Installation guide

66 Programming Commands
Servo Parameter Page
INTLIM Sets the integral limit for a servo axis. 123
IXT Sets or returns the Excessive Duty Cycle Shutdown time in seconds 123
KAFF Sets or returns the acceleration feed forward gain of a servo axis. 126
KD Sets or returns the derivative gain of a servo axis. 126
KI Sets or returns the integral gain of a servo axis. 126
KP Sets or returns the proportional gain of a servo axis. 126
KVFF Sets or returns the velocity feed forward gain of a servo axis. 127
OUTLIMIT Sets or returns the servo axis command limit voltage. 142
String Manipulation
ASC Returns the ASCII code for the first character in a string. 84
CHR$ Returns a one character string whose ASCII code is the argument. 89
HEX$ Returns the hex string equivalent of an argument. 118
HVAL Returns the decimal value of a hexadecimal string. 119
INSTR Returns the character position of the first occurrence of a specified string
in another string. 123
LCASE$ Converts and returns a string with lower case letters. 127
LEFT$ Returns the leftmost characters of a string. 127
LEN Returns the number of characters in the designated string. 127
MID$ Returns the designated middle number of character of a string. 130
PRINT Transmits designated data via the designated serial port. 146
PRINT USING Transmits string characters or formatted number via the designated
serial port. 147
RIGHT$ Returns the rightmost characters of a string. 154
STR$ Returns a string representation of a numeric expression. 161
STRING$ Returns a string of characters. 161
UCASE$ Returns a string with all letter converted to upper case. 163
VAL Returns the floating point value of the designated string variable. 164
Time Function
TIMER Sets or reads the timer value in seconds. 162
TIMER2 Sets or reads the timer 2 value in seconds. 162
WAIT Waits for the period of time (expressed in seconds) to expire before
continuing. 164
Trajectory Parameter
ABSPOS Sets or returns the commanded absolute position of an axis. 80
ACCEL Sets or returns the acceleration value of the motor. 81
ACTSPD Returns the current commanded velocity of an axis in Units/seconds. 81
DECEL Sets or returns the deceleration value of an axis. 90
DIST Returns the distance moved from the start of the last motion. 93
ENCERR Returns the positional error of the designated axis. 97
ENCPOS Returns the encoder position of an axis. 98
ENCSPD Returns the current encoder speed in Units/second. 98
FEEDRATE Sets a feed rate override during Path execution. 107
LOWSPD Sets or returns the Low Speed (starting speed) of a stepping motor axis. 129
MAXSPD Sets or returns the maximum allowed speed of an axis. 130
MOTIONSTATE Returns the motion state of an axis. 131
POSERR Returns the positional error of the designated axis. 144
PROFILE Determines how the motor’s speed changes. 150
SPEED Sets or returns the target velocity of an axis. 159
VELOCITY Sets or returns the path speed to be used for coordinated motion. 164