VXM Full Command Summary
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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 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 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 Enable Jog mode while waiting for an input Disable Jog mode while waiting for an input User output 1 "low" (reset state) User output 1 high Send "W" to host and wait for a "G" to continue Start of Continuous Index with pulse on output 2 Start of Continuous Index with no output Start of Continuous Index sending "@" to the host 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 End of Continuous Index with instantaneous stop Skip next command if input 1 is high Skip next command if input 1 is low Skip next command if input 2 is high Skip next command if input 2 is low 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 User output 2 low (reset state) User output 2 high Optional User output 3 low (reset state) Optional User output 3 high Optional User output 4 low (reset state) 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 Index motor to Absolute zero position, m=motor# (1,2,3,4) 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 Pause x tenths of a second, (x=0 to 65,535) Pause x tenths of a millisecond, (x=1 to 65,535) Positioning Systems for Science and Industry Page 1 7550 State Routes 5 & 20 Bloomfield, NY 14469-9389 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 Wait for a low to high on the Run button or connection I/O,4 with debouncing for a mechanical push-button switch www.velmex.com info@velmex.com 8/14 Document # VXM-CS VXM Version 1.30 Rev B

VXM™ - Command Summary (continued) VXM Immediate Commands (continued) Set axis m for motor type/size (see table below for value for! Set VXM/VP~9"66b or NF90 emulation modes, and other operating parameters Set Analog Joystick Deadband value Set first Jog Speed setting for motor m Set first Analog Joystick range setting for motor m Set second Jog Speed setting for motor m Set second Analog Joystick range setting for motor m Set limit switch mode for axis m y x # Steps" on output 2 for axis m Set Pulse width used by and , x=1 to 255 (10 sec Set operating mode of inputs Backlash compensation,...

VXM™ - Command Summary (continued) Positive CW Screw Drive Actuator Worm Gear Rotary Table Positive CCW Lead Screw Models Advance Per Step Units M10 (Belt) Rotary Tables Gear Ratio To convert from “real” units to steps, divide the distance desired to move by the Advance Per Step. (Distance ÷ Advance Per Step = Steps) * Typical UniSlide model (where X is from above table) = MA4024x-S4 ** Typical BiSlide model (where X is from above table) = MN10-0100-x-21 *** Typical XSlide model (where X is from above table) = XN10-0100-x-21 Motor Model (Amps) Positioning Systems for Science and Industry...