Applied Motion RS-232 - Manual (Page 301)

301 920-0002 Rev. I
2/2013
Host Command Reference
Command Description opcode (hex) Reg code Parameter 1 Parameter 2 Parameter 3 Parameter 4 Range ST5 / ST10 / ST
AC5
Units
QX Queue Load Execute 78 0 segment 1..12
NO NO_OP CE 0
TI TEST_INPUT A8 0 cond io ST: X0..X8, L/H/F/R
STAC5: X0..X4, 1..8.
L/H/F/R
see IO Encoding Table
WD WAIT_DELAY_REGISTER BF reg a..z or A..Z or 0..9 see register code table
WI WAIT_ON_INPUT,
ionum+cond
70 0 cond io ST: X0..X8, L/H/F/R
STAC5: X0..X4, 1..8.
L/H/F/R
see IO Encoding Table
WM WAIT_ON_MOVE BC 0
WP WAIT_ON_POSITION D0 0
WT Wait Time 6F 0 delay time 1..32000 .01 seconds
Table 2: Message Type 2 Commands
Opcode Definition Operand Action
83 Parameter Write see Table 3 write a 16 bit parameter to a register. Add 128 (0x80) to operand for
non-volatile (flash) write
84 Parameter read see Table 3 Returns the 16 bit parameter indicated by operand
87 Read alarm code 0 Returns alarm history value indicated by operand
88 Read Encoder/Abs Posn 0 Returns the 32 bit encoder position
1 Returns the 32 bit absolute position
8B* Set Output (immediate) bit 7 state, bits 0-6 output Set the given output to given state.
8E Clear Fault (AR) 0 Clear the drive fault. A motor enable must be sent to re-enable the
motor
98 Stop Motion, Kill Buffer
(SK)
decel rate stops a move, purge all commands from buffer. 0=use quick decel
(AM), 1=use normal decel (DE or JL)
9E** Write Q Register (RL) see Reg Encoding table write a 16 or 32 bit parameter to a Q register (A..Z or 0..9, etc)
9F Read Q Register (RL) see Reg Encoding table read a 16 or 32 bit Q register (a..z, A..Z or 0..9, etc)
A1 Queue Load (QL) 0 load incoming Type 1 commands into Q buffer
A2 Queue Save (QS) segment number 1..12 saves Q buffer as a Q segment
A3 Stop Motion (ST) decel rate stops a move. 0=use quick decel (AM), 1=use normal decel (DE or
JL)
FE IEEE-1588 Control 0 Enables IEEE-1588 protocol, preventing Class 1 connection
1 Disable IEEE-1588 protocol, allowing Class 1 connection
FF UDP port reset 0 Opens UDP port 7775 and listens for a new connection
1 Closes and resets UDP port 7775