# Communications protocol

A simple text-based protocol is used. Commands are sent to the SMD4, checked and executed, and a response returned. Data are buffered on receipt and commands are evaluated and executed on a first in first out basis. Although not a requirement, it is usually easiest to send a command and evaluate the response before sending the next command.

Commands are in the form (Note that angle brackets are shown for clarity only, they are not part of the protocol):

`<span style="font-size: 11pt; line-height: 107%; font-family: 'Courier New';"><em><address prefix></em><mnemonic>,<argument 1>,<argument 2>,<argument n>…<CR><LF></span>`

And responses are in the form:

`<span style="line-height: 107%;"><span style="font-size: 11pt; line-height: 107%; font-family: 'Courier New';"><em><address prefix>,</em><SFLAGS>,<EFLAGS>,<data 1>,<data 2>,<data n>…<CR><LF></span></span>`

<span style="mso-bidi-font-size: 10.0pt; line-height: 107%; mso-bidi-font-family: Arial; mso-bidi-font-weight: bold;">If the command executed successfully, or:</span>

`<span style="mso-bidi-font-size: 10.0pt; line-height: 107%; mso-bidi-font-family: Arial; mso-bidi-font-weight: bold;"><span style="font-size: 11.0pt; mso-bidi-font-size: 12.0pt; line-height: 107%; font-family: 'Courier New'; mso-fareast-font-family: Calibri; mso-fareast-theme-font: minor-latin; mso-ansi-language: EN-GB; mso-fareast-language: EN-US; mso-bidi-language: AR-SA; mso-bidi-font-weight: bold;"><em><address prefix></em>,<SFLAGS>,<EFLAGS>,<error code><CR><LF></span></span>`

<span style="mso-bidi-font-size: 10.0pt; line-height: 107%; mso-bidi-font-family: Arial; mso-bidi-font-weight: bold;">If the command failed to execute correctly.</span>

<span style="mso-bidi-font-size: 10.0pt; line-height: 107%; mso-bidi-font-family: Arial; mso-bidi-font-weight: bold;">Where:</span>

<table class="table-shaded-header table-striped table-grey-borders" id="bkmrk-item-description-%3Cad"><tbody><tr><td>Item

</td><td>Description

</td></tr><tr><td>*&lt;address prefix&gt;*

</td><td>**Optional** prefix included when multiple SMD4s exist on the same bus. If not using addressing can be omitted.

</td></tr><tr><td>&lt;mnemonic&gt;

</td><td>Short sequence of characters representing a command, case insensitive

</td></tr><tr><td>&lt;argument n&gt;

</td><td>Zero or more command arguments

</td></tr><tr><td>&lt;data n&gt;

</td><td>Zero or more response data items

</td></tr><tr><td>&lt;error code&gt;

</td><td>An error code, see section [Error Codes](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-error-codes). This includes both a number and text description of the error to aid when using the SMD4 via a terminal program.

</td></tr><tr><td>&lt;SFLAGS&gt;

</td><td>Set of flags representing the status of the SMD4, such as the state of the limit inputs or whether the joystick is connected. See section [Status Flags](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-status-flags-%28sflags)

</td></tr><tr><td>&lt;EFLAGS&gt;

</td><td>Set of flags representing the error state of the SMD4, such as invalid mnemonic, or motor over-temperature fault.

</td></tr><tr><td>&lt;CR&gt;&lt;LF&gt;

</td><td>Message terminator; carriage return followed by line-feed (0x0D,0x0A)

</td></tr></tbody></table>

### **Addressing**

This section is only applicable where multiple SMD4s are connected together on the same bus, using the serial interface in either RS232 or RS485 mode. The addressing logic described in this section works for all interfaces, but is redundant for USB and the network interface since those inherently implement addressing.

When multiple SMD4s exist on the same bus, a mechanism is required to allow them to be addressed uniquely or as a group. Likewise, only one device must use the bus at a time otherwise bus contention results when more than one device tries to drive the bus at a time.

This is accomplished via the address prefix, which is the at '@' symbol followed by a numeric address:

- 0 = Broadcast address, all SMD4s execute the command, but no response is sent
- 1 to 247 = Valid secondary address range. The addressed SMD4 executes the command and returns a response
- Any address outside this range is invalid, and the packet is silently ignored

Upon receipt of the first complete packet with an address prefix, the SMD4 enters addressing mode, and behaviour then changes as follows, until restart.

- Malformed packets are silently ignored. This includes any packet that does not include the addressing prefix but that is otherwise valid.
- Broadcast packets are silently parsed and executed. A response is not sent, and as such it cannot be determined whether the command executed successfully without submitting a further query addressed directly to the target SMD4.
- <span style="font-family: inherit; font-size: inherit;">Packets that are otherwise correctly formed but having a target address that does not match that of the SMD4 are silently ignored. </span>

### **Comma separation**

All elements are comma-separated, except for the message terminator which immediately follows the last item. A response is always sent on receipt of a message terminator except where addressing criteria are not met. If an argument was supplied with a command, for example, to set a value, the value set will be returned in the response and serves as an additional confirmation of the command having executed as expected.

Many commands accept a real number argument when the underlying quantity is an integer, or finite set of real numbers. In this case, the supplied value being otherwise acceptable is rounded to the closest integer or real number from the allowed set, and it is this value that is returned in the response.

**No data items to return**  
If there are no data items as part of a response, only the SFLAGS and EFLAGS are returned. If an error occurred, then this will be reflected in the EFLAGS.

### <span style="line-height: 107%; color: rgb(0, 0, 0);">Argument types</span>

Arguments may be one or a mix of the following types, depending on the command. Data returned by the SMD4 uses the same types, which are always presented as indicated in the “SMD4 response” column.

<table class="table-shaded-header table-striped table-grey-borders" id="bkmrk-type-name-descriptio"><tbody><tr><td>Type</td><td>Name</td><td>Description</td><td>Example argument values</td><td>SMD4 response</td></tr><tr><td>INT</td><td>Integer</td><td>Integer value, with or without sign</td><td>100, -10, +7</td><td>Sign included for negative values only. E.g. 100, -10</td></tr><tr><td>UINT</td><td>Unsigned integer</td><td>Unsigned integer value, no sign. Hexadecimal representation may also be used, case insensitive</td><td>99, 1000, 0xA74F, 0xd7</td><td>Numeric format. E.g. 100, 200 Except for status and error flags which are returned in upper case 2-byte hexadecimal format, E.g. 0x1234, 0xA4DE</td></tr><tr><td>FLOAT</td><td>Real number</td><td>Real number, with or without sign. Scientific format may also be used, case insensitive</td><td>10.23, 100e-3, 100E4, 10</td><td>Scientific format, with 5 places after the decimal point and a 2-digit exponent E.g. 1.23000E+04, 5.76159E-10</td></tr><tr><td>STRING</td><td>ASCII string</td><td>ASCII string, consisting of characters 0x20 to 0x7E inclusive</td><td>Abc123, 78-%^A</td><td>ASCII string, E.g. "1234 abc", "10%"</td></tr><tr><td>BOOL</td><td>Boolean</td><td>Binary, true/false value</td><td>0, 1</td><td>E.g. 0, 1</td></tr><tr><td>DOTTED DECIMAL</td><td>Dotted decimal</td><td>IPV4 address or mask, four numbers separated by dots.</td><td>192.168.0.1</td><td>E.g. an IP address 192.168.0.1 or a net mask 255.255.255.100</td></tr></tbody></table>

### <span style="line-height: 107%; color: rgb(0, 0, 0);">Flags</span>

Error flags are reported by the device in hexadecimal format as explained above. E.g. a value of 0x0002 means bit 1 is set (TOPEN), indicating that the device has been disabled due to an open circuit temperature sensor.

#### <span style="line-height: 107%; color: rgb(0, 0, 0);">Error flags (EFLAGS)</span>

These indicate error conditions and are latching (i.e. remain set even after the error condition that caused them no longer persists). Reset the fault using the clear command, or the reset fault input. The motor is disabled if one or more error flags are set.

<table class="table-shaded-header table-striped table-grey-borders" id="bkmrk-bit-name-description"><tbody><tr><td>Bit

</td><td>Name

</td><td>Description

</td></tr><tr><td>0</td><td>Temp Short</td><td>Selected temperature sensor is short-circuited (Not applicable to Thermocouple)</td></tr><tr><td>1</td><td>Temp Open</td><td>Selected temperature sensor is open circuit</td></tr><tr><td>2</td><td>Temp Over</td><td>Selected temperature sensor is reporting temperature &gt; 190 °C and power has been removed from the motor to protect the windings</td></tr><tr><td>3</td><td>Motor Short</td><td>Motor phase to phase or phase to ground short has been detected</td></tr><tr><td>4</td><td>External Disable</td><td>Motor disabled via external input</td></tr><tr><td>5</td><td>Emergency Stop</td><td>Motor disabled via software</td></tr><tr><td>6</td><td>Configuration Error</td><td>Motor configuration is corrupted</td></tr><tr><td>7</td><td>Encoder error</td><td>Encoder fault (applicable only when optional encoder module installed)</td></tr><tr><td>8</td><td>Boost UVLO</td><td>The internal 48 V to 67 V boost circuit is disabled because input voltage has fallen too low.</td></tr><tr><td>9</td><td>SDRAM</td><td>Memory self-test failed.</td></tr><tr><td class="text-nowrap">10-15</td><td>Reserved</td><td>Reserved, read as '0'</td></tr></tbody></table>

#### <span style="line-height: 107%; color: rgb(0, 0, 0);">Status flags (SFLAGS)</span>

<table class="table-shaded-header table-striped table-grey-borders" id="bkmrk-bit-name-description-1"><tbody><tr><td>Bit

</td><td>Name

</td><td>Description

</td></tr><tr><td>0

</td><td>Joystick Connected</td><td>Joystick is connected (determined via state of the </td></tr><tr><td>1

</td><td>Limit Negative</td><td>Limit input is active (Note that the polarity is configurable, so active can mean high or low signal level)</td></tr><tr><td>2

</td><td>Limit Positive</td><td>Limit input is active (Note that the polarity is configurable, so active can mean high or low signal level)</td></tr><tr><td>3

</td><td>External Enable</td><td>External enable input state</td></tr><tr><td>4

</td><td>Ident</td><td>Ident mode is active, green status indicator is flashing to aid in identifying device</td></tr><tr><td>5-6

</td><td>Reserved</td><td>Reserved, read as '0'</td></tr><tr><td>7

</td><td>Standby</td><td>Motor stationary. Check this bit before performing a function that requires the motor to be stopped first, such as changing mode</td></tr><tr><td>8

</td><td>Baking</td><td>Bake mode running</td></tr><tr><td>9

</td><td>Target Velocity Reached</td><td>Set when the motor is at target velocity</td></tr><tr><td>10

</td><td>Encoder Present</td><td>Encoder module fitted</td></tr><tr><td>11

</td><td>Boost Operational</td><td>Internal 48 V to 67 V boost supply is operational</td></tr><tr><td>12-15

</td><td>Reserved</td><td>Reserved, read as '0'</td></tr></tbody></table>

#### <span style="line-height: 107%; color: rgb(0, 0, 0);">Error codes</span>

<table class="table-shaded-header table-striped table-grey-borders" id="bkmrk-error-description--1"><tbody><tr><td>Error

</td><td>Description

</td></tr><tr><td>-1 (Stop motor first)

</td><td>Several actions, such as changing resolution or operating mode require that the motor is stopped first. Trying to run such a command before the motor has come to a stop and the standby flag in the status register is set will result in this error.

