In serial communications mode, The MVP is controlled via a series of ASC II instructions issued by the Master computer or PLC. Multiple device nodes can be communicated with simultaneously by inserting a comma between the node addresses to be accessed. All nodes will also respond to a command issued to address 0. This function, when combined with the X parameter allows the digital filters of multiple nodes to be synchronized. 

Motion Related Commands:

M	(Move) Initiate Motion			4 M
Receipt of the "M" Move command initiates motion using the values presently loaded to determine the profile characteristics.

LA	Load Absolute Target Position		4 LA 10000
Allows programming of the desired target position relative to the present zero or "home" position.

LR	Load Relative Target Position		4 LR 10000
Allows programming of the desired target position relative to the present position.

SP	Load Maximum Commanded Velocity	4 SP 3000
This parameter should be loaded with the desired maximum profile velocity. This value should be selected to not exceed the capabilities of the mechanical system.

AC	Load Profile Acceleration		4 AC 100
This parameter determines the acceleration and deceleration rate to be calculated by the profiler during execution.

V	Constant Velocity Command		4 V 2200
Execution of this command causes the controller to switch into the Velocity control mode. The motor will ramp the selected velocity at the rate defined by the AC parameter. Velocity mode can be used interactively with position mode.

DI	Disable Drive				4 DI
Execution of this command disables the drive electronics and removes all current from the motor. With the exception of Local Mode Operation, the MVP defaults to the disabled state on power up.

EN	Enable Drive				4 EN
This instruction enables the drive electronics and allows the servo controller to become active, providing motor current as required.

LL	Set Position Range Limits 		4 LL 2000000 or 4 LL -130000
The range limit mechanism provides an additional layer of protection in applications where the network master calculates position data on the fly. Both positive and negative range limits are determined independently using the sign of the limit parameter. If the MVP receives an instruction from the host to move to a position which is not within the range limit window, it will respond as directed by the SA parameter.

SA	Select Range Limit Action		4 SA 2		(Code = 0 - 2)
The Range Limit Action Code determines the MVP response to a command directing motion outside of the defined range limits. Action code 0 disables the drive immediately. Setting the code to 1 causes the MVP to attempt to servo in the present position. If action code 2 is selected, the MVP will move to the programmed range limit position.

T	Set Percentage Trajectory Parameter	4 T 45
This parameter allows the user to determine the percentage of the profile to be completed prior to the Percent Complete Flag, (Status bit 4)  being set. If this parameter is set to 0, the Percent Complete Flag will not become set during profile execution.

AB	Abort Motion Command		4 AB
Execution of this command terminates the present motion and the motor will ramp to a stop at the rate determined by the AD parameter.

AD	Abort Deceleration Parameter		4 AD 200
This parameter allows the user to define the abort deceleration rate. This capability permits a profile to be interrupted without loss of servo control by selecting abort action code 2, which is the power up default setting.

AA	Abort Action Codes			4 AA 2
The Abort Action Codes permit selection of the behavior of the controller during an abort situation. Action code 0 disables the drive immediately. Setting the code to 1 causes the MVP to perform a Hard Stop and attempt to servo in the present position. If action code 2 is selected, the MVP will abort the profile at the programmed abort deceleration rate.

HO	Define the present position (Home)	4 HO 		(Argument optional)
The HOME parameter provides a mechanism to define a known mechanical position a specific numerical position within the MVP controller's operational space. Using this command without an argument will set the position to 0. If an argument is used, the new position will be defined by the numerical value of the argument.

HA	Arm the "HOME" input			4 HA 1
The external event input on the J2 connector, pin 7 can be used as a "HOME" input that can be triggered by an external sensor or proximity switch. When used in conjunction with the HP command, an automated homing sequence can be easily implemented. Setting the HA parameter argument to 0 will disable the function. The input is also disarmed once it has been triggered.

HP	Define Home Arming Polarity		4 HP 0 (0 = Negative Logic)
The HP command allows the user to select positive or negative logic input signals to trigger the HOME and Error inputs. This flexibility eases installation into existing applications where the state of these signals is predetermined. The Home operation is performed upon the appropriate change of state of the selected input.

