1. Manuals
  2. Brands
  3. Micronix Manuals
  4. Control Systems
  5. MMC-200 Series
  6. Reference manual

Micronix MMC-200 Series Reference Manual

Modular motion control system
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the MMC-200 Series and is the answer not in the manual?

Questions and answers

Related Manuals for Micronix MMC-200 Series

Summary of Contents for Micronix MMC-200 Series

  • Page 2: Table Of Contents

    5.9 Command Descriptions 5-15 5.10 Error Messages 5-90 Appendix ............................. 6-94 6.1 Encoder Input Pin-out 6-94 6.2 Motor Pin-out 6-94 6.3 8-Pin Din IO connector 6-94 6.4 RS-485 Intermodular Connector Cable Pin-out 6-95 6.5 Firmware 6-95 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 3 Jog Mode Wait For Stop Limit Configuration Wait For Sync Positive/Negative Limit Location Wait For Time Period Limit Status Zero Position Lead Screw Pitch Take Axis Offline Program List Limit Switch Polarity Max Motor Current MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 4: Introduction

    Green – Controller has an address and is ready 3. Encoder Input, Male D-Sub 9 Pin Connector 4. Motor/Axis Output, Female D-Sub 9-Pin Connector 5. Power Supply, +24VDC, Regulated 6. RS485 Intermodular Connector 7. USB Connector 8. I/O Connector MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 5: Features

    USB interface (one interface for up to 99 axes) • Windows GUI and LabVIEW VI Package Contents If product is damaged or there are missing components, contact MICRONIX USA immediately. Do not discard product packaging in case of return shipment. Package Contents: •...
  • Page 6 Device Manager window: Connected MMC-200 is assigned to COM4 6. Continue to Quick Start MMC-100 Motion Controller Platform a. The following section will help you get running with the MMC-100 Motion Controller Platform program. MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 7: Quick Start Mmc-100 Motion Controller Platform

    COM port as discussed in section 2.1 b. Open the start menu (or windows icon for vista) c. Open the ‘all programs’ tab d. Open the MICRONIX USA folder e. Run the MMC-100 MCP program MICRONIX USA, LLC Rev: 3.02...

  • Page 8: Using The Mmc-100 Motion Controller Platform

    Select the COM port associated with your MMC-200 as discussed in section 2.1, step 5. b. Click the Open Port button to connect to the MMC-200 i. This button should change giving you the option to close the port MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 9: Technical Information

    The RS485 line needs a terminating resistor of 22kΩ or higher. This connector can be used to communicate with the MMC-100 in the place of the USB connection. For more on the RS-485 Intermodular RJ11 connector see the Appendix 6.4. MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 10: Operation

    Vertical stack (rear view) Horizontal stack (rear view) With power inputs along left hand With power inputs along bottom, Axis side, Axis 1 is on the very top. 1 is on the far left. MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 11: Feedback Control

    The HOM command will always home to the negative side of the limit. 4-10 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 12: Command Line Syntax

    Up to 8 commands are allowed per command line. Only one read operation is allowed per line. The controller will not send information unless requested to do so by a read operation. 5-11 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 13: Global Commands

    [\n] is 0X0A and for carriage return [\r] is 0X0D. The following is an example of data transmission: Axis 1, Set velocity to .005 mm/s [degrees/s ] [New line, Carriage Return]  1VEL0.005 \n\r 5-12 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 14: Summary Of Commands

     Positive/ Negative Limit Location     Limit Status   Lead Screw Pitch     Program List     Limit Switch Polarity     5-13 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 15 Wait For Syc    Wait For Time Period    Zero Position    Take Axis Offline    see ANR command page 18 for more info  5-14 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 16: Acceleration

    0 to 99 Range: x – 000.001 to AMX (500.000 mm/s [degrees/s Related Commands: DEC, VEL, JAC, AMX |Axis 3, Set acceleration to 0.25mm/s [degrees/s 3ACC0.250 Example: |Axis 4, Read acceleration value 4ACC? 5-15 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 17: Maximum Allowable Acceleration