</td></tr><tr><td>-2 (Argument validation)

</td><td>An argument supplied to the command is invalid, for example, it is outside the allowable range.

</td></tr><tr><td>-3 (Unable to get)

</td><td>The command is write-only, read is not valid. This applies to commands such as RUNV where a read would have no meaning.

</td></tr><tr><td>-5 (Action failed)

</td><td>The command failed to execute due to an internal error, for example, the internal flash in which settings are stored has reached the end of life and data cannot be reliably written to it.

</td></tr><tr><td>-6 (Not possible in mode)

</td><td>The command is not applicable to this mode, for example, trying to start bake using RUNB when not in bake mode.

</td></tr><tr><td>-7 (Not possible when motor disabled)

</td><td>The motor is disabled (due to a fault, or external enable) and the command is one that starts motion, for example RUNV.

</td></tr><tr><td>-101 (Argument type)

</td><td>The argument is of the wrong type, for example a non-integer value was given where an integer value was required.

</td></tr><tr><td>-102 (Argument count)

</td><td>The argument count is incorrect, either too few or too many arguments have been supplied.

</td></tr><tr><td>-103 (Invalid Mnemonic)

</td><td>Command mnemonic is not valid

</td></tr><tr><td>-104 (Packet error)

</td><td>Packet is malformed

</td></tr></tbody></table>

### <span style="line-height: 107%; color: rgb(0, 0, 0);">Quick reference</span>

#### <span style="line-height: 107%; color: rgb(0, 0, 0);">General</span>

<table class="table-shaded-header table-striped table-grey-borders" id="bkmrk-mnemonic-description"><tbody><tr><td>Mnemonic

</td><td>Description

</td><td>R

</td><td>W

</td><td>Arguments

</td></tr><tr><td>[SYS:IDENT](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-ident---blinks-statu)

</td><td>Rapidly blinks status indicator

</td><td>●

</td><td>●

</td><td>BOOL

</td></tr><tr><td>[SYS:MODE](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-mode---choose-mode-o)

</td><td>Mode of operation

</td><td>●

</td><td>●

</td><td>UINT

</td></tr><tr><td>[SYS:JSMODE](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-jsmode-%E2%80%93-joystick-mo)

</td><td>Joystick mode

</td><td>●

</td><td>●

</td><td>UINT

</td></tr><tr><td>[SYS:AUTOJS](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-%C2%A0-15)

</td><td>Auto switch to Joystick mode on JS connect

</td><td>●

</td><td>●

</td><td>BOOL

</td></tr><tr><td>[SYS:EXTEN](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk--4)

</td><td>External enable used

</td><td>●

</td><td>●

</td><td>BOOL

</td></tr><tr><td>[SYS:CLR](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-sys%3Aclr-%E2%80%93-clear-faul)

</td><td>Clear error flags

</td><td></td><td>●

</td><td></td></tr><tr><td>[SYS:FLAGS](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-sys%3Aflags-%E2%80%93-get-stat)

</td><td>Get status and error flags

</td><td>●

</td><td></td><td></td></tr><tr><td>[SYS:FLAGSV](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-sys%3Aflagsv-%E2%80%93-get-sta)

</td><td>Get human readable summary of status and error flags

</td><td>●

</td><td></td><td></td></tr><tr><td>[SYS:FW](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-sys%3Afw-%E2%80%93-get-firmwar)

</td><td>Read the firmware version number

</td><td>●

</td><td></td><td>STRING

</td></tr><tr><td>[SYS:LOAD](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-sys%3Aload-%E2%80%93-load-last)

</td><td>Load saved configuration

</td><td></td><td>●

</td><td></td></tr><tr><td>[SYS:LOADFD](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-sys%3Aloadfd-%E2%80%93-load-fa)

</td><td>Load factory default settings

</td><td></td><td>●

</td><td></td></tr><tr><td>[SYS:PROG](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-sys%3Aprog-%E2%80%93-enter-pro)

</td><td>Enter programming mode

</td><td></td><td>●

</td><td></td></tr><tr><td>[SYS:RESET](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-sys%3Areset%E2%80%93-restart-t)

</td><td>Restart the SMD4

</td><td></td><td>●

</td><td></td></tr><tr><td>[SYS:BSN](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-sys%3Absn-%E2%80%93-get-mother)

</td><td>Get motherboard serial number

</td><td>●

</td><td></td><td>STRING

</td></tr><tr><td>[SYS:PSN](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-sys%3Apsn-%E2%80%93-get-produc)

</td><td>Get product serial number

</td><td>●

</td><td></td><td>STRING

</td></tr><tr><td>[SYS:UPTIME](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-sys%3Auptime-%E2%80%93-get-upt)

</td><td>Get uptime

</td><td>●

</td><td></td><td>UINT

</td></tr><tr><td>[SYS:UUID](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-sys%3Auuid-%E2%80%93-get-uuid)

</td><td>Get UUID

</td><td>●

</td><td></td><td></td></tr></tbody></table>

#### <span style="line-height: 107%; color: rgb(0, 0, 0);">Command movement</span>

<table class="table-shaded-header table-striped table-grey-borders" id="bkmrk-mnemonic-description-1"><tbody><tr><td>Mnemonic

</td><td>Description

</td><td>R

</td><td>W

</td><td>Arguments

</td></tr><tr><td>[MOTOR:RUNV](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-%C2%A0-6)

</td><td>Move motor velocity mode

</td><td></td><td>●

</td><td>STRING

</td></tr><tr><td>[MOTOR:RUNA](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-runa-%E2%80%93-run%2C-absolute)

</td><td>Move motor absolute positioning mode

</td><td></td><td>●

</td><td>INT

</td></tr><tr><td>[MOTOR:RUNR](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-runr---run%2C-relative)

</td><td>Move motor relative positioning mode

</td><td></td><td>●

</td><td>INT

</td></tr><tr><td>[MOTOR:RUNH](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-motor%3Arunh---run%2C-ho)

</td><td>Start home mode procedure

</td><td></td><td>●

</td><td>STRING

</td></tr><tr><td>[MOTOR:STOP](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-stop-%E2%80%93-stop-motor)

</td><td>Bring motor to a stop according to the current profile

</td><td></td><td>●

</td><td></td></tr><tr><td>[MOTOR:SSTOP](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-sstop-%E2%80%93-stop-motor-i)

</td><td>Stop motor in 1 second on full step position independently of the current motion profile

</td><td></td><td>●

</td><td></td></tr><tr><td>[MOTOR:ESTOP](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-estop-%E2%80%93-emergency-st)

</td><td>Emergency stop. Stops the motor immediately

</td><td></td><td>●

</td><td></td></tr></tbody></table>

#### <span style="line-height: 107%; color: rgb(0, 0, 0);">Motor</span>

<table class="table-shaded-header table-striped table-grey-borders" id="bkmrk-mnemonic-description-2"><tbody><tr><td>Mnemonic

</td><td>Description

</td><td>R

</td><td>W

</td><td>Arguments

</td></tr><tr><td>[MOTOR:TSEL](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-tsel-%E2%80%93-temperature-s)

</td><td>Temperature sensor selection, T/C or RTD

</td><td>●

</td><td>●

</td><td>UINT

</td></tr><tr><td>[MOTOR:T](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-tmot-%E2%80%93-motor-tempera)

</td><td>Temperature in °C

</td><td>●

</td><td></td><td></td></tr><tr><td>[MOTOR:IR](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-ir-%E2%80%93-run-current)

</td><td>Run current in amps

</td><td>●

</td><td>●

</td><td>FLOAT

</td></tr><tr><td>[MOTOR:IA](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-ia-%E2%80%93-acceleration-cu)

</td><td>Acceleration current in amps

</td><td>●

</td><td>●

</td><td>FLOAT

</td></tr><tr><td>[MOTOR:IH](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-ih-%E2%80%93-hold-current)

</td><td>Hold current in amps

</td><td>●

</td><td>●

</td><td>FLOAT

</td></tr><tr><td>[MOTOR:PDDEL](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-pddel-%E2%80%93-power-down-d)

</td><td>Power down delay in milliseconds

</td><td>●

</td><td>●

</td><td>FLOAT

</td></tr><tr><td>[MOTOR:IHD](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-ihd-%E2%80%93-current-reduct)

</td><td>Delay per current reduction step

</td><td>●

</td><td>●

</td><td>FLOAT

</td></tr><tr><td>[MOTOR:F](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-f-%E2%80%93-freewheel-mode)

</td><td>Freewheel mode

</td><td>●

</td><td>●

</td><td>UINT

</td></tr><tr><td>[MOTOR:RES](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-%C2%A0-24)

</td><td>Resolution

</td><td>●

</td><td>●

</td><td>UINT

</td></tr><tr><td>[MOTOR:SDMODE](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-motor%3Asdmode---step%2F)

</td><td>Step/direction mode

</td><td>●

</td><td>●

</td><td></td></tr></tbody></table>

#### <span style="line-height: 107%; color: rgb(0, 0, 0);">Limit inputs</span>

<table class="table-shaded-header table-striped table-grey-borders" id="bkmrk-mnemonic-description-3"><tbody><tr><td>Mnemonic

