| FIRMWARE/HARDWARE COMMANDS | |||
| Command | Parameters | Setting | Getting |
| ? (0x3F) | I,O,H,L | Software Info ID = 1280137032 ("HWML"), Operating System ID, Version: (High.Low) |
|
| ! (0x21) | N,A,R,M | Use Device LPT Port: Num, Addr (PC Compatibility), Recalc Tick Resolution: R = 0, Recalc Max Available Velocity: M = 0 |
Device Used LPT Port: Num, Addr (PC Compatibility), Tick Resolution (Hz), Max Available Velocity (step/sec) |
| ~ (0x7E) | X,Y,Z,W | Step Pins (0,+2..+9) 0 = None, -: Inverted (Here and After) Can Designate Limits when not Inverted |
Step Pins |
| ^ (0x5E) | X,Y,Z,W | Direction Pins (0,+2..+9) | Direction Pins |
| [ (0x5B) | X,Y,Z,W | Negative Limit Pins (0,+1,+10..+17) | Negative Limit Pins |
| ] (0x5D) | X,Y,Z,W | Positive Limit Pins (0,+1,+10..+17) Can Share with Negative, by Direction |
Positive Limit Pins |
| { (0x7B) | A,B,C,D | Input Pins (0,+1,+10..+17) | Input Pins |
| } (0x7D) | E,F,G,H | Output Pins (0,+1..+9,+14,+16,+17) |
Output Pins |
| _ (0x5F) | X,Y,Z,W | Revolution Distance (Memo, micron) | Revolution Distance (Memo, micron) |
| ` (0x60) | X,Y,Z,W | Count of Steps Per Revolution (Memo) | Count of Steps Per Revolution (Memo) |
| & (0x26) | X,Y,Z,W | Feedrate Ratio Per Axis (%) | Feedrate Ratio Per Axis (%) |
| < (0x3C) | A,B,C,D | Inputs (0/1) - Current Values | |
| > (0x3E) | E,F,G,H | Outputs (0/1) - Immediate (not Queued) | Outputs (0/1) - Current Values |
| MOVEMENT COMMANDS | |||
| Command | Parameters | Setting | Getting (If Low Case Letter Command) |
| P (0x50) p (0x70) |
X,Y,Z,W | Position (-2147483647..2147483647) -2147483648 = Omitted (Everywhere) |
Position |
| V (0x56) v (0x76) |
F,B,M,A | Velocity and Acceleration Feedrate = Slew Speed (step/sec), Base Speed = Initial Velocity (step/sec), Max Speed = Rapid Velocity (step/sec), Acceleration (step/sec/sec) |
Velocity and Acceleration Feedrate = Slew Speed (step/sec), Base Speed = Initial Velocity (step/sec), Max Speed = Rapid Velocity (step/sec), Acceleration (step/sec/sec) |
| W (0x57) w (0x77) |
M,A,T,D | Working Mode (0/1/...) Motion - Rapid/Linear/CW/CCW, Arc Plane - XY/XZ/YZ, Travel - Auto/Nudge/Continuous, Distance - Absolute/Relative |
Working Mode (0/1/...) Motion - Rapid/Linear/CW/CCW, Arc Plane - XY/XZ/YZ, Travel - Auto/Nudge/Continuous, Distance - Absolute/Relative |
| L (0x4C) l (0x6C) |
X,Y,Z,W | Enable/Disable Limits (0/4) 0 = Enable, 4 = Disable |
Limits (0..3) 0 = Not Pressed, 1 = Negative Pressed, 2 = Positive Pressed, 3 = Both Pressed |
| C (0x43) c (0x63) |
A,B,C,D | Emergency Stop Inputs (0/1) 0 = Unwatched, 1 = Stop if High (1) |
Emergency Stop Inputs (0/1) Current Condition to be Queued |
| B (0x42) b (0x62) |
E,F,G,H | Switch Outputs on Queue (0/1) Queued (not Immediate) |
Switched Outputs on Queue (0/1) Current Queued Result |
| H (0x48) h (0x68) |
P | Hold on Queue (msec, 1..86400000) Queued Pause (not Immediate) |
Hold on Queue (msec) Last Queued Pause Value |
| Q (0x51) q (0x71) |
X,Y,Z,W | Queue Up Move (Append to Queue) X,Y,Z,W Relative or Absolute |
Queue Target Position Now X,Y,Z,W Absolute |
| U (0x55) u (0x75) |
I,J,K,R | Arc Center Offsets (For Last Move) I,J,K Relative to X,Y,Z or R as +Radius (Max Available Arc Radius is 32767) |
Result Arc Center Offsets I,J,K Relative to X,Y,Z |
| E (0x45) e (0x65) |
G | Execute Queue Go Times: G > 1 |
Queue Execution Result OK: G = 0, Was Emergency/Limit: G > 0 |
| R (0x52) r (0x72) |
C | Reset Queue Clear: C = 0, Recall: C = 1 |
Number of Queue Elements Used Current Number, Available |