    Range: x – 000.001 to 500.000 mm/s [degrees/s Related DEC, VEL, JAC, VMX, ACC Commands: Axis 2, Set max acceleration to 1.500 2AMX1.500 mm/s [degrees/s Example: Axis 6, Read max acceleration value 6AMX? 5-16 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 18: Set Axis Number

    Simultaneous axis swapping: Axis 5, Set to axis 1; 5ANR1;1ANR5 Axis 1, Set to axis 5 Example: Axis 4 , Set to Auto Addressing. However it will 4ANR0 remain axis 4 until the MMC-200 is reset 5-17 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 19: Clear Errors

    All axes clear error messages Parameter n[int] – Axis number Description: Parameter n – 0 to 99 Range: Related Commands: Axis 1, clear error messages 1CER Example: – All axes, clear error messages 0CER 5-18 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 20: Configuration Mode

    Read Configuration Mode Parameter n – 0 to 99 Range: x – 0 or 1 Related Commands: LSP, GRR, FSR |Axis 1, resolution automatic configuration 1CFG0 Example: |Axis 5, resolution manual configuration 5CFG1 5-19 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 21: Correction Sample Time

    Sample time Description: – Read correction sample time Parameter n – 1 to 99 Range: x – 1 to 5000 Related Commands: CVL, FBK Axis 2, Set correction sample time to 1] 2CST1 Example: 5-20 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 22: Correction Velocity

    – Read correction velocity Parameter n – 1 to 99 Range: x – 000.001 to VMX [default: 50 µm /s] Related Commands: CST, FBK Axis 2, Set correction velocity to 1] 2CVL1 Example: 5-21 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 23: Dump Trace Data

    Missing read operation parameter [28] Parameter n[int] – Axis number Description: – Read trace data values Parameter n – 1 to 99 Range: Related Commands: Example: Axis 11, Read trace data values 11DAT? 5-22 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 24: Closed Loop Deadband

    Related Commands: ENC, EPL Axis 1, Set deadband to 10 encoder counts 1DBD10,1 & deadband timeout to 1 second Example: Axis 4, Set deadband to 5 encoder counts & 4DBD5,0 deadband timeout to infinite 5-23 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 25: Deceleration

    0 to 99 Range: x – 000.001 to AMX (500.000 mm/s ) [degrees/s Related Commands: ACC, AMX, VEL Axis 2, Set deceleration to 1.25 mm/s [degrees/s 2DEC1.25 Example: Axis 7, Read deceleration value 7DEC? 5-24 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 26: Restore Factory Defaults

    – Standard syntax Syntax: Error [#]: – Missing axis number [30] Parameter n[int] – Axis number Description: Parameter n – 1 to 99 Range: Related Commands: Axis 2, Set default parameters] 1DEF Example: 5-25 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 27: Derivative Sample Time

    Derivative sample time Description: – Read derivative sample time Parameter n – 1 to 99 Range: x – 1 to 5000 Related Commands: PID, FBK Axis 2, Set Derivative sample time to 1] 2DST1 Example: 5-26 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 28: Derivative Term Gain

    Description: – Read derivative gain value Parameter n – 1 to 99 Range: x – 1 to 5000 Related Commands: PID, FBK, DST Axis 2, Set Derivative gain term to 1] 2DTG1 Example: 5-27 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 29 Read encoder resolution value Parameter n – 0 to 99 Range: x – 0.001 to 999.999 µm/count (milli-degrees/count) Related Commands: Axis 2, Set encoder resolution to 10 microns/count 2ENC10 Example: (10 milli- degrees/count) 5-28 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 30: End Program Recording

    REC, EXC, PGM Axis 1, Begin program recording 1PGM Axis 1, Set velocity value to 1 mm/s; Axis 1, Set 1VEL1;1ACC.5 Example: acceleration value to 0.5 mm/s [degrees/s Axis 1, End program recording 1END 5-29 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 31: Encoder Polarity

    0 to 99 Range: x – 0 for normal operation, 1 for reverse operation Related Commands: Axis 13, Set encoder polarity to normal 13EPL0 operation Example: Axis 6, Set encoder polarity to reverse operation 6EPL1 5-30 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 32: Erase Program