</td><td>Description

</td><td>R

</td><td>W

</td><td>Arguments

</td></tr><tr><td>[LIMIT:EN](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-l-%E2%80%93-limits-global-en)

</td><td>Global enable

</td><td>●

</td><td>●

</td><td>BOOL

</td></tr><tr><td>[LIMIT:EN+](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-limit%3Aen-%2C-limit%3Aen%2B)

</td><td>Limit positive (Limit 1) enable

</td><td>●

</td><td>●

</td><td>BOOL

</td></tr><tr><td>[LIMIT:EN-](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-limit%3Aen-%2C-limit%3Aen%2B)

</td><td>Limit negative (Limit 2) enable

</td><td>●

</td><td>●

</td><td>BOOL

</td></tr><tr><td>[LIMIT:POL-](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-lp%2B%2C-lp--individual-)

</td><td>Limit n polarity (0 for active high, 1 for active low)

</td><td>●

</td><td>●

</td><td>BOOL

</td></tr><tr><td>[LIMIT:POL+](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-lp%2B%2C-lp--individual-)

</td><td>Limit n polarity (0 for active high, 1 for active low)

</td><td>●

</td><td>●

</td><td>BOOL

</td></tr><tr><td>[LIMIT:POL](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-lp-%E2%80%93-global-limit-po)

</td><td>Limit polarity for both Limit positive (Limit 1) and negative (Limit 2), (0 for active high, 1 for active low)

</td><td></td><td>●

</td><td>BOOL

</td></tr><tr><td>[LIMIT:STOPMODE](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-lsm-%E2%80%93-limit-stop-mod)

</td><td>How to stop on limit being triggered

</td><td>●

</td><td>●

</td><td>BOOL

</td></tr></tbody></table>

#### <span style="line-height: 107%; color: rgb(0, 0, 0);">Profile</span>

<table class="table-shaded-header table-striped table-grey-borders" id="bkmrk-mnemonic-description-4"><tbody><tr><td>Mnemonic

</td><td>Description

</td><td>R

</td><td>W

</td><td>Arguments

</td></tr><tr><td>[MOTOR:AMAX](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-amax---acceleration)

</td><td>Acceleration in Hz/s

</td><td>●

</td><td>●

</td><td>FLOAT

</td></tr><tr><td>[MOTOR:DMAX](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-dmax---deceleration)

</td><td>Deceleration in Hz/s

</td><td>●

</td><td>●

</td><td>FLOAT

</td></tr><tr><td>[MOTOR:VSTART](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-vstart-%E2%80%93-start-frequ)

</td><td>Start frequency in Hz

</td><td>●

</td><td>●

</td><td>FLOAT

</td></tr><tr><td>[MOTOR:VSTOP](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-vstop-%E2%80%93-stop-frequen)

</td><td>Stop frequency in Hz

</td><td>●

</td><td>●

</td><td>FLOAT

</td></tr><tr><td>[MOTOR:VMAX](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-vmax-%E2%80%93-step-frequenc)

</td><td>Target step frequency in Hz

</td><td>●

</td><td>●

</td><td>FLOAT

</td></tr><tr><td>[MOTOR:VACT](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-vact-%E2%80%93-actual-freque)

</td><td>Actual frequency in Hz

</td><td>●

</td><td></td><td></td></tr><tr><td>[MOTOR:PACT](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-pact-%E2%80%93-actual-positi)

</td><td>Actual position in steps

</td><td>●

</td><td>●

</td><td>FLOAT

</td></tr><tr><td>[MOTOR:PREL](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-prel-%E2%80%93-relative-posi)

</td><td>Relative position in steps

</td><td>●

</td><td>●

</td><td>FLOAT

</td></tr><tr><td>[TZW](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-tzw-%E2%80%93-zero-wait-time)

</td><td>Time to stop before moving again in seconds

</td><td>●

</td><td>●

</td><td>FLOAT

</td></tr><tr><td>[MOTOR:THIGH](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-thigh-%E2%80%93-microstep-tr)

</td><td>Full step – micro stepping transition

</td><td>●

</td><td>●

</td><td>FLOAT

</td></tr></tbody></table>

#### <span style="line-height: 107%; color: rgb(0, 0, 0);">Step/Direction</span>

<table class="table-shaded-header table-striped table-grey-borders" id="bkmrk-mnemonic-description-5"><tbody><tr><td>Mnemonic

</td><td>Description

</td><td>R

</td><td>W

</td><td>Arguments

</td></tr><tr><td>[MOTOR:EDGE](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-edge-%E2%80%93-edge-to-step-)

</td><td>Which edges of step input to generate a step on

</td><td>●

</td><td>●

</td><td>UINT

</td></tr><tr><td>[MOTOR:INTERP](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-interp-%E2%80%93-step-interp)

</td><td>Interpolate step input to 256 micro steps

</td><td>●

</td><td>●

</td><td>BOOL

</td></tr></tbody></table>

#### <span style="line-height: 107%; color: rgb(0, 0, 0);">Bake</span>

<table class="table-shaded-header table-striped table-grey-borders" id="bkmrk-mnemonic-description-6"><tbody><tr><td>Mnemonic

</td><td>Description

</td><td>R

</td><td>W

</td><td>Arguments

</td></tr><tr><td>[BAKE:T](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-baket-%E2%80%93-bake-tempera)

</td><td>Bake temperature setpoint

</td><td>●

</td><td>●

</td><td>UINT

</td></tr><tr><td>BAKE:RUN

</td><td>Start bake

</td><td></td><td>●

</td><td></td></tr><tr><td>BAKE:ELAPSED

</td><td>Get the elapsed bake time

</td><td></td><td>●

</td><td></td></tr></tbody></table>


#### Boost

<table class="table-shaded-header table-striped table-grey-borders" id="bkmrk-mnemonic-description-7"><tbody><tr><td>Mnemonic

</td><td>Description

</td><td>R

</td><td>W

</td><td>Arguments

</td></tr><tr><td>[BOOST:EN](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-boost%3Aen-%E2%80%93-boost-ena)

</td><td>Boost enable</td><td>●</td><td>●</td><td>BOOL</td></tr></tbody></table>

#### Coms

<table class="table-shaded-header table-striped table-grey-borders" id="bkmrk-mnemonic-description-8"><tbody><tr><td>Mnemonic

</td><td>Description

</td><td>R

</td><td>W

</td><td>Arguments

</td></tr><tr><td>[COMS:NET:DHCP](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-coms%3Anet%3Adhcp-%E2%80%93-dhcp)

</td><td>Gets or sets a value indicating whether DHCP is enabled</td><td>●</td><td>●</td><td>BOOL</td></tr><tr><td>[COMS:NET:GATEWAY](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-coms%3Anet%3Agateway-%E2%80%93-g)

</td><td>Gets or sets the gateway address</td><td>●</td><td>●</td><td>DOTTED DECIMAL</td></tr><tr><td>[COMS:NET:NETMASK](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-coms%3Anet%3Anetmask-%E2%80%93-s)

</td><td>Gets or sets the subnet mask</td><td>●</td><td>●</td><td>DOTTED DECIMAL</td></tr><tr><td>[COMS:NET:IP](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-coms%3Anet%3Aip-%E2%80%93-ip-add)

</td><td>Gets or sets the IP address</td><td>●</td><td>●</td><td>DOTTED DECIMAL</td></tr><tr><td>[COMS:NET:IPCONF](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-coms%3Anet%3Aipconf-%E2%80%93-ge)

</td><td>Outputs a summary of network configuration in human readable form</td><td>●</td><td>  
</td><td>  
</td></tr><tr><td>[COMS:NET:LINK](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-coms%3Anet%3Alink-%E2%80%93-get-)

</td><td>Gets a value indicating whether the ethernet interface link is up</td><td>●</td><td>  
</td><td>BOOL</td></tr><tr><td>[COMS:NET:MAC](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-coms%3Anet%3Amac-%E2%80%93-get-m)

</td><td>Gets the Ethernet interface MAC address</td><td>●</td><td>  
</td><td>  
</td></tr><tr><td>[COMS:SERIAL:BAUD](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-coms%3Aserial%3Abaud-%E2%80%93-b)

</td><td>Gets or sets the baud rate</td><td>●</td><td>●</td><td>UINT</td></tr><tr><td>[COMS:SERIAL:MODE](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-coms%3Aserial%3Amode-%E2%80%93-r)

</td><td>Gets or sets the serial coms mode, either RS232 or RS485</td><td>●</td><td>●</td><td>  
</td></tr><tr><td>[COMS:SERIAL:RS485DEL](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-coms%3Aserial%3Ars485del)

</td><td>Gets or sets a value in milliseconds specifying the delay to execute between receipt of a command from the host and the client (SMD4) sending the response</td><td>●</td><td>●</td><td>UINT</td></tr><tr><td>[COMS:SERIAL:TERM](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-coms%3Aserial%3Aterm-%E2%80%93-t)

</td><td>Gets or sets a value indicating whether RS485 line termination should be used</td><td>●</td><td>●</td><td>BOOL</td></tr><tr><td>[COMS:SERIAL:SLAVEADDR](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-coms%3Aserial%3Aslaveadd)

</td><td>Gets or sets the slave address</td><td>●</td><td>●</td><td>UINT</td></tr></tbody></table>

### <span style="line-height: 107%; color: rgb(0, 0, 0);">Command reference</span>

#### <span style="mso-bidi-font-size: 10.0pt; line-height: 107%; mso-bidi-font-family: Arial; mso-bidi-font-weight: bold;">General</span>

---

##### <span style="line-height: 107%;"> SYS:IDENT - Rapidly blinks status indicator (R/W)</span>

Gets or sets a value indicating whether the identify function is enabled. When set to true, the green status light on the front of the product flashes. This can be used to help identify one device amongst several.