HS	Query Home Arming Status		4 HS
This allows the user to verify the status of the Homing Sequence.  Bit 0 indicates the present status of the Arming function, and bit one reflects the current polarity setting. It is important to note that the polarity configuration affects the event inputs, as well as the overtravel and emergency stop inputs.

HF	Homing Sequence Action Code	4 HF 2
Configuration of this parameter provided the user the opportunity to select which behavior the controller implements during the "Homing" process. Action code 0 disables the drive amplifier when the home input is triggered. Setting the code to 1 will cause the MVP to execute a "Hard Stop", assigning the present position as the HOME position when the input is triggered, and code 2 is the selection required if a "Soft Stop" is desired. The deceleration rate is defined using the AD parameter. 

FD	Set Max Dynamic Following Error	4 FD 1000
This parameter allows the user to limit the amount of following error in a profile to a predetermined maximum. Excess following error is treated as an exception as defined by the FA parameter.

FA	Configure Following Error Action	4 FA 2 (0 - 2)
This parameter determines the action taken when the following error exception occurs. Action code 0 will disable the drive current. Action code 1 will cause the MVP to attempt to servo in the present position, and action code 2 causes the MVP to attempt to recover the accumulated error, but prevents any additional error accumulation.

LS	Limit Sequence Enable			4 LS 1
The limit sequence defines the controllers response to the activation of one of the overtravel limit inputs. Setting the LS flag to 0 causes the MVP to disable the drive amplifier upon limit input activation. Setting the LS flag to 1 causes the MVP to permit motion only in the opposite direction until the activated input is cleared.

O	Local/Remote Mode Flag		4 O 0
This flag provides a mechanism for the user to switch from remote mode to local velocity mode, which provides velocity control using the analog input voltage as the velocity command signal. When used in conjunction with the J parameter, this functionality provides a convenient means of switching from programmable to manual control. Setting O to a 0 selects remote mode, and setting o to a 1 selects local velocity control mode.

J	Set Local Velocity Range Multiplier	4 J 2
This parameter is used to allow the user to select the local mode speed range. Since the encoder resolution and the value of the command voltage multiplied by a scaling factor determine the velocity, the velocity ranges indicated are using a 500 ppr encoder.

0 = 250    rpm (default)
1 = 1000  rpm
2 = 5000  rpm
3 = 10000 rpm
4 = 20000 rpm

K	Select Continuous Integration		4 K 1
Setting this parameter to 0 permits the user to disable the integral term of the digital filter.

N	Define the "In Position" Range		4 N 1
The value of the N parameter determines the size of the position window that the MVP considers to be "In Position".

I/O Related Commands:

Serial I/O responses consist of the responding nodes address, followed by the ASC II representation of the requested data parameter. All numerical responses are provided in hexadecimal notation. Example Status Response:	0004 000A
Note that the node address is separated from the data by a "space" character. The string is terminated with a carrage return (13)  and line feed (10)  characters.

POS	Query Present Position			4 POS
The selected MVP node will report the present position of the motor immediately upon receipt of this instruction. (32 bit signed response)

ST	Query Present Node Status		4 ST
The selected MVP node will report the present node status immediately upon receipt of this instruction. (16 bit signed response)

ANI	Query Analog Input Value		4 ANI
The selected MVP node will report the present value of the analog input immediately upon receipt of this instruction. (16 bit signed response)

ANO	Set Current Limit			4 ANO 2047
The MVP has programmable current limit protection. Programming the desired value to the analog output sets the current level. Refer to the charts diagramming the output current levels for the corresponding output voltages. If the fixed current limit option is selected on the MVP front panel, the analog output is available for alternative application.

Configuration Related Commands:

POR	Set Proportional Loop Gain		4 POR 20000   (4K-32K)
The proportional gain determines the systems proportional response to a given amount of positional error. Increasing this parameter provides a tighter and more dynamically responsive system.

