VXM Full Command Summary0 pages

VXM™ - Command Summary
VXM Program Stored Commands
Motor commands:
Set steps to incremental Index motor CW (positive), m=
ImMx
motor# (1,2,3,4), x=1 to 16,777,215
Set steps to incremental Index motor CCW (negative), m=
ImM-x
motor# (1,2,3,4), x=1 to 16,777,215
Set Absolute Index distance, m=motor# (1,2,3,4), x= ±1 to
IAmMx ±16,777,215 steps

PAx
PA-x

Pause x tenths of a second (x=0 to 65,535, 10 μsec pause
when x=0) Altering output 1 high for duration of the pause,
tenths of a millisecond when x is negative
Pause x tenths of a millisecond (x=1 to 65,535) Altering
output 1 high for duration of the pause

Input/output commands:
U0
U1

Wait for a "low" on user input 1
Wait for a low on user input 1, holding user output 1 high
while waiting

Zero motor position for motor# m, m= 1,2,3,4
Index motor until positive limit is encountered, m=motor#
ImM0
(1,2,3,4)
Index motor until negative limit is encountered, m=motor#
ImM-0
(1,2,3,4)
Combine Index commands to run simultaneously on two
(i3,i1...) VXM controllers connected by VXM bus
Set Speed of motor (70% power), m= motor# (1,2,3,4), x=1
SmMx
to 6000 steps/sec.
Set Speed of motor (100% power), m= motor# (1,2,3,4), x=1
SAmMx to 6000 steps/sec.
Read and assign analog input value to motor m speed (70%
SmM-x power), x= range
Read and assign analog input value to motor m speed
SAmM-x (100% power), x= range

U2

Enable Jog mode while waiting for an input

U3

Disable Jog mode while waiting for an input

U4

User output 1 "low" (reset state)

U5

User output 1 high

U6

Send "W" to host and wait for a "G" to continue

U7

Start of Continuous Index with pulse on output 2

U77

Start of Continuous Index with no output

U8

Start of Continuous Index sending "@" to the host

U9

U92

End of Continuous Index with auto-decel to stop
End of Continuous Index with auto-generate a deceleration
Index as next command
End of Continuous Index using next Index for deceleration
to stop

AmMx

U99

End of Continuous Index with instantaneous stop

U11

Skip next command if input 1 is high

U21

Skip next command if input 1 is low

U12

Skip next command if input 2 is high

U22

Skip next command if input 2 is low

U13

Wait for a front panel button to jump to a program or
continue: "Motor 1 Jog -" button to jump to program #1,
"Motor 1 Jog +" button to jump to program #2, "Run" button

U14

User output 2 low (reset state)

U15

User output 2 high

U16

Optional User output 3 low (reset state)

U17

Optional User output 3 high

U18

Optional User output 4 low (reset state)

U19

Optional User output 4 high
Wait for a front panel button to jump to a program and come
back, or continue: "Motor 1 Jog -" button to jump and return
to program #1, “Motor 1 Jog +" button to jump and return to

IAmM0

Index motor to Absolute zero position, m=motor# (1,2,3,4)

IAmM-0

Acceleration/deceleration, m= motor# (1,2,3,4), x=1 to 127.

Looping/branching commands:
Loop continually from the beginning or Loop-to-marker of the
L0
current program
Sets the Loop-to-marker at the current location in the
LM0
program
Resets the Loop-to-marker to the beginning of the current
LM-0
program
Loop from beginning or Loop-to-marker x-1 times (x=2 to
65,535), when the loop reaches its last count the non-loop
command directly preceding will be ignored
Lx
Loop from beginning or Loop-to-marker x-1 times, alternating
direction of motor 1, when the loop reaches its last count the
non-loop command directly preceding will be ignored
L-x
Loop Always from beginning or Loop-to-marker x-1 times
LAx
(x=2 to 65,535)
Loop Always from beginning or Loop-to-marker x-1 times,
LA-x
alternating direction of motor 1
Loop once from beginning or Loop-to-marker reversing index
LM-2
direction of motor 2
Loop once from beginning or Loop-to-marker reversing index
LM-3
direction of motor 1 and motor 2
Jx
JMx
JM-x

Jump to the beginning of program number x, x= 0 to 4
Jump to the beginning of program number x and come back
for More after program x ends, x= 0 to 4
Similar to JMx except automatically moves back from
absolute indexes after program x ends: For pick-and-place
within matrix looping patterns

Pausing commands:
Px

Pause x tenths of a second, (x=0 to 65,535)

P-x

Pause x tenths of a millisecond, (x=1 to 65,535)

Velmex, Inc.
TM

Positioning Systems for Science and Industry
Page 1

7550 State Routes 5 & 20
Bloomfield, NY 14469-9389

U91

U23
U30

U51

Wait for a low to high transition on user input 1
Wait for a low to high transition on user input 1, holding user
output 1 high while waiting
Wait for "Motor 1 Jog -" button to be pressed on front panel
with debouncing
Wait for "Motor 1 Jog +" button to be pressed on front panel
with debouncing
Wait for a low and high on user input 1 with debouncing for a
mechanical push-button switch
Wait for a low and high on user input 1 with debouncing for
a mechanical push-button switch, holding user output 1 high
while waiting

U90

Wait for a low to high on the Run button or connection I/O,4
with debouncing for a mechanical push-button switch

U31
U32
U33
U50

TF:t 1.800.642.6446t
P:t +1.585.657.6151
F:t
+1.585.657.6153 t

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Document # VXM-CS VXM Version 1.30 Rev B