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-ident%2C-enab" style="border-collapse: collapse; width: 100%; height: 46.1px; border-width: 0px; border-spacing: 0px; border-style: hidden;"><tbody><tr style="height: 23.05px; border-style: hidden;"><td class="align-right" scope="col" style="width: 100px; padding: 0cm 5.4pt; height: 23.05px; border-style: hidden; vertical-align: middle;" valign="top" width="93">**Command:**

</td><td class="align-left" style="width: 81.9753%; padding: 0cm 5.4pt; height: 23.05px; border-style: hidden; vertical-align: middle;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:IDENT</span></span>**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi; mso-bidi-font-weight: bold;">, </span></span><span style="background-color: rgb(248, 202, 198);">**<span class="CmdDocsArgNameChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Enable</span></span>**</span><span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="height: 23.05px;"><td class="align-right" scope="col" style="width: 100px; padding: 0cm 5.4pt; height: 23.05px; vertical-align: middle;" valign="top" width="93">**Query:**

</td><td class="align-left" style="width: 81.9753%; padding: 0cm 5.4pt; height: 23.05px; border-style: hidden; vertical-align: middle;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:IDENT</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

***Arguments***

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-enable%C2%A0%C2%A0-bool" style="border-collapse: collapse; width: 100%; height: 23.05px; border-width: 0px; border-spacing: 0px; border-style: hidden;"><tbody><tr style="height: 23.05px; border-style: hidden;"><td class="align-right" style="width: 100px; padding: 0cm 5.4pt; height: 23.05px; border-style: hidden; vertical-align: middle;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Enable**  </span>

</td><td class="align-left" style="width: 87.1605%; padding: 0cm 5.4pt; height: 23.05px; border-style: hidden; vertical-align: middle;" valign="top" width="123"><span style="color: rgb(35, 111, 161);">BOOL</span>

</td></tr></tbody></table>

The enable state.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5B0%3A-disable%5D-1%3A-enab" style="border-collapse: collapse; width: 90.1235%; height: 44.7916px; border-width: initial; border-spacing: 0px; margin-left: 40px;"><tbody style="padding-left: 40px;"><tr style="height: 22.3958px; padding-left: 40px;"><td class="align-left" scope="col" style="width: 14.4928%; border-style: none; border-color: initial; border-image: initial; padding: 0cm 0cm 0cm 40px; height: 22.3958px; vertical-align: middle;" valign="top" width="58">\[0:

</td><td style="width: 91.3043%; border: none; padding: 0cm; height: 22.3958px;" valign="top" width="58">Disable\]

</td></tr><tr style="height: 22.3958px;"><td class="align-left" scope="col" style="width: 14.4928%; border-style: none; border-color: initial; border-image: initial; padding: 0cm; height: 22.3958px; vertical-align: middle;" valign="top" width="58">1:

</td><td style="width: 91.3043%; border: none; padding: 0cm; height: 22.3958px;" valign="top" width="58">Enable

</td></tr></tbody></table>

***Returns***

The enable state, as above.

***Examples***

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-ident%2C1%3Ccr%3E%3Clf%3E-" style="border-collapse: collapse; width: 100%; height: 77.9167px; border-spacing: 0px; border: initial none initial;"><tbody><tr style="height: 77.9167px;"><td style="width: 49.9588%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; background: rgb(244, 244, 244); padding: 0cm 5.4pt; height: 77.9167px;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: SYS:IDENT,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: SYS:IDENT&lt;CR&gt;&lt;LF&gt;</span>

R<span style="color: rgb(53, 152, 219);">x: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 49.9588%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; background: rgb(244, 244, 244); padding: 0cm 5.4pt; height: 77.9167px;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Set ident function on</span>

<span style="color: rgb(45, 194, 107);">// Query state of ident function</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

##### <span style="line-height: 107%;">SYS:MODE - Choose mode of operation </span>

Gets or sets the operating mode. See section [Operating Modes](https://bookstack.vps-da8d40f3.arunmicro.com/link/28#bkmrk-operating-modes) for an explanation of each mode.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-mode%2C-value" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td class="align-right" style="width: 19.1592%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 80.8421%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:MODE</span></span>**<span style="color: black; mso-themecolor: text1;">, </span><span style="background-color: rgb(248, 202, 198);">**<span class="CmdDocsArgNameChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Value</span></span>**</span><span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td class="align-right" style="width: 19.1592%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 80.8421%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:MODE</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-value-uint" style="border-collapse: collapse; mso-yfti-tbllook: 1184; mso-padding-alt: 0cm 5.4pt 0cm 5.4pt;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 49.4pt; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Value**</span>

</td><td style="width: 92.35pt; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(35, 111, 161);">UINT</span>

</td></tr></tbody></table>

The operating mode.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-0%3A-step%2Fdirection-1%3A" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 47.2846%; height: 134.4px;"><tbody><tr style="height: 22.4px;"><td style="width: 8.61497%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="58">0:

</td><td style="width: 91.6437%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="187">Step/direction

</td></tr><tr style="height: 22.4px;"><td style="width: 8.61497%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="58">\[1:

</td><td style="width: 91.6437%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="187">Remote\]

</td></tr><tr style="height: 22.4px;"><td style="width: 8.61497%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="58">2:

</td><td style="width: 91.6437%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="187">Joystick

</td></tr><tr style="height: 22.4px;"><td style="width: 8.61497%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="58">3:

</td><td style="width: 91.6437%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="187">Bake

</td></tr><tr style="height: 22.4px;"><td style="width: 8.61497%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="58">4:

</td><td style="width: 91.6437%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="187">Home

</td></tr></tbody></table>

**Returns**

The mode, as above, followed by a space and the name of the mode in brackets.

**Remarks**

If the motor is moving when attempting to change the mode, a stop motor first error is returned and the mode is unchanged.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-mode%2C2%3Ccr%3E%3Clf%3E-r" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 99.878%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: SYS:MODE,2&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,2 (Remote)&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: SYS:MODE&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1 (Remote)&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Set mode to remote</span>

<span style="color: rgb(45, 194, 107);">// Query state of mode</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

##### SYS:JSMODE – Joystick mode

Gets or sets the joystick mode. Choose between single step, which allows precise single steps or continuous rotation, or continuous which requires only a single button press to make the motor move.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-jsmode%2C-mod" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td class="align-right" style="width: 19.3153%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 80.686%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:JSMODE</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Mode</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td class="align-right" style="width: 19.3153%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 80.686%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:JSMODE</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-mode-uint" style="border-collapse: collapse; mso-yfti-tbllook: 1184; mso-padding-alt: 0cm 5.4pt 0cm 5.4pt;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 49.4pt; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Mode**</span>

</td><td style="width: 92.35pt; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(35, 111, 161);">UINT</span>

</td></tr></tbody></table>

The joystick mode.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5B0%3A-single-step%5D-1%3A-" style="margin-left: 1.0cm; border-collapse: collapse; border: none; mso-border-alt: solid windowtext .5pt; mso-yfti-tbllook: 1184; mso-padding-alt: 0cm 0cm 0cm 0cm;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 43.8pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="58">\[0:

</td><td style="width: 76.7pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="102">Single step\]

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 43.8pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="58">1:

</td><td style="width: 76.7pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="102">Continuous

</td></tr></tbody></table>

**Returns**

The mode, as above.

**Remarks**

Set requires the motor to be in standby, otherwise, a stop motor first error will be returned.

In single step mode, a brief button press (&lt; 0.5 s) will execute one step in that direction, while pressing the button for &gt; 0.5 s will cause the motor to accelerate up to slewing speed and continue to rotate in that direction until the button is released, at which point the motor will decelerate to a stop.

In continuous mode, a brief button press will trigger the motor to accelerate up to slewing speed. A subsequent press of the same button causes it to decelerate to a stop. If, for example, the clockwise button is pressed while the motor is rotating anti-clockwise, the motor will first decelerate to a stop before changing direction.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-jsmode%2C1%3Ccr%3E%3Clf%3E" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 119.014%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: SYS:JSMODE,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: SYS:JSMODE&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Set to continuous</span>

<span style="color: rgb(45, 194, 107);">// Query state</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

##### SYS:AUTOJS – Auto switch to joystick mode  


Gets or sets the joystick auto select function. When set to true, the product switches to joystick mode automatically when connecting a joystick.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-autojs%2C-ena" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td class="align-right" style="width: 25.8574%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 74.1439%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:AUTOJS</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Enable</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td class="align-right" style="width: 25.8574%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 74.1439%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:AUTOJS</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-enable-bool" style="border-collapse: collapse; width: 23.3333%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 55.5556%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Enable**</span>

</td><td style="width: 44.9735%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">BOOL</span>

</td></tr></tbody></table>

The enable state.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-0%3A-disable-%5B1%3A-enabl" style="margin-left: 1.0cm; border-collapse: collapse; border: none; mso-border-alt: solid windowtext .5pt; mso-yfti-tbllook: 1184; mso-padding-alt: 0cm 0cm 0cm 0cm;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 43.8pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="58">0:

</td><td style="width: 43.8pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="58">Disable

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 43.8pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="58">\[1:

</td><td style="width: 43.8pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="58">Enable\]

</td></tr></tbody></table>

**Returns**

The enable state, as above.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-autojs%2C1%3Ccr%3E%3Clf%3E" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 103.952%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: SYS:AUTOJS,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: SYS:AUTOJS&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Enable</span>

<span style="color: rgb(45, 194, 107);">// Query state</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

##### SYS:EXTEN – External enable used

Gets or sets a value indicating whether the external enable signal should be respected. If not using the external enable and it remains disconnected, set to false.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-exten%2C-used" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td class="align-right" style="width: 28.6611%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 71.3402%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:EXTEN</span></span><span style="color: black; mso-themecolor: text1;">,<span style="background-color: rgb(248, 202, 198);"> </span></span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Used</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td class="align-right" style="width: 28.6611%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 71.3402%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:EXTEN</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-used-bool" style="border-collapse: collapse; mso-yfti-tbllook: 1184; mso-padding-alt: 0cm 5.4pt 0cm 5.4pt;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 49.4pt; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Used**</span>

</td><td style="width: 92.35pt; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123">BOOL

</td></tr></tbody></table>

External enable signal.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5B0%3A-false%5D-1%3A-true" style="margin-left: 1.0cm; border-collapse: collapse; border: none; mso-border-alt: solid windowtext .5pt; mso-yfti-tbllook: 1184; mso-padding-alt: 0cm 0cm 0cm 0cm;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 43.8pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="58">\[0:

</td><td style="width: 43.8pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="58">False\]

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 43.8pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="58">1:

</td><td style="width: 43.8pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="58">True

</td></tr></tbody></table>

**Returns**

True if the external enable signal is used.