    – Axis number Description: x[int] – Program number to be erased Parameter n – 1 to 99 Range: x – 1 to 16 Related Commands: Example: Axis 5, Erase program 4 5ERA4 5-31 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 33: Error Gain

    Error Gain Description: – Read error gain value Parameter n – 1 to 99 Range: x – 1 to 50000 Related Commands: PID, FBK Axis 2, Set Error Gain to 1] 2ERG1 Example: 5-32 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 34 Read operation with missing axis number [123] Parameter n[int] – Axis number Description: – Read error messages Parameter n – 1 to 99 Range: Related Commands: None Example: Axis 3, Read error messages 3ERR? 5-33 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 35: Emergency Stop

    0EST – All axes execute emergency stop Parameter n[int] – Axis number Description: Parameter n – 0 to 99 Range: Related Commands: Axis 8, Emergency stop 8EST Example: All axes, Emergency stop 0EST 5-34 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 36: Execute Program

    – Program number to be executed Parameter n – 0 to 99 Range: x – 1 to 64 Related Commands: Axis 4, Execute program 5 4EXC5 Example: All axes, Execute program 2 0EXC2 5-35 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 37 Range: for open loop with closed loop deceleration, 3 closed loop Related Commands: ENC, EAD, EPL, DBD,PID, CST, CVL, DST, DTG, ERG, IST, IWL, ITG Example: Axis 2, Set closed loop mode 2FBK3 5-36 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 38: Upload Firmware

    Standard syntax Syntax: Error [#]: FMR – Missing axis number [30] Parameter n[int] – Axis number Description: Parameter n – 1 to 99 Range: Related Commands: Example: Axis 1, upload new firmware 1FMR 5-37 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 39: Full Steps Per Rev

    Read full steps per revolution value Parameter n – 0 to 99 Range: x – 0 to 10000 Related Commands: |Axis 1, Set 2000 Full Steps Per Rev 1FSR2000 Example: |Axis 5, Read Full steps/ Revolution 5FSR? 5-38 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 40: Gear Ratio

    Read Gear Ratio value n – 0 to 99 Parameter x – 1 – 50000 Range: y – 1 – 50000 Related Commands: |Axis 1, 100:1 1GRR100,1 Example: |Axis 5, Read Gear Ratio value 5GRR? 5-39 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 41: Home Configuration

    1 for setting motion in the direction of the positive limit Related Commands: Axis 3, Set initial direction of Home 3HCG0 command towards the negative limit Example: All Axes, Set initial direction of Home 0HCG1 command towards the positive limit 5-40 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 42: Home

    Error [#]: HOM? – Read operation with missing axis number [27] Parameter n[int] – Axis number Description: Parameter n – 0 to 99 Range: Related Commands: Example: Axis 1, Move to home position 1HOM 5-41 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 43 – Read Integrator sample time Parameter n – 1 to 99 Range: x – 1 to 5000 Related Commands: FBK, PID, IWL, ITG Axis 2, Set integrator sample time to 1] 2IST1 Example: 5-42 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 44: Integrator Term Gain

    – Read integrator gain value Parameter n – 1 to 99 Range: x – 1 to 5000 Related Commands: IST, IWL, PID, FBK Axis 2, Set integrator term gain to 1] 2ITG1 Example: 5-43 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 45: Integrator Windup Limit

    – Read Windup Limit value Parameter n – 1 to 99 Range: x – 1 to 999999 Related Commands: IST, IWL, ITG, FBK Axis 2, Set integrator windup limit to 1] 2IWL1 Example: 5-44 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 46: Jog Acceleration And Deceleration

    Read Jog acceleration value Parameter n – 0 to 99 Range: x – .001 to 500.000 mm/s [degrees/s Related Commands: ACC, DEC, AMX Axis 4, Set jog acceleration & deceleration to 4JAC0.1 Example: 0.1 mm/s [degrees/s 5-45 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 47: Jog Mode

    – Velocity n – 1 to 99 Parameter x – -100.000% to 100.000 % (of maximum velocity) Range: – 0 to stop Related Commands: Example: Axis 4, Jog at 10% maximum velocity 4JOG10 5-46 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 48: Limit Configuration

