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Table of Contents
Command: Write Register (112) ..........................................................................................................824
System ................................................................................................................. 825
Command: Arm Home (50) .................................................................................................................825
Command: Disarm Home (51) .............................................................................................................826
Command: Arm Registration (52) ........................................................................................................827
Command: Disarm Registration (53) ...................................................................................................828
Command: Learn Z Alignment (54) .....................................................................................................828
Command: Pause/Resume Log (95) .....................................................................................................829
Command: Update Flash (110) ............................................................................................................829
Programming ....................................................................................................... 830
Command: Start Task (90) ...................................................................................................................830
Command: Stop Task (91) ...................................................................................................................832
Command: Set Discrete Output (60) ....................................................................................................832
Command: Clear Discrete Output (61) .................................................................................................833
Command: Toggle Discrete Output (62) ..............................................................................................835
Plots .................................................................................................................... 836
Command: Start Plot (100) ...................................................................................................................836
Command: Stop Plot (101) ...................................................................................................................836
Command: Trigger Plot (102) ..............................................................................................................837
Command: Rearm Plot (103) ...............................................................................................................837
Command: Enable/Disable Plot Trigger (104) .....................................................................................838
Step Editor Commands ......................................................................................... 839
Command: Expression (113) ................................................................................................................839
Register Reference ................................................................................... 843
Registers .............................................................................................................. 843
Register Descriptions ........................................................................................... 843
Axis Status Registers ............................................................................................................................843
Axis Status Registers Overview ........................................................................................................................ 843
Common............................................................................................................................................................ 844
Status Bits Register ....................................................................................................................................... 844
Error Bits Register ........................................................................................................................................ 849
Last Error Number Register .......................................................................................................................... 855
Read Response .............................................................................................................................................. 855
Feedback ........................................................................................................................................................... 856
Actual Position .............................................................................................................................................. 856
Actual Velocity ............................................................................................................................................. 856
Actual Acceleration ....................................................................................................................................... 857
Actual Jerk .................................................................................................................................................... 858
Actual Pressure/Force ................................................................................................................................... 859
Actual Pressure/Force Rate ........................................................................................................................... 859
Counts ........................................................................................................................................................... 860
Voltage .......................................................................................................................................................... 861
Current .......................................................................................................................................................... 862
Raw Counts ................................................................................................................................................... 863
Channel A, B Raw Counts ............................................................................................................................ 864
Channel A, B Current .................................................................................................................................... 864
Channel A, B Voltage ................................................................................................................................... 865
Channel A, B Force ....................................................................................................................................... 866
Channel A, B Acceleration............................................................................................................................ 867
Custom Counts .............................................................................................................................................. 868
Custom Error Bits ......................................................................................................................................... 868
Output ............................................................................................................................................................... 869
Control Output .............................................................................................................................................. 869
Primary Control ................................................................................................................................................ 870
Position Error ................................................................................................................................................ 870
Velocity Error ............................................................................................................................................... 870
Proportional Output Term ............................................................................................................................. 871
Integral Output Term .................................................................................................................................... 871
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