**Remarks**

The external enable input requires a voltage to be applied between SDE COM and EN on the I/O connector which may be inconvenient if you do not wish to use the enable input. In that case, disable the enable input by sending this command with the argument set to false.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-exten%2C1%3Ccr%3E%3Clf%3E-" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 99.5076%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: SYS:EXTEN,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: SYS:EXTEN&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Enable</span>

<span style="color: rgb(45, 194, 107);">// Query state</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

##### SYS:CLR – Clear faults  


Clear all error flags.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-sys%3Aclr%3Ccr%3E" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td class="align-right" style="width: 25.8574%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 74.1439%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:CLR</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-sys%3Aclr%3Ccr%3E%3Clf%3E-" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 103.952%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: SYS:CLR&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Clear errors</span>

</td></tr></tbody></table>

##### SYS:FLAGS – Get status and error flags

Gets status and error flags.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-query%3A-sys%3Aflags%3Ccr%3E" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td class="align-right" style="width: 28.6611%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 71.3402%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:FLAGS</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Remarks**

None.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-sys%3Aflags%3Ccr%3E%3Clf" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 99.5076%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 49.9415%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: SYS:FLAGS&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 49.9415%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Get flags</span>

</td></tr></tbody></table>

##### SYS:FLAGSV – Get status and error flags summary

Gets a human readable summary of status and error flags.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-query%3A-sys%3Aflagsv%3Ccr" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td class="align-right" style="width: 28.6611%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 71.3402%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:FLAGSV</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Remarks**

None.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-sys%3Aflagsv%3Ccr%3E%3Cl" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 99.5076%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 49.9415%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: SYS:FLAGSV&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: </span><span style="color: rgb(53, 152, 219);">0x088e,0x0000,&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">-------Status flags------</span>

<span style="color: rgb(53, 152, 219);">\[ \]JsCon</span>

<span style="color: rgb(53, 152, 219);">\[X\]LimitNeg</span>

<span style="color: rgb(53, 152, 219);">\[X\]LimitPos</span>

<span style="color: rgb(53, 152, 219);">\[X\]Exten</span>

<span style="color: rgb(53, 152, 219);">\[ \]Ident</span>

<span style="color: rgb(53, 152, 219);">\[ \]reserved1</span>

<span style="color: rgb(53, 152, 219);">\[ \]reserved2</span>

<span style="color: rgb(53, 152, 219);">\[X\]Standby</span>

<span style="color: rgb(53, 152, 219);">\[ \]Baking</span>

<span style="color: rgb(53, 152, 219);">\[ \]TargetVelocityReached</span>

<span style="color: rgb(53, 152, 219);">\[ \]EncoderPresent</span>

<span style="color: rgb(53, 152, 219);">\[X\]BoostOperational</span>

<span style="color: rgb(53, 152, 219);">\[ \]BoostDisableJumper</span>

<span style="color: rgb(53, 152, 219);">\[ \]reserved3</span>

<span style="color: rgb(53, 152, 219);">\[ \]reserved4</span>

<span style="color: rgb(53, 152, 219);">\[ \]reserved5</span>

<span style="color: rgb(53, 152, 219);">-------Error flags-------</span>

<span style="color: rgb(53, 152, 219);">\[ \]TempShort</span>

<span style="color: rgb(53, 152, 219);">\[ \]TempOpen</span>

<span style="color: rgb(53, 152, 219);">\[ \]TempOver</span>

<span style="color: rgb(53, 152, 219);">\[ \]MotorShort</span>

<span style="color: rgb(53, 152, 219);">\[ \]ExternalInhibit</span>

<span style="color: rgb(53, 152, 219);">\[ \]EmergencyStop</span>

<span style="color: rgb(53, 152, 219);">\[ \]ConfigError</span>

<span style="color: rgb(53, 152, 219);">\[ \]EncoderError</span>

<span style="color: rgb(53, 152, 219);">\[ \]BoostUVLO</span>

<span style="color: rgb(53, 152, 219);">\[ \]reserved1</span>

<span style="color: rgb(53, 152, 219);">\[ \]reserved2</span>

<span style="color: rgb(53, 152, 219);">\[ \]reserved3</span>

<span style="color: rgb(53, 152, 219);">\[ \]reserved4</span>

<span style="color: rgb(53, 152, 219);">\[ \]reserved5</span>

<span style="color: rgb(53, 152, 219);">\[ \]reserved6</span>

<span style="color: rgb(53, 152, 219);">\[ \]reserved7</span>

</td></tr></tbody></table>

##### SYS:FW – Get firmware version

Gets firmware version string.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-query%3A-sys%3Afw%3Ccr%3E%3Clf" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td class="align-right" style="width: 28.6611%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 71.3402%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:FW</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Returns**

Firmware version STRING

**Remarks**

None.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-sys%3Afw%3Ccr%3E%3Clf%3E-r" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 99.5076%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 49.9415%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: SYS:FW&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x088e,0x0000,24044.12&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 49.9415%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

##### SYS:LOAD – Load last stored settings

Load the last saves configuration.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-sys%3Aload%3Ccr" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td class="align-right" style="width: 28.6611%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 71.3402%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:LOAD</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Remarks**

None.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-sys%3Aload%3Ccr%3E%3Clf%3E" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 99.5076%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 49.9415%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: SYS:LOAD&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x088e,0x0000&lt;CR&gt;&lt;LF&gt;</span>

</td></tr></tbody></table>

##### SYS:LOADFD – Load factory default settings

Load the factory default configuration.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-sys%3Aloadfd%3C" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td class="align-right" style="width: 28.6611%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 71.3402%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:LOADFD</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Remarks**

Use the store command if you want to persist the changes.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-sys%3Aloadfd%3Ccr%3E%3Cl" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 99.5076%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 49.9415%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: SYS:LOADFD&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x088e,0x0000&lt;CR&gt;&lt;LF&gt;</span>

</td></tr></tbody></table>

##### SYS:PROG – Enter programming mode

Reboot the SMD4 into programming mode. Used by AML device control software to initiate a firmware update. Power cycle to cancel this mode.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-sys%3Aprog%3Ccr" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%; height: 22.4px;"><tbody><tr style="height: 22.4px;"><td class="align-right" style="width: 28.6611%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="93">**Command:**

</td><td style="width: 71.3402%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:PROG</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Remarks**

There is no response to this command.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-sys%3Aprog%3Ccr%3E%3Clf%3E" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 99.5076%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 49.9415%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: SYS:PROG&lt;CR&gt;&lt;LF&gt;</span>

</td></tr></tbody></table>

##### SYS:RESET– Restart the SMD4

Reboot the SMD4.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-sys%3Areset%3Cc" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%; height: 22.4px;"><tbody><tr style="height: 22.4px;"><td class="align-right" style="width: 28.6611%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="93">**Command:**

</td><td style="width: 71.3402%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:RESET</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Remarks**

There is no response to this command.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-sys%3Areset%3Ccr%3E%3Clf" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 99.5076%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 49.9415%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: SYS:RESET&lt;CR&gt;&lt;LF&gt;</span>

</td></tr></tbody></table>

##### SYS:BSN – Get motherboard serial number

Gets the serial number of the motherboard.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-query%3A-sys%3Absn%3Ccr%3E%3Cl" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td class="align-right" style="width: 28.6611%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 71.3402%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:BSN</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Returns**

Motherboard serial number STRING

**Remarks**

None.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-sys%3Absn%3Ccr%3E%3Clf%3E-" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 99.5076%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 49.9415%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: SYS:BSN&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x088e,0x0000,1234ABCD&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 49.9415%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

##### SYS:PSN – Get product serial number

Gets the serial number of the product. This matches the serial number label installed on the product.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-query%3A-sys%3Apsn%3Ccr%3E%3Cl" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td class="align-right" style="width: 28.6611%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 71.3402%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:PSN</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Returns**

Product serial number STRING

**Remarks**

None.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-sys%3Apsn%3Ccr%3E%3Clf%3E-" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 99.5076%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 49.9415%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: SYS:PSN&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x088e,0x0000,00000-000&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 49.9415%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

##### SYS:UPTIME – Get uptime

Gets the elapsed time since start up in milliseconds.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-query%3A-sys%3Auptime%3Ccr" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td class="align-right" style="width: 28.6611%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 71.3402%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:UPTIME</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Returns**

Uptime UINT

**Remarks**

None.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-sys%3Auptime%3Ccr%3E%3Cl" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 99.5076%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 49.9415%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: SYS:UPTIME&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x088e,0x0000,10000&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 49.9415%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Query</span>

<span style="color: rgb(45, 194, 107);">// Uptime is 10 seconds</span>

</td></tr></tbody></table>

##### SYS:UUID – Get UUID

Gets a unique ID number which is included in the data reported when using SSDP. See SSDP. Not the same as the MAC address.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-query%3A-sys%3Auuid%3Ccr%3E%3C" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td class="align-right" style="width: 28.6611%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 71.3402%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SYS:UUID</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Returns**

UUID UUID

**Remarks**

None.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-sys%3Auuid%3Ccr%3E%3Clf%3E" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 99.5076%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 68.8183%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: SYS:UUID&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x088e,0x0000,f4562fb1-d002-11ee-b3e5-44b7d0c71675&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 31.0647%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

#### Command movement

##### MOTOR:RUNV – Run, velocity

Start continuous rotation in specified direction.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-runv%2C-direc" style="margin-left: 1cm; border-collapse: collapse; height: 43px; width: 80.6173%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 28.7902%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 71.2098%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:RUNV,</span></span><span class="CmdDocsArgNameChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;"> <span style="background-color: rgb(248, 202, 198);">Direction</span></span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;"> &lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-direction-string" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.2245%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Direction**</span>

</td><td style="width: 50.1669%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123">String

</td></tr></tbody></table>

Direction:

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%E2%80%98%2B%E2%80%99%3A-positive-%E2%80%98-%E2%80%99%3A-n" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 57.6543%; height: 98px;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 12.8488%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">‘+’:

</td><td style="width: 87.1529%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">Positive, step count increases

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 12.8488%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">‘-’:

</td><td style="width: 87.1529%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">Negative, step count decreases

</td></tr></tbody></table>

**Remarks**

None.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-runv%2C%2B%3Ccr%3E%3Clf%3E-r" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 100%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 49.9423%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:RUNV,+&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:RUNV,-&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 49.9423%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Spin motor in positive direction</span>

<span style="color: rgb(45, 194, 107);">// Spin motor in negative direction</span>