    – 0 – ignore [default] Parameter – Home uses Soft Limits Range: – Limits Switches Enabled – Home Uses Soft Limits and Limit Switches enabled Related Commands: Example: Axis 1, set limit switches active 1LCG1 5-47 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 49 Read limit direction value Parameter n – 0 to 99 Range: x – 0 or 1 Related Commands: |Axis 1, set to reverse orientation 1LDR1 Example: |Axis 5, Read limit switch orientation 5LDR? 5-48 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 50: Limit Status

    Read operation with missing axis number [123] Parameter n[int] – Axis number Description: – Read limit switches Parameter n – 1 to 99 Range: Related Commands: None Example: Axis 6, read current limit status 6LIM? 5-49 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 51: Lead Screw Pitch

    Read Lead Screw Pitch Parameter n – 0 to 99 Range: x – 1nm(.000001) to 999.999999mm Related Commands: |Axis 1, Set pitch to 0.25mm 1LSP.25 Example: |Axis 5, Read Lead Screw Pitch 5LSP? 5-50 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 52: Program List

    This command is used to display the individual commands entered by the user to create the specified program. NOTE: Commands are Command returned sequentially and individually, which means in the Micronix Description: GUI they will be listed from bottom (first returned) to top (last returned).

  • Page 53: Limit Switch Polarity

    – 1 – Active High n – 1 to 99 Parameter x – 0 – active low [default] Range: 1– active high Related Commands: Example: Axis 6, limit switches set to active high 6LPL1 5-52 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 54: Max Motor Current

    Read operation with missing axis number [27] nMCM – Missing current parameter [28] Parameter n[int] – Axis number Description: – Read max motor current value Related Commands: MCS, MCR Example: |Axis 5, Read max motor current value 5MCM? 5-53 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 55: Motor Current Setting

    Read current value Parameter n – 0 to 99 Range: x – 0 to MCM (2A) Related Commands: |Axis 1, Set motor current to 0.25A 1MCS.25 Example: |Axis 5, Read motor current value 5MCS? 5-54 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 56: Move To Negative Limit

    Parameter n[int] – Axis number Description: Parameter n – 0 to 99 Range: Related Commands: MLP,LCG Axis 8, Move to negative limit position 8MLN Example: All Axes, Move to negative limit position 0MLN 5-55 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 57: Move To Positive Limit

    – Axis number Description: Parameter n – 0 to 99 Range: Related Commands: MLN, LCG Axis 1, Move to positive limit position 1MLP Example: All Axes, Move to positive limit position 0MLP 5-56 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 58 Read motor current off/on value n – 0 to 99 Parameter x – 0 for motor current off Range: 1 for motor current on Related Commands: None Example: Axis1, Set motor current to off 1MOT0 5-57 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 59 – Motor Polarity setting Description: – Read motor current off/on value n – 0 to 99 Parameter x – 0 Normal Range: 1 Reverse Related Commands: Example: Axis1, To normal Polarity 1MPL0 5-58 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 60 Axis 2, Move to absolute position: 10 mm [degrees] All axes, Execute synchronous move 0RUN Example: All axes, Move to absolute position: 5 mm 0MSA5 [degrees] All axes, Execute synchronous move 0RUN 5-59 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 61 RUN, MSA Axis 4, Move 0.1 mm [degrees]; Axis 5, Move 0.5 4MSR.1;5MSR.5 mm [degrees] xecute synchronous move 0RUN Example: All axes, Move 0.01 mm [degrees] 0MSR0.01 All axes, execute synchronous move 0RUN 5-60 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 62 Range: x – -999.999999 to 999.999999 mm (degrees) Related Commands: MVR, POS Axis 4, Move to absolute position: 14.5 mm [degrees] 4MVA14.5 Example: All axes, Move to absolute position: 5.5 mm [degrees] 0MVA5.5 5-61 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 63 Parameter – 0 to 99 Range: x – ± 0.000001 to 999.999999 mm [degrees] Related Commands: MVA, POS Axis 6, Move 10 mm [degrees] 6MVR10 Example: All axes, Move 0.89 mm [degrees] 0MVR.89 5-62 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 64 1 – Don’t Loop 2 to 999999 – number of times an executed command will repeated Related Commands: PGS, STP Axis 1, Run program 1 continuously 1PGL0 Example: Axis 1, Run program 5 times 1PGL5 5-63 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 65: Begin Program Recording

