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Mnemonic Function Unit Range Syntax Example
BD Communications BAUD Rate BAUD 48, 96, 19, 38, 11 BD=<baud>
DE Enable/Disable Drive - 1/0 DE=<1/0>
DN Device Name Character a-z, A-Z, 0-9 DN=<char>
EM Echo Mode 0 (def)=Full Duplex, 1=Half Duplex Mode 0/1 EM=<mode>
IP Initial Parameters from EEPROM - - IP
PY Enable/Disable Party Mode Mode 1/0 PY=<mode>
UG Upgrade Firmware Code 2956102 IMS Term. Upgrader
Setup Instructions, Variables and Flags
Mnemonic Function Unit Range Syntax Example
AL All Parameters, Used with PR (Print) - - PR AL
BY BSY Flag 1=Prog. Running - 0/1 PR BY
PR Print Selected Data and/or Text - - PR <data/text string>
R1 User Register 1 Number Signed 32 bit R1=<number>
R2 User Register 2 Number Signed 32 bit R2=<number>
R3 User Register 3 Number Signed 32 bit R3=<number>
R4 User Register 4 Number Signed 32 bit R4=<number>
VR Firmware Version Number - PR VR
UV Read User Variables - = PR UV
Miscellaneous Instructions, Variables and Flags
Mnemonic Function Unit Range Syntax Example
(-) Do Previously Set Mode to/at This Value per mode -<number>
A Set Acceleration Steps/Sec
2
1000000000 A=<accel>
D Set Deceleration Steps/Sec
2
1000000000 D=<decel>
HC Set Hold Current % (Percent) 0 to 100 HC=<percent>
HT Set Hold Current Delay Time milliseconds 0-65000 HT=<msec>
MA Set Mode and Move to Abs. Position ±Position Signed 32 bit MA <±pos>
MD Motion Mode Setting - - -
MR Set Mode and Move to Relative Position ±Distance Signed 32 bit MR <±dist>
MS Set Microstep Resolution Microsteps/step MSEL Table MS=<param>
MT Motor Settling Delay Time milliseconds 0-65000 MT=<msec>
MV Moving Flag - - PR MV
RC Set Run Current % (Percent) 1 to 100 RC=<percent>
SL Set Mode and Slew Axis Steps/sec ±5000000 SL=<velocity>
V Read Current Velocity Steps/sec ±5000000 PR V
VI Set Initial Velocity Steps/sec 1-5000000 VI=<velocity>
VM Set Maximum Velocity Steps/sec 1-5000000 VM=<velocity>
Motion Instructions, Variables and Flags
Section 2.3
MDrive Motion Control Command Set Summary