</td></tr></tbody></table>

##### MOTOR:RUNA – Run, absolute position

Move the motor to a specified absolute position.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-runa%2C-absol" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 16.6669%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 83.3344%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:RUNA,</span></span><span class="CmdDocsArgNameChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;"> <span style="background-color: rgb(248, 202, 198);">Absolute</span></span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;"> &lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**<span style="font-size: 8.0pt; mso-bidi-font-size: 10.0pt;"> </span>Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-absolute-int" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 53.4174%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Absolute**</span>

</td><td style="width: 46.4456%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">INT</span>

</td></tr></tbody></table>

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-minimum%3A%C2%A0--223-1-max" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 34.5679%; height: 44.8px;"><tbody><tr style="height: 22.4px;"><td style="width: 31.0714%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Minimum:<span style="mso-spacerun: yes;"> </span>

</td><td style="width: 68.9286%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">-8388608

</td></tr><tr style="height: 22.4px;"><td style="width: 31.0714%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Maximum:

</td><td style="width: 68.9286%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">8388607

</td></tr></tbody></table>

**Remarks**

None.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-runa%2C1000%3Ccr%3E%3Clf" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 100.866%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.5362%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:RUNA,1000&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:RUNA,-1000&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 49.5539%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Drive motor to step position 1000</span>

<span style="color: rgb(45, 194, 107);">// Drive motor to step position -1000</span>

</td></tr></tbody></table>

##### MOTOR:RUNR - Run, relative position

Move the motor a specified number of steps, relative to the current position.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-runr%2C-relat" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 21.4956%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 78.5057%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:RUNR,</span></span><span class="CmdDocsArgNameChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;"> <span style="background-color: rgb(248, 202, 198);">Relative</span></span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;"> &lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**<span style="font-size: 8.0pt; mso-bidi-font-size: 10.0pt;"> </span>Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-relative-int" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 57.0378%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Relative**</span>

</td><td style="width: 43.3536%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">INT</span>

</td></tr></tbody></table>

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-minimum%3A%C2%A0--8388608-m" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 34.5679%; height: 44.8px;"><tbody><tr style="height: 22.4px;"><td style="width: 31.0714%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Minimum:<span style="mso-spacerun: yes;"> </span>

</td><td style="width: 68.9286%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">-8388608

</td></tr><tr style="height: 22.4px;"><td style="width: 31.0714%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Maximum:

</td><td style="width: 68.9286%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">8388607

</td></tr></tbody></table>

**Remarks**

None.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-runr%2C2000%3Ccr%3E%3Clf" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 100.619%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:RUNR,2000&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:RUNR,-2000&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Move motor in positive direction by 2000 steps</span>

<span style="color: rgb(45, 194, 107);">// Move motor in negative direction by 2000 steps</span>

</td></tr></tbody></table>

##### MOTOR:RUNH - Run, home

Initiate a homing sequence to the specified limit.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-motor%3Arunh%2C" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 21.4956%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 78.5057%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:RUNH,</span></span><span class="CmdDocsArgNameChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;"> <span style="background-color: rgb(248, 202, 198);">Direction</span></span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-direction-string-1" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.2245%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Direction**</span>

</td><td style="width: 50.1669%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123">String

</td></tr></tbody></table>

Direction:

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%E2%80%98%2B%E2%80%99%3A-home-towards-po" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 57.6543%; height: 98px;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 12.8482%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">‘+’:

</td><td style="width: 87.1536%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">Home towards positive limit, step count increases

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 12.8482%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">‘-’:

</td><td style="width: 87.1536%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">Home towards negative, step count decreases

</td></tr></tbody></table>

**Remarks**

None.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-motor%3Arunr%2C2000%3C" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 100.619%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:RUNH,+&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:RUNH,-&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Home motor in positive direction</span>

<span style="color: rgb(45, 194, 107);">// Home motor in negative direction</span>

</td></tr></tbody></table>

##### MOTOR:STOP – Stop motor

Stop the motor, decelerating according to the current profile

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-stop%3Ccr%3E%3Clf" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 21.9633%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 78.038%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:STOP</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Remarks**

During the deceleration phase that stops the motor, any modifications to the acceleration or deceleration interrupt the stopping phase. Re-send the command to restart the motor stopping phase.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-stop%3Ccr%3E%3Clf%3E-rx%3A" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 102.224%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:STOP&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Stop the motor</span>

</td></tr></tbody></table>

##### MOTOR:SSTOP – Stop motor in &lt;=1 s

Decelerates the motor to a stop within 1 second, disregarding the current profile to do so.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-sstop%3Ccr%3E%3Cl" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 21.8072%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 78.1941%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:SSTOP</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Remarks**

This command does not consider the deceleration set in the profile. Instead, it calculates the deceleration required to stop in 1 second, according to the actual velocity. The motor will stop in a full step position. Steps may be lost if the load requires greater than this duration to stop.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-sstop%3Ccr%3E%3Clf%3E-rx" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 101.483%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:SSTOP&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Stop the motor in 1 seconds</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

##### MOTOR:ESTOP – Emergency stop

Stop motor immediately disregarding deceleration profile and disable the motor. This should not be relied on as a safety interlock.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-estop%3Ccr%3E%3Cl" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 22.4302%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 77.5711%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:ESTOP</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Remarks**

The motor may stop on a fractional step position, but this is irrelevant as motor power is removed and the motor will snap to a full step position. Steps may be lost.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-estop%3Ccr%3E%3Clf%3E-rx" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 102.471%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:ESTOP&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Stop the motor immediately</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

#### Motor

##### MOTOR:TSEL – Temperature sensor selection

Gets or sets the motor temperature sensor type.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-tsel%2C-senso" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td class="align-right" style="width: 24.9225%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 75.0788%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:TSEL</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">SensorType</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td class="align-right" style="width: 24.9225%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 75.0788%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">TSEL</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-sensortype-uint" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 63.8799%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">SensorType</span>

</td><td style="width: 36.5115%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">UINT</span>

</td></tr></tbody></table>

Motor temperature sensor type.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5B0%3A-thermocouple%5D-1%3A" style="margin-left: 1cm; border-collapse: collapse; border: none; height: 71px; width: 28.6424%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 0%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">\[0:

</td><td style="width: 0%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">Thermocouple\]

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 0%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">1:

</td><td style="width: 0%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">RTD

</td></tr></tbody></table>

**Returns**

Selected temperature sensor type, as above.

**Remarks**

To protect the motor from possible damage, the motor is disabled if the temperature sensor is faulty or missing. The response is not immediate, and several seconds may elapse between emergence of a fault and the motor being disabled.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-tsel%2C0%3Ccr%3E%3Clf%3E-r" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 100.495%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:TSEL,0&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,0&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:TSEL&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,0&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Select thermocouple sensor</span>

<span style="color: rgb(45, 194, 107);">// Get selected sensor, returning 0 for thermocouple</span>

</td></tr></tbody></table>

##### MOTOR:T – Motor temperature

Get the motor temperature in °C.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-query%3A-tmot%3Ccr%3E%3Clf%3E" style="margin-left: 1.0cm; border-collapse: collapse; mso-yfti-tbllook: 1184; mso-padding-alt: 0cm 5.4pt 0cm 5.4pt;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 70.05pt; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 411.3pt; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:T</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Returns**

Motor temperature as integer in °C.

**Remarks**

The reported temperature is intended only for the purposes of monitoring motor temperature and should not be relied upon for any other purpose within the vacuum system.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-tmot%3Ccr%3E%3Clf%3E-rx%3A" style="background: #F4F4F4; border-collapse: collapse; border: none; mso-border-alt: solid #7F7F7F .5pt; mso-border-themecolor: text1; mso-border-themetint: 128; mso-yfti-tbllook: 1184; mso-padding-alt: 0cm 5.4pt 0cm 5.4pt;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 212.4pt; border: solid #7F7F7F 1.0pt; mso-border-themecolor: text1; mso-border-themetint: 128; border-right: none; mso-border-top-alt: solid #7F7F7F .5pt; mso-border-top-themecolor: text1; mso-border-top-themetint: 128; mso-border-left-alt: solid #7F7F7F .5pt; mso-border-left-themecolor: text1; mso-border-left-themetint: 128; mso-border-bottom-alt: solid #7F7F7F .5pt; mso-border-bottom-themecolor: text1; mso-border-bottom-themetint: 128; padding: 0cm 5.4pt 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:T&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,25&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 297.3pt; border: solid #7F7F7F 1.0pt; mso-border-themecolor: text1; mso-border-themetint: 128; border-left: none; mso-border-top-alt: solid #7F7F7F .5pt; mso-border-top-themecolor: text1; mso-border-top-themetint: 128; mso-border-bottom-alt: solid #7F7F7F .5pt; mso-border-bottom-themecolor: text1; mso-border-bottom-themetint: 128; mso-border-right-alt: solid #7F7F7F .5pt; mso-border-right-themecolor: text1; mso-border-right-themetint: 128; padding: 0cm 5.4pt 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Get motor temperature</span>

<span style="color: rgb(45, 194, 107);">// Response is 25 degrees Celsius</span>

</td></tr></tbody></table>

##### MOTOR:IR – Run current

Gets or sets the motor run current.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-ir%2C-runcurr" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td class="align-right" style="width: 19.4711%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 80.5302%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:IR</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Current</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td class="align-right" style="width: 19.4711%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 80.5302%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:IR</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-runcurrent-float" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 61.2483%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Current**</span>

</td><td style="width: 39.1431%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">FLOAT</span>

</td></tr></tbody></table>

The motor run current in amps rms.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5Bdefault%3A-1.044%5D-min" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 24.321%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 58.379%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">\[Default:

</td><td style="width: 41.6252%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="52">1.044\]

</td></tr><tr style="mso-yfti-irow: 1; height: 12.5pt;"><td style="width: 58.379%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">Minimum:

</td><td style="width: 41.6252%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="52">0

</td></tr><tr style="mso-yfti-irow: 2; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 58.379%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">Maximum:

</td><td style="width: 41.6252%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="52">1.044

</td></tr></tbody></table>

**Returns**

The motor run current in amps rms, rounded to the closest multiple of 1.044 A / 31 (approx. 33 mA).