    Program number to be recorded Parameter n – 1 to 99 Range: x – 1 to 16 Related Commands: END, EXC, LST, ERA Axis 1, Begin recording program. Save program 1PGM3 Example: as program 3 5-64 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 66: Run Program At Start-Up

    – All axes, set program 23 to run on start-up 0PGS23 Example: – Axis 3, Read program to run on start-up 3PGS? – Axis 3, Set no program to run on start-up 3PGS0 5-65 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 67: Set Feedback Constants

    Axis 5, Set encoder feedback constants to 0.02, 5PID.02,.04,.05 0.04 and 0.05, respectively Axis 2, Set encoder feedback constant K 2PID.03,, Example: 0.03, other constants remain unchanged Axis 4, Set encoder feedback constant K 4PID,,.07 0.07, other constants remain unchanged 5-66 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 68 Read operation with missing axis number [27] Parameter n[int] – Axis number Description: – Read position values Parameter n – 1 to 99 Range: Related Commands: Example: Axis 4, Read position values 4POS? 5-67 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 69 1 to 99 Range: x – 0 to 0-2^32 (pico meter/fullstep )/ 10 Related Commands: None Axis 9, Set resolution to 25 9REZ25 (picometers/fullstep)/ 10 Example: (picometers/fullstep)/ 10 Axis 3, Read 3REZ? resolution value 5-68 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 70: Perform Soft Reset

    Standard syntax Syntax: 0RST – All axes execute soft reset Parameter n[int] – Axis number Description: Parameter n – 1 to 99 Range: Related Commands: None Example: Axis 8, execute soft reset 8RST 5-69 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 71: Start Synchronous Move

    Syntax: RUN – Standard syntax Parameter Description: Parameter Range: Related Commands: MSA, MSR Axis 3, Move 5 mm [degrees]; 3MSR5;4MSR5 Example: Axis 4, Move 5 mm [degrees] All axes, Execute synchronous move 0RUN 5-70 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 72: Save Axis Settings

    – Standard syntax Syntax: 0SAV – All axes save settings Parameter n[int] – Axis number Description: Parameter n – 0 to 99 Range: Related Commands: None Example: Axis 16, save settings 16SAV 5-71 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 73 – Missing read operation parameter [28] Parameter n[int] – Axis number Description: – Read status register Parameter n – 1 to 99 Range: Related Commands: None Example: Axis 6, Read status register 6STA? 5-72 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 74 – Standard syntax Syntax: 0STP – All axes execute stop Parameter n[int] – Axis number Description: Parameter n – 0 to 99 Range: Related Commands: EST, DEC Example: Axis 4, execute stop 8STP 5-73 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 75: Save Startup Position

    Read Startup Position Parameter n – 0 to 99 Range: x – TLN (-999.999999mm) to TLP(999.999999mm) Related Commands: None Set current position to Startup position 4SVP Example: | Set startup position to 2.3mm 2SVP2.3 5-74 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 76 0SYN – Missing axis number, command accepted as standard syntax Parameter n[int] – Axis number Description: Parameter n – 0 to 99 Range: Related Commands: None Example: Send sync to axis 4 4SYN 5-75 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 77: Negative Soft Limit Position

