parameter Range:
n – 0 to 99 x – 000.001 to VMX (999.999 mm/s) [degrees/s] – 0 to set VEL to VMX
Related Commands:
VMX, REZ
Example:
1VEL.25 |Axis 1, Set velocity to 0.25mm/s [degrees/s]
­5VEL? |Axis 5, Read velocity value
5-82
MICRONIX USA, LLC
Rev: 3.02
Firmware Version
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
This command is used to check the firmware version for the specified axis.
Returns:
A read operation returns the firmware version for the specified axis.
Syntax:
nVER? – Standard syntax
Error(s):
VER? – Read operation with missing axis number [27]
nVER – Missing read operation parameter [28]
Parameter Description:
n[int] – Axis number ? – Read firmware version
Parameter Range:
n – 1 to 99 Related Commands:
None
Example:
11VER? | Axis 11, Read firmware version
5-83
MICRONIX USA, LLC
Rev: 3.02
Maximum Allowable Velocity
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
This command is used to read the maximum allowable velocity for a specific axis. This value is calculated based on the steps per micron parameter in the REZ command.
Returns:
A read operation returns the maximum allowable velocity value in mm/s for the specified axis.
Syntax:
nVMX? – Read maximum allowable velocity value
Error [#]:
VMX? – Read operation with missing axis number [27]
nVMX – Missing read operation parameter [123]
Parameter Description:
n[int] – Axis number ? – Read maximum allowable velocity value
Parameter Range:
n – 1 to 99 Related Commands:
REZ, VEL
Example:
4VMX? |Axis 4, Read maximum allowable velocity value
5-84
MICRONIX USA, LLC
Rev: 3.02
Encoder Velocity
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
This command returns the actual velocity calculated from the encoder.
Returns:
A read operation returns the encoder velocity in mm/s.
Syntax:
nVRT? – Standard syntax
Error [#]:
VRT? – Read operation with missing axis number [27]
Parameter Description:
n[int] – Axis number
Parameter Range:
n – 1 to 99 Related Commands:
POS
Example:
5VRT? |Axis 5, Read encoder velocity
5-85
MICRONIX USA, LLC
Rev: 3.02
Wait For Stop
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
Command Description:
This command is used in a program to wait until motion is completed to begin executing the next command.
Returns:
A read operation cannot be used with this command.
Syntax:
nWST – Standard syntax WST – Missing axis number, command accepted as standard
syntax
Parameter Description:
n[int] – Axis number
Parameter Range:
n – 1 to 99 Related Commands:
None
Example:
7WST | Axis 7, Wait for motion to stop before
executing next command
5-86
MICRONIX USA, LLC
Rev: 3.02
Wait For Sync
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
This command is used in a program together with the sync [SYN] command in order to synchronize motion between multiple axes.
Returns:
A read operation cannot be used with this command.
Syntax:
nWSY – Standard syntax WSY – Missing axis number, command accepted as standard
syntax
Parameter Description:
n[int] – Axis number
Parameter Range:
n – 1 to 99 Related Commands:
None
Example:
1WSY | Axis 1, Wait until sync command is
received before executing next command
5-87
MICRONIX USA, LLC
Rev: 3.02
Wait For Time Period
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
Command Description:
This command is used in a program to wait for a specified period of time before executing the next command.
Returns:
A read operation cannot be used with this command.
Syntax:
nWTMx – Standard syntax WSTx – Missing axis number, command accepted as standard
syntax
Parameter Description:
n[int] – Axis number x[int] – Time
Parameter Range:
n – 1 to 99 x – 0 to 999999 milliseconds
Related Commands:
None
Example:
2WTM42 | Axis 2, Wait for 42 milliseconds before
executing next command
5-88
MICRONIX USA, LLC
Rev: 3.02
Zero Position
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
 
Command Description:
This command is used to set the absolute zero position for the specified axis.
Returns:
A read operation cannot be used with this command.
