POEM Stepper Organizer command set


Info & Hardware Commands

No Char Parameters SETTING RETURN
0 V I,O,H,L   Version:
I
d=20307 ('SO'),
Operating System:
8: 8 Bit (DOS),
16: 16 Bit (Win 3.1X),
32: 32 Bit (Win32),
High Version (H.x),
Low Version (x.L)
1 # N,A,R Use LPT Port:
N
um,
Addr,
Reset Dynamics: R = 0
LPT Port Used:
N
um,
Addr,
Real Tick Count / Sec
2 ~ X,Y,Z,W Step Pins
(0,+2..+9)
Step Pins
3 ^ X,Y,Z,W Direction Pins
(0,+2..+9)
Direction Pins
4 [ X,Y,Z,W Negative Limit Pins
(0,+1,+10..+17)
Negative Limit Pins
5 ] X,Y,Z,W Positive Limit Pins
(0,+1,+10..+17)
Positive Limit Pins
6 < A,B,C,D Input Pins
(0,+1,+10..+17)
Input Pins
7 > E,F,G,H Output Pins
(0,+1,+10..+17)
Advice for Relay:
(-16,-14,-5,-3..-1,0,+4,+6..+9,+17)
Output Pins
8 C X,Y,Z,W Count of Steps per Revolution:
Info Only!
Count of Steps per Revolution:
User Memo
9 D X,Y,Z,W Distance of Revolution:
Info Only!
Distance of Revolution:
User Memo

Note: LPT port is 17 data pins (1..17), used positive or inverted, pin 0 equal to not connected.

 

Movement Commands

No Char Parameters SETTING RETURN
10 P X,Y,Z,W Position Position
11 R B,V,A Rates:
B
ase speed,
Velocity,
Acceleration
Rates:
B
ase speed,
Velocity,
Acceleration,
Maximum velocity
12 F X,Y,Z,W Rate Scaling Factor (%) Rate Scaling Factor (%)
13 M P,T,M,R Mode (0/1):
Positioning:
Relative / Absolute,
Travel:
Continuous / Nudge,
Moving:
Linear / Rapid,
Relay while moving:
Unchanged / Turned on
Mode (0/1):
Positioning:
Relative / Absolute,
Travel:
Continuous / Nudge,
Moving:
Linear / Rapid,
Relay while moving:
Unchanged / Turned on
14 L X,Y,Z,W   Limits (0..3):
0: Not Pressed,
1: Negative Pressed,
2: Positive Preesed,
3: Both Pressed
15 I A,B,C,D   Inputs (0/1)
Emergency by 'S' Command (No.17)
16 O E,F,G,H Outputs (0/1)
Relay by 'T' Command (No.18)
Outputs (0/1)
17 S A,B,C,D Stop Inputs (0/1)
Used for Emergency
Stop Inputs (0/1)
18 T E,F,G,H Turn On Outputs while moving (0/1)
Used for Relay
Turn On Outputs while moving (0/1)
19 Q U Queue Status Change:
Erase Queue: U = 0
Queue Status:
U
sed,
Available
20 N X,Y,Z,W Next Queue Unit Now Queue Position
21 E G Execute Queue:
Go: G = 1
Execution Result:
Was Emergency/Limit: G > 0

 

Driver Selection (multidriver configuration only; compatibility advice)

No Char Parameters SETTING RETURN
99 * D Driver Select:
D
river Number (0..15)
Driver Selected:
D
river Number,
Found: 0: False, 1: True

 

? Aryeh Eiderman <leib@inter.net.il>