**Remarks**

Run current must be set equal to or smaller than acceleration current. Acceleration current is automatically adjusted to be equal to run current, if a change to run current makes it greater than acceleration current.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-ir%2C1%3Ccr%3E%3Clf%3E-rx%3A" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 101.113%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:IR,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1.0000E+00&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:IR&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1.0000E+00&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Set run current to 1 A</span>

<span style="color: rgb(45, 194, 107);">// Query run current</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

##### MOTOR:IA – Acceleration current

Gets or sets the motor current applied during acceleration or deceleration.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-ia%2C-acccurr" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td class="align-right" style="width: 20.4053%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 79.596%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:IA</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Current</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td class="align-right" style="width: 20.4053%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 79.596%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:IA</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">**&lt;**CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-acccurrent-float" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 60%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Current**</span>

</td><td style="width: 40%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">FLOAT</span>

</td></tr></tbody></table>

The motor acceleration current in amps rms.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5Bdefault%3A-1.044%5D-min-1" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 22.2222%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 50.0035%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">\[Default:

</td><td style="width: 50.0035%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="52">1.044\]

</td></tr><tr style="mso-yfti-irow: 1; height: 12.5pt;"><td style="width: 50.0035%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">Minimum:

</td><td style="width: 50.0035%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="52">0

</td></tr><tr style="mso-yfti-irow: 2; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 50.0035%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">Maximum:

</td><td style="width: 50.0035%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="52">1.044

</td></tr></tbody></table>

**Returns**

The motor acceleration current in amps rms, rounded to the closest multiple of 1.044 A / 31 (approx. 33 mA).

**Remarks**

Acceleration current must be set equal to or greater than run current. Acceleration current is not adjusted to match run current if acceleration current is smaller than run current.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-ia%2C1.044%3Ccr%3E%3Clf%3E" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 103.582%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:IA,1.044&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1.0440E+00&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:IA&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1.0440E+00&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Set acceleration current to 1.044 A</span>

<span style="color: rgb(45, 194, 107);">// Query acceleration current</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

##### MOTOR:IH – Hold current

Set or query the motor hold current. If your application allows it, set [MOTOR:PDDEL](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-pddel-%E2%80%93-power-down-d), [MOTOR:IHD ](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-ihd-%E2%80%93-current-reduct)and [MOTOR:IH ](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-ih-%E2%80%93-hold-current)to zero in order to reduce run current to zero as quickly as possible after stopping which minimises motor temperature rise.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-ih%2C-holdcur" style="margin-left: 1cm; border-collapse: collapse; height: 44.8px; width: 85.9259%;"><tbody><tr style="height: 22.4px;"><td class="align-right" style="width: 25.719%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="93">**Command:**

</td><td style="width: 74.2822%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:IH</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Current</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="height: 22.4px;"><td class="align-right" style="width: 25.719%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="93">**Query:**

</td><td style="width: 74.2822%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:IH</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-holdcurrent-float" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 65.9852%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Current**</span>

</td><td style="width: 34.4062%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">FLOAT</span>

</td></tr></tbody></table>

The motor hold current in amps rms.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5Bdefault%3A-0.1%5D-minim" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 22.2222%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 50.0035%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">\[Default:

</td><td style="width: 50.0035%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="52">0.1\]

</td></tr><tr style="mso-yfti-irow: 1; height: 12.5pt;"><td style="width: 50.0035%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">Minimum:

</td><td style="width: 50.0035%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="52">0

</td></tr><tr style="mso-yfti-irow: 2; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 50.0035%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">Maximum:

</td><td style="width: 50.0035%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="52">1.044

</td></tr></tbody></table>

**Returns**

The motor hold current in amps rms, rounded to the closest multiple of 1.044 A / 31 (approx. 33 mA).

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-ih%2C0.5%3Ccr%3E%3Clf%3E-r" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 100.495%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:IH,0.5&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,5.0000E-01&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:IH&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,5.0000E-01&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Set hold current to 0.5 A</span>

<span style="color: rgb(45, 194, 107);">// Query hold current</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

##### MOTOR:PDDEL – Power down delay

Gets or sets the delay time in seconds between stand still occurring and the motor current being reduced from the acceleration current to the hold current. The range is 0 to 5.5 seconds, with approximately 8 bit / 20 ms resolution. See also [DelayPerCurrentReductionStep](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-ihd-%E2%80%93-current-reduct).

Refer to <span style="mso-bidi-font-weight: bold;">Figure </span><span style="mso-no-proof: yes;">1</span>. If your application allows it, set <span style="text-decoration: underline;"><span style="color: rgb(53, 152, 219); text-decoration: underline;">MOTOR:</span><span style="color: rgb(53, 152, 219); text-decoration: underline;">PDDEL</span></span>, [<span style="text-decoration: underline;"><span style="color: rgb(53, 152, 219);">MOTOR:IHD</span></span>](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-ihd-%E2%80%93-current-reducthttps://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-ihd-%E2%80%93-current-reduct) and [<span style="text-decoration: underline; color: rgb(53, 152, 219);">MOTOR:IH</span>](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-ih-%E2%80%93-hold-current) to zero in order to reduce run current to zero as quickly as possible after stopping which minimises motor temperature rise.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-pddel%2C-dura" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%; height: 44.8px;"><tbody><tr style="height: 22.4px;"><td class="align-right" style="width: 25.5456%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="93">**Command:**

</td><td style="width: 74.4557%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:PDDEL</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Duration</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="height: 22.4px;"><td class="align-right" style="width: 25.5456%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="93">**Query:**

</td><td style="width: 74.4557%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="548"><span style="background-color: rgb(255, 255, 255);">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:PDDEL</span></span>**</span><span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-duration-float" style="border-collapse: collapse; width: 41.8524%; height: 22.4px;"><tbody><tr style="height: 22.4px;"><td style="width: 25.4779%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Duration**</span>

</td><td style="width: 74.4441%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">FLOAT</span>

</td></tr></tbody></table>

The power-down delay in seconds.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5Bdefault%3A-0%5D-minimum" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 30.1235%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 50.0035%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">\[Default:

</td><td style="width: 50.0035%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="52">0\]

</td></tr><tr style="mso-yfti-irow: 1; height: 12.5pt;"><td style="width: 50.0035%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">Minimum:

</td><td style="width: 50.0035%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="52">0

</td></tr><tr style="mso-yfti-irow: 2; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 50.0035%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">Maximum:

</td><td style="width: 50.0035%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="52">5.5

</td></tr></tbody></table>

**Returns**

The power-down delay rounded to the closest settable value.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-pddel%2C100%3Ccr%3E%3Clf" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 102.347%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:PDDEL,100E-3&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1.0000E-01&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:PDDEL&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1.0000E-01&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Set to 100 ms</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

##### MOTOR:IHD – Delay per current reduction step

Gets or sets the delay in seconds per current reduction step that occurs when run current is reduced to hold current. Non-zero values result in a smooth reduction in current which reduces the chance of a jerk upon power down. The range is 0 to 328 ms, with a resolution of 4 bits or approx. 20 ms. Current setting has a resolution of 5 bits, or 32 steps, and consequently the current reduction process will only have as many steps as exist between the configured run and hold current. See also [MOTOR:PDDEL](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-pddel-%E2%80%93-power-down-d).

See <span style="mso-bidi-font-weight: bold;">Figure </span><span style="mso-no-proof: yes;">1</span>. If your application allows it, set <span style="text-decoration: underline; color: rgb(53, 152, 219);">[MOTOR:PDDEL,](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-pddel-%E2%80%93-power-down-d)</span> [<span style="text-decoration: underline;"><span style="color: rgb(53, 152, 219);">MOTOR:IHD</span></span> ](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-ihd-%E2%80%93-current-reduct)and<span style="text-decoration: underline; color: rgb(53, 152, 219);"> [MOTOR:IH](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-ih-%E2%80%93-hold-current)</span> to zero in order to reduce run current to zero as quickly as possible after stopping which minimises motor temperature rise.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-ihd%2C-durati" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td class="align-right" style="width: 28.1938%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 71.8075%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:IHD</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Duration</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td class="align-right" style="width: 28.1938%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 71.8075%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:IHD</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-duration-float-1" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 63.8799%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Duration**</span>

</td><td style="width: 36.5115%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">FLOAT</span>

</td></tr></tbody></table>

The delay per current reduction step in seconds.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5Bdefault%3A-0%5D-minimum-1" style="margin-left: 1cm; border-collapse: collapse; border: none; height: 106px; width: 22.5926%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 0%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">\[Default:

</td><td style="width: 0%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="52">0\]

</td></tr><tr style="mso-yfti-irow: 1; height: 12.5pt;"><td style="width: 0%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">Minimum:

</td><td style="width: 0%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="52">0

</td></tr><tr style="mso-yfti-irow: 2; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 0%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">Maximum:

</td><td style="width: 0%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="52">328 ms

</td></tr></tbody></table>

**Returns**

The delay per current reduction step in seconds.

**Remarks**

See also section [Going to standby](https://bookstack.vps-da8d40f3.arunmicro.com/link/10#bkmrk-going-to-standbyperi)

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-ihd%2C327%3Ccr%3E%3Clf%3E-" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 104.446%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:IHD,328E-3&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,3.2800E-01&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:IHD&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,3.2800E-01&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Set IHD to 328 ms</span>

<span style="color: rgb(45, 194, 107);">// Query IHD</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

##### MOTOR:F – Freewheel mode

Gets or sets the freewheel mode. For maximum passive braking use phases shorted. Use freewheel to electrically disconnect the motor and allow it to freewheel. Hold current must be set to zero for this option to work.

The chosen mode becomes active after a time period specified by ‘PDDEL’ and ‘IHD’

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-fw%2C-mode%3Ccr" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td class="align-right" style="width: 22.2745%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 77.7268%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:F</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Mode</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td class="align-right" style="width: 22.2745%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 77.7268%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:F</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-mode-uint-1" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 59.6694%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Mode**</span>

</td><td style="width: 40.722%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">UINT</span>

</td></tr></tbody></table>

The freewheel mode:

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-0%3A-normal-1%3A-freewhe" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 32.8395%; height: 89.6px;"><tbody><tr style="height: 22.4px;"><td style="width: 21.8061%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="58">0:

</td><td style="width: 78.1971%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="140">Normal

</td></tr><tr style="height: 22.4px;"><td style="width: 21.8061%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="58">1:

</td><td style="width: 78.1971%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="140">Freewheel

</td></tr><tr style="height: 44.8px;"><td style="width: 21.8061%; border: none; padding: 0cm; height: 44.8px;" valign="top" width="58">\[2:

</td><td style="width: 78.1971%; border: none; padding: 0cm; height: 44.8px;" valign="top" width="140">Phases shorted to GND\]

</td></tr></tbody></table>

**Returns**

The freewheel mode selection, as above.