Syntax:
nZRO – Standard syntax
Error [#]: ZRO – Missing axis number [123]
Parameter Description:
n[int] – Axis number
Parameter Range:
n – 1 to 99 Related Commands:
None
Example:
1ZRO | Axis 1, set current position as absolute zero
5-89
MICRONIX USA, LLC
Rev: 3.02
Take Axis Offline
During Motion
Real-time
Program
Global
Set
Read
Set
Read
Set
Read
Set
Read
Command Description:
This command is used to take the specified axes offline. An offline axis will not respond until the power is cycled.
Returns: A read operation cannot be used with this command.
Syntax:
nZZZ – Standard syntax ZZZ – Missing axis number, all axes set to offline
Parameter Description:
n[int] – Axis number
Parameter Range:
n – 1 to 99 Related Commands:
None
Example:
5-90
MICRONIX USA, LLC
Rev: 3.02
5.9 Error Messages
Error
Number
Name
Description
10
Receive Buffer Overrun
The Receive Buffer has reached or exceeded maximum
capacity.
11
Motor Disabled
The command that triggered this error was trying to move
the servo while it was disabled.
12
No Encoder Detected
The command that triggered this error was trying to access
encoder data when no encoder was attached.
13
Index Not Found
The controller moved across the full range of motion and
did not find an index.
14
Home Requires Encoder
The HOM command requires an encoder signal.
15
Move Limit Requires
Encoder
The MLN and MLP commands require an encoder signal.
20
Command is Read Only
The command that triggered this error only supports read
operations. The command must be followed by a question
mark to be accepted. Ex: XXX?
21
One Read Operation Per
Line
Multiple read operations on the same command line. Only
one read operation is allowed per line, even if addressed to
separate axes.
22
Too Many Commands On
Line
The maximum number of allowed commands per
command line has been exceeded. No more than 8
commands are allowed on a single command line.
23
Line Character Limit
Exceeded
The maximum number of characters per command line has
been exceeded. Each line has an 80 character limit.
24
Missing Axis Number
The controller could not find an axis number or the
beginning of an instruction. Check the beginning of the
command for erroneous characters.
25
Malformed Command
The controller could not find a 3-letter instruction in the input.
Check to ensure that each instruction in the line has exactly
3 letters referring to a command.
26
Invalid Command
The 3-letter instruction entered is not a valid command.
Ensure that the 3-letter instruction is a recognizable
command.
5-91
MICRONIX USA, LLC
Rev: 3.02
27
Global Read Operation
Request
A read request for a command was entered without an axis
number. A read request cannot be used in a global context.
28
Invalid Parameter Type
1. The parameter entered does not correspond to the type of number that the instruction requires. For example, the
command may expect an integer value, therefore sending
a floating point value will trigger this error.
2. The allowable precision for a parameter has been
exceeded. For example, velocity can be specified with a
precision of 0.001 mm/sec. If a more precise velocity value
of 0.0001 mm/sec is entered, this error will be triggered.
Refer to the command pages for the type of parameter
that each command expects.
29
Invalid Character in
Parameter
There is an alpha character in a parameter that should be a
numeric character.
30
Command Cannot Be
Used In Global Context
The command entered must be addressed to a specific axis
number. Not all commands can be used in a global
context. Check the specific command page or the table of
commands for more info.
31
Parameter Out Of Bounds
The parameter is out of bounds. The current state of the
controller will not allow this parameter to be used. Check
the command page for more information.
32
Incorrect Jog Velocity
Request
The jog velocity can only be changed during motion by
using a new JOG command. If the VEL command is used to
change the velocity, this error will be triggered. The VEL
command can only be used to change velocity during
motion initiated by the move commands [MVR, MVA, MSR,
MSA].
33
Not In Jog Mode
Sending a JOG command during motion initiated by a
move command will trigger this error. To initiate Jog Mode,
the controller should be at stand-still. To change velocity
during a move, use the VEL command.
34
Trace Already In Progress
This error is triggered when a new trace command is received after a trace is already in progress. Trace settings may be modified only if the trace hasn’t started recording
data. Otherwise, wait until the trace has finished before
modifying the trace settings.
35
Trace Did Not Complete
An error occurred while recording trace data. Try the
operation again.
36
Command Cannot Be
Executed During Motion
Only certain commands can be executed when motion is in
progress. Check the command pages for information on
individual commands.