I	Set Integral Loop Gain			4 I 50		(1 - 32K)
Unlike the proportional gain, where the response remains constant if there is no change in error, the integral term continues to increase the effects of it's response until it becomes effective. This parameter determines the rate of change of this response.

DER	Set the Derivative Loop Gain		4 DER -25000 (1K-32K)
The derivative gain balances the loop error compensation against the rate of change of the loop error. Adjusting this parameter may be necessary to achieve optimal stability when using larger motors with longer mechanical time constants.

RN	Reset Node				4 RN
This command causes the MVP to perform a power on reset operation.

RE	Reverse Encoder Phasing                      4 RE 1
This parameter allows the encoder phasing to be reversed to facilitate closure of the control loop.

RD	Reverse Operational Direction		4 RD 1
Often the direction of rotation of the motor when provided a positive command position needs to be reversed. This parameter allows the user to reconfigure the system without the need to rewire the motor or encoder connections.

SR	Set MVP Loop Sample Period		4 SR 500
This command allows the user to program the sampling rate of the digital filter. Increased sample periods are useful in cases where a low resolution feedback encoder is used or where very low velocities are desired.

X	Synchronize Nodes			0 X
This parameter arms the synchronization sequence in multiple MVP devices. The process is triggered when the next global move ( 0 M ) command is issued.

Indexing Commands:

ID	Index Destination			4 ID 200000
This parameter permits the user to configure the destination position for an indexing operation.

IS	Indexing Velocity			4 IS 2000
This parameter permits configuration of the indexing profile velocity.

IA	Indexing Acceleration			4 IA 100
This parameter permits configuration of the indexing profile acceleration.

IE	Indexing Enable			4 IE 1
The IE command provides a means of activating and deactivating indexing mode. Setting this flag to 1 activates indexing, and setting the flag to 0 restores normal operation.

IM	Single/Continuous Indexing		4 IM 1
Indexing operation may be either single step operation in response to an external pulse applied to J2, pin 8, or continuous operation. Setting this flag to a 1 selects continuous mode.

ITD	Index Destination Delay		4 ITD 2000
This parameter allows the user to determine the dwell time at the index destination position. Each unit is equal to a 500us-time delay.

ITZ	Index Zero Delay			4 ITZ 2000
This parameter allows the user to determine the dwell time at the index zero position. Each unit is equal to a 500us-time delay.

Position Capture Commands:

CA	Capture A Input			4 CA 1
Setting the input capture flag enables capture operations on external event input #1, (J2-7). Setting the flag to 0 terminates capture operation. This function is automatically cleared when the selected capture input is triggered.

POSCA	Report Capture Position A	4 POSCA
This command causes the MVP to return the position captured when capture input A (J2-7) was last triggered. 

CB	Capture B Input			4 CB 1
Setting the input capture flag enables capture operations on external event input #2, (J2-8). Setting the flag to 0 terminates capture operation. This function is automatically cleared when the selected capture input is triggered.

POSCB	Report Capture Position B	4 POSCB
This command causes the MVP to return the position captured when capture input B (J2-8) was last triggered. 

Demo Software Command File Conventions:

ST mask	Status response mask field	4 ST 10
The inclusion of a status mask parameter following the ST command allows the demo software compare the responses received with the anticipated response. The demo software program will continue to poll the selected node until the desired response is received, providing a means of implementing flow control in the demo environment.

ST mask>label				4 ST 10>mainloop 9>loop2
Adding a label name to the mask parameter (separated with a >) provides a means of implementing a logical goto operation for structured control. If the MVP system status matches a mask, a jump to the appropiate label will be performed.

Delay		Timing Delay Function		Delay 100
This command causes the demo program to pause for the specified time period. Each unit represents a 10-millisecond delay.

Message	Message Field			Message Start here
The text in the message statement will be displayed in the message window during execution of the command file. This feature provides a useful means of following program execution.

/*   */		Comment Fields		4 HO /* Main Loop*/
The slash asterisk allows comments to be inserted into command files.