    0 to 99 Range: x – -999.999999 to TLP mm [degrees] Related Commands: Axis 2, Set negative soft limit position to 0.005 2TLN0.005 mm [degrees] Example: Axis 6, Read negative soft limit position 6TLN? value 5-76 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 78 0 to 99 Range: x – TLN to 999.999999 mm [degrees] Related Commands: Axis 2, Set positive soft limit position to 10.005 4TLP10.005 mm [degrees] Example: Axis 9, Read positive soft limit position 9TLP? value 5-77 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 79 5TRA5,10,1 sampling frequency of 1kHz starting at a position of 1 mm [degrees] Example: Axis 3, execute trace with 2000 samples at 3TRA2000,, a sampling frequency of 10kHz starting at the current position 5-78 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 80 Read operation with missing axis number [27] Parameter n[int] – Axis number Description: – Read velocity value Parameter n – 0 to 99 Range: Related Commands: Example: |Axis 5, Read Maximum microsteps 5UMX? 5-79 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 81 – Read microstep value Parameter n – 0 to 99 Range: x – 1 to UMX (4096) Related Commands: |Axis 1, Set 2000 microsteps [degrees/s] 1UST2000 Example: |Axis 5, Read microstep value 5UST? 5-80 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 82 000.001 to VMX (999.999 mm/s) [degrees/s] Range: – 0 to set VEL to VMX Related Commands: VMX, REZ |Axis 1, Set velocity to 0.25mm/s [degrees/s] 1VEL.25 Example: |Axis 5, Read velocity value 5VEL? 5-81 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 83 – Missing read operation parameter [28] Parameter n[int] – Axis number Description: – Read firmware version Parameter n – 1 to 99 Range: Related Commands: None Example: Axis 11, Read firmware version 11VER? 5-82 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 84 Missing read operation parameter [123] Parameter n[int] – Axis number Description: – Read maximum allowable velocity value Parameter n – 1 to 99 Range: Related Commands: REZ, VEL Example: |Axis 4, Read maximum allowable velocity value 4VMX? 5-83 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...

  • Page 85: Encoder Velocity

    Error [#]: VRT? – Read operation with missing axis number [27] Parameter n[int] – Axis number Description: Parameter n – 1 to 99 Range: Related Commands: Example: Axis 5, Read encoder velocity 5VRT? 5-84 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 86 Missing axis number, command accepted as standard syntax Parameter n[int] – Axis number Description: Parameter n – 1 to 99 Range: Related Commands: None Axis 7, Wait for motion to stop before 7WST Example: executing next command 5-85 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 87 Missing axis number, command accepted as standard syntax Parameter n[int] – Axis number Description: Parameter n – 1 to 99 Range: Related Commands: None Axis 1, Wait until sync command is 1WSY Example: received before executing next command 5-86 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 88 Axis number Description: x[int] – Time Parameter n – 1 to 99 Range: x – 0 to 999999 milliseconds Related Commands: None Axis 2, Wait for 42 milliseconds before 2WTM42 Example: executing next command 5-87 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 89 Error [#]: ZRO – Missing axis number [123] Parameter n[int] – Axis number Description: Parameter n – 1 to 99 Range: Related Commands: None Example: Axis 1, set current position as absolute zero 1ZRO 5-88 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 90 A read operation cannot be used with this command. nZZZ – Standard syntax Syntax: ZZZ – Missing axis number, all axes set to offline Parameter n[int] – Axis number Description: Parameter n – 1 to 99 Range: Related Commands: None Example: 5-89 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 91 Check to ensure that each instruction in the line has exactly 3 letters referring to a command. The 3-letter instruction entered is not a valid command. Invalid Command Ensure that the 3-letter instruction is a recognizable command. 5-90 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 92 Check the command pages for information on Executed During Motion individual commands. If a requested move will take the controller outside of the Move Outside Soft Limits preset travel limits, then the command will not be executed. 5-91 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 93 The I/O Function in question is already assigned to IO Function Already In another I/O pin. Some Functions can only be assigned to one pin at a time. See the documentation for each function for more details. 5-92 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 94 The command entered is not supported in this version in this Version of the firmware. Analog Encoder Not The current version of firmware installed does not Available In this Version support Analog Encoders. 5-93 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 95 Pin2 – IO4 Pin4 – GND I/O ports can be set up as either active high or active low, With a recommended input current of 5mA and a maximum output current of 50mA. 6-94 MICRONIX USA, LLC Rev: 3.02 www.micronixusa.com...
  • Page 96 The firmware on the MMC-200 can be updated without returning the controller to manufacturer. For questions regarding the current firmware release and updating the firmware of your MMC- 200 Please contact Micronix USA support. Please be sure to check the firmware version by using the VER command.

Table of Contents