37
Move Outside Soft Limits
If a requested move will take the controller outside of the
preset travel limits, then the command will not be executed.
5-92
MICRONIX USA, LLC
Rev: 3.02
38
Read Not Available For
This Command
This error is triggered by a read request from a command
that does not support a read operation.
39
Program Number Out of
Range
The number entered for the program number was either less
than 1 or greater than 16.
40
Program Size Limit
Exceeded
The program has exceeded the character limit of 4 Kb.
41
Program failed to Record
Error in recording program. Erase program and try operation
again.
42
End Command Must Be
on its Own Line
The End command used to end a program must be on a
separate line from all other instructions.
43
Failed to Read Program
An error occurred while trying to read a program. Try the
Operation again.
44
Command Only Valid
Within Program
The command that triggered this error is only suitable for use
within a program.
45
Program Already Exists
A program already exists for the indicated program
parameter. The program must be erased with the ERA
command before being written again.
46
Program Doesn’t Exist
The indicated program does not exist. This error can occur
when you try to execute a program number that has not
had a program assigned to it.
47
Read Operations Not
Allowed Inside Program
Read Operations are not permitted in programs.
48
Command Not Allowed
While Program in Progress
The command that triggered this error was given while a
program was executing.
50
Limit Activated
Motion in the direction of the activated limit switch is
disallowed if limit switches are enabled.
51
End of Travel Limit
The requested move will take the controller outside of
its valid travel range, therefore the move is disallowed.
52
Home In Progress
A Home or a Move To Limit Procedure is in progress.
Motion commands are disallowed during this time. A
STP or EST command can be used to terminate the Home, and then a motion command can be sent.
53
IO Function Already In
Use
The I/O Function in question is already assigned to
another I/O pin. Some Functions can only be
assigned to one pin at a time. See the
documentation for each function for more details.
5-93
MICRONIX USA, LLC
Rev: 3.02
54
Invalid Resolution
The parameters entered for Gear Ratio, Lead-Screw
Pitch, and Full Steps Per Revolution result in a
resolution that cannot be handled by the controller.
55
Limits Are Not Configured
Properly
Both Limit Switches are active, so motion is disallowed
in both directions. Most likely the LPL(Limit Polarity
command) setting should be switched.
80
Command Not Available
in this Version
The command entered is not supported in this version
of the firmware.
81
Analog Encoder Not
Available In this Version
The current version of firmware installed does not
support Analog Encoders.
6-94
MICRONIX USA, LLC
Rev: 3.02
6. Appendix
6.1 Encoder Input Pin-out
Pin
Description
1
A+/Cos+
2
B+/Sin+
3
Index +
4
Ground
5
+5V
6
A-/Cos-
7
B-/Sin-
8
Index -
9
Not In Use
6.2 Motor Pin-out
Pin
Description
1
Phase A+
2
Phase A-
3
Phase B+
4
Phase B-
5
Ground
6
LSN 7 LSP 8 +5V
9
Ground
6.3 8-Pin Din IO connector
Pin8 - +5V Pin6 – IO1 (output only) Pin5 – IO2 Pin3 – IO3 Pin2 – IO4 Pin4 – GND
I/O ports can be set up as either active high or active low,
With a recommended input current of 5mA and a maximum output current of 50mA.
6-95
MICRONIX USA, LLC
Rev: 3.02
6.4 RS-485 Intermodular Connector Cable Pin-out
The RS-485 Intermodular Connector Cable is used to daisy chain two MMC modules together, allowing for alternative module configurations. The cable is directional and its orientation should be noted when configuring axis numbers, for the direction of the cable will determine axis order. This connector can also be used to communicate with the controller in place of the USB connection by connecting your RS-485 Bus to pins 2, 3 and 4 as they appear below.
RS-485 Intermodular Connector Cable Pin-out:
6.5 Firmware
The firmware on the MMC-200 can be updated without returning the controller to manufacturer. For questions regarding the current firmware release and updating the firmware of your MMC­200 Please contact Micronix USA support. Please be sure to check the firmware version by using the VER command.
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