Installation guide
Programming Commands 69
Page
G
GETCHAR Waits for a character on the selected serial port and returns the ASCII
code of the character. 115
GOSUB ... RETURN Branches to, and returns from, a subroutine. 115
GOTO Branches unconditionally to the specified label. 116
H
HARDLIMIT Enable or disables Hard Limit switches or reads the current Hard Limit
enable/disable state of an axis. 117
HARDLIMNEG Returns the - Limit hardware state of an axis. 118
HARDLIMPOS Returns the + Limit hardware state of an axis. 118
HEX$ Returns the hex string equivalent of an argument. 118
HVAL Returns the decimal value of a hexadecimal string. 119
I
IF ... THEN ... ELSE IF
... ELSE ... END IF Allows conditional execution based on the evaluation
of a Boolean condition. 120
IN Returns the state’s of the specified digital I/O inputs. 121
INCHAR Returns the ASCII code of a character from the designated serial port. 121
#INCLUDE Includes a file name with define statements in a user task. 122
INPUT Reads a line of data from the designated serial port. 122
INSTR Returns the character position of the first occurrence of a specified
string in another string. 123
INTLIM Sets the integral limit for a servo axis. 123
IXT Sets or returns the Excessive Duty Cycle Shutdown time in seconds 123
J
JOG Runs the motor continuously in the specified direction. 124
JOYSTICK Enables Joystick motion. 125
K
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
L
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
LINE Initiates a coordinated linear move involving up to 8 axes. 128
LOF Returns the number of character in the designated serial port buffer. 129
LOG Returns the natural logarithm of a numeric expression. 129
LOWSPD Sets or returns the Low Speed (starting speed) value of a stepping motor
axis. 129