User guide

Change Summary, page 6
New Commands in Revision 4.x (including product compatibility)
Command Name
AT6200
AT6400 AT6250 AT6450
610n 615n 620n 625n 6270
[ Send Response to All Ports X X X X X
] Send Response to Alternate Port X X X X X
ASX Extended Axis Status X X X X X X X X X
BOT Beginning of Transmission Characters X X X X X X X X X
DACTDP Active Damping X
DAREN Anti-Resonance X
DAUTOS Auto Current Standby X
DELVIS Electronic Viscosity X
DMTIND Motor Inductance X
DMTSTT Motor Static Torque X
DRESET Drive Reset X
DRPCHK Remote Port Check X X X X X
DWAVEF Waveform X
FOLK Following Kill X X X X X
FOLRNF Numerator of Final Slave-to-Master Ratio X X X X X X X X X
FOLSND Following Step & Direction S S X X X X X X X
GOBUF Store a Motion Segment in a Buffer X X X X X X X X X
PCOMP * Compile a Program X X X X X X X X X
PLN Loop End, Compiled Motion X X X X X X X X X
PLOOP Loop Start, Compiled Motion X X X X X X X X X
PORT Designate Communications Port X X X X X
POUTA Output on Axis 1, Compiled Motion X X X X X X X X X
POUTB Output on Axis 2, Compiled Motion X X X X X X X
POUTC Output on Axis 3, Compiled Motion X X
POUTD Output on Axis 4, Compiled Motion X X
PRUN * Run a Compiled Program X X X X X X X X X
PUCOMP * Un-Compile a Program X X X X X X X X X
REGLOD Registration Lock-Out Distance X X X X X X X X X
REGSS Registration Single Shot X X X X X X X X X
[ SEG ] Number of Free Segment Buffers X X X X X X X X X
TASX Transfer Extended Axis Status X X X X X X X X X
TSEG Transfer Number of Free Segment Buffers X X X X X X X X X
[ VELA ] Velocity (Actual) Assignment S S X X X X X X X
VF Final Velocity X X X X X X X X X
XONOFF Enable/Disable XON/XOFF X X X X X
* Modified to support compiled motion (previously, these commands supported only path contouring).
S Applicable only to the standard (not OEM) version of the product.