**Remarks**

Use the freewheel mode to allow the motor shaft to spin freely when the motor current is zero. The phases shorted to GND option supplies no power to the motor, but by shorting the phases together a holding torque is produced, and the motor shaft offers considerable resistance to movement. This is enough in many applications to remove the need for any holding current, with the benefit that no heat is generated because the motor phases are not energised.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-f%2C1%3Ccr%3E%3Clf%3E-rx%3A-" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 100.248%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:F,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:F&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Set to freewheel mode</span>

<span style="color: rgb(45, 194, 107);">// motor shaft can be turned easily</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

<span style="color: rgb(45, 194, 107);"> </span>

</td></tr></tbody></table>

##### MOTOR:RES - Resolution

Gets or sets the microstep resolution.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-res%2C-resolu" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%; height: 60.8px;"><tbody><tr style="height: 30.4px;"><td class="align-right" style="width: 22.7421%; padding: 0cm 5.4pt; border-style: hidden; height: 30.4px;" valign="top" width="93">**Command:**

</td><td style="width: 77.2592%; padding: 0cm 5.4pt; border-style: hidden; height: 30.4px;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:RES</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Resolution</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="height: 30.4px;"><td class="align-right" style="width: 22.7421%; padding: 0cm 5.4pt; border-style: hidden; height: 30.4px;" valign="top" width="93">**Query:**

</td><td style="width: 77.2592%; padding: 0cm 5.4pt; border-style: hidden; height: 30.4px;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:RES</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**<span style="font-size: 3.0pt;"> </span>Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-resolution-uint" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 64.4062%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Resolution**</span>

</td><td style="width: 35.9852%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">UINT</span>

</td></tr></tbody></table>

The microstep resolution as an integer.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5Bdefault%3A-256%5D-possi" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 40.2475%; height: 75px;"><tbody><tr style="height: 22.4074px;"><td style="width: 35.5818%; border: none; padding: 0cm; height: 22.4074px;" valign="top" width="104">\[Default:

</td><td style="width: 64.4161%; border: none; padding: 0cm; height: 22.4074px;" valign="top" width="132">256\]

</td></tr><tr style="height: 44.8148px;"><td style="width: 35.5818%; border: none; padding: 0cm; height: 44.8148px;" valign="top" width="104">Possible values:

</td><td style="width: 64.4161%; border: none; padding: 0cm; height: 44.8148px;" valign="top" width="132">8, 16, 32, 64, 128, 256

</td></tr></tbody></table>

**<span style="font-size: 5.0pt; mso-bidi-font-size: 7.0pt;"> </span>Returns**

The microstep resolution, as above.

**Remarks**

Motor must be in standby to set the resolution.

The resolution applies globally, including for the step/direction interface. Each step on the step/direction interface generates a 1/8, 1/16, 1/32 etc step according to the resolution set here.

Above a configurable step frequency, the drive switches from the microstepping resolution specified here to full step mode in any case. See section <span style="text-decoration: underline; color: rgb(53, 152, 219);">[THIGH](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-thigh-%E2%80%93-microstep-tr)</span>

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-res%2C256%3Ccr%3E%3Clf%3E-" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 103.829%; height: 90.3704px;"><tbody><tr style="height: 90.3704px;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt; height: 90.3704px;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:RES,256&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,256&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:RES&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,256&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt; height: 90.3704px;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Set resolution to 256</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

##### MOTOR:SDMODE - Step/direction mode

Gets of sets the step/direction mode. In normal mode, edges on the step input generate steps according to the edge setting, see [edge](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-edge-%E2%80%93-edge-to-step-). In triggered mode, continuous motion is triggered by an edge on the step input; this is akin to how continuous mode works for the joystick, see [joystick continuous mode](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-jsmode-%E2%80%93-joystick-mo).

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-motor%3Asdmod" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%; height: 60.8px;"><tbody><tr style="height: 30.4px;"><td class="align-right" style="width: 22.7421%; padding: 0cm 5.4pt; border-style: hidden; height: 30.4px;" valign="top" width="93">**Command:**

</td><td style="width: 77.2592%; padding: 0cm 5.4pt; border-style: hidden; height: 30.4px;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:SDMODE</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Mode</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="height: 30.4px;"><td class="align-right" style="width: 22.7421%; padding: 0cm 5.4pt; border-style: hidden; height: 30.4px;" valign="top" width="93">**Query:**

</td><td style="width: 77.2592%; padding: 0cm 5.4pt; border-style: hidden; height: 30.4px;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:SDMODE</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**<span style="font-size: 3.0pt;"> </span>Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-mode-enum" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 64.4062%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Mode**</span>

</td><td style="width: 35.9852%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">ENUM</span>

</td></tr></tbody></table>

Mode

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5B0%3A-normal%5D-1%3A-trigg" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 96.1728%; height: 34px;"><tbody><tr style="height: 22.4px;"><td style="width: 6.16199%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="104">\[0:

</td><td style="width: 93.8391%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="132">Normal\]

</td></tr><tr style="height: 19.8083px;"><td style="width: 6.16199%; border: none; padding: 0cm; height: 19.8083px;" valign="top" width="104">1:

</td><td style="width: 93.8391%; border: none; padding: 0cm; height: 19.8083px;" valign="top" width="132">Triggered

</td></tr></tbody></table>

**<span style="font-size: 5.0pt; mso-bidi-font-size: 7.0pt;"> </span>Returns**

Mode ENUM

**Remarks**

None.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-motor%3Asdmode%2C0%3Cc" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 103.829%; height: 90.3704px;"><tbody><tr style="height: 90.3704px;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt; height: 90.3704px;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:SDMODE,0&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,0&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt; height: 90.3704px;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Set mode 0, normal</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

#### Limit inputs

##### LIMIT:EN – Limits global enable

Gets or sets global limit enable state. If this setting is false, limits are disabled regardless of the state of any other limits configuration item

This does not affect other limits configuration settings, allowing limits to be configured as desired, then globally enabled or disabled if required.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-l%2C-enabled%3C" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 21.8075%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 78.1938%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">LIMIT:EN</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Enabled</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 21.8075%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 78.1938%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">LIMIT:EN</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**<span style="font-size: 3.0pt;"> </span>Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-enabled-bool" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 58.6167%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Enabled**</span>

</td><td style="width: 41.7746%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">BOOL</span>

</td></tr></tbody></table>

Enable state of limits.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5B0%3A-disable%5D-1%3A-enab-1" style="margin-left: 1.0cm; border-collapse: collapse; border: none; mso-border-alt: solid windowtext .5pt; mso-yfti-tbllook: 1184; mso-padding-alt: 0cm 0cm 0cm 0cm;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 43.8pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="58">\[0:

</td><td style="width: 43.8pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="58">Disable\]

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 43.8pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="58">1:

</td><td style="width: 43.8pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="58">Enable

</td></tr></tbody></table>

<span style="font-size: 6.0pt; mso-bidi-font-size: 8.0pt;"> </span>**Returns**

True if limits are globally enabled.

**Remarks**

This option globally enables or disabled limits; remaining limits settings remain unchanged.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-l%2C0%3Ccr%3E%3Clf%3E-rx%3A-" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 105.804%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: LIMIT:EN,0&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,0&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: LIMIT:EN&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,0&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Disable limits globally</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

##### LIMIT:EN-, LIMIT:EN+ Negative limit enable, positive limit enable

Gets or sets the negative limit (corresponding to decrementing step counter), or positive limit (corresponding to incrementing step counter) enable.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-lx%2C-enabled" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 19.9384%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 80.0629%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">LIMIT:ENx</span></span>**<span style="color: black; mso-themecolor: text1;">**,**</span><span style="background-color: rgb(248, 202, 198);">**<span class="CmdDocsArgNameChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Enabled</span></span>**</span><span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 19.9384%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 80.0629%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">LIMIT:ENx</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

Where 'x' is '-' for negative or '+' for positive limit.

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-enabled-bool-1" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 54.2105%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Enabled**</span>

</td><td style="width: 45.7895%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">BOOL</span>

</td></tr></tbody></table>

Enable state of limit n.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-0%3A-disable-%5B1%3A-enabl-1" style="margin-left: 1.0cm; border-collapse: collapse; border: none; mso-border-alt: solid windowtext .5pt; mso-yfti-tbllook: 1184; mso-padding-alt: 0cm 0cm 0cm 0cm;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 43.8pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="58">0:

</td><td style="width: 43.8pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="58">Disable

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 43.8pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="58">\[1:

</td><td style="width: 43.8pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="58">Enable\]

</td></tr></tbody></table>

**Returns**

True if limit is enabled.

**Remarks**

None.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-l%2B%2C1%3Ccr%3E%3Clf%3E-rx%3A" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 103.458%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: LIMIT:EN+,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: LIMIT:EN-&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Set positive limit enable</span>

<span style="color: rgb(45, 194, 107);">// Query negative limit enable state</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

##### LIMIT:POL-, LIMIT:POL+ Negative limit polarity, positive limit polarity

Gets or sets the negative or positive limit polarity.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-lpx%2C-active" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 20.0941%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 79.9072%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">LIMIT:POLx</span></span><span style="color: black; mso-themecolor: text1;">,</span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Polarity</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 20.0941%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 79.9072%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">LIMIT:POLx</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

Where 'x' is '-' for negative or '+' for positive limit.

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-activelow-bool" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.7694%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Polarity**</span>

</td><td style="width: 49.0936%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">UINT</span>

</td></tr></tbody></table>

Polarity of limit.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5B0%3A-active-high%5D-1%3A-" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 24.1975%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 49.7835%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">\[0:

</td><td style="width: 50.2202%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="83">Active high\]

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 49.7835%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">1:

</td><td style="width: 50.2202%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="83">Active low

</td></tr></tbody></table>

**Returns**

Polarity setting for the limit.

**Remarks**

None.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-lp-%2C1%3Ccr%3E%3Clf%3E-rx" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 101.853%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: LIMIT:POL-,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: LIMIT:POL+&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Set negative limit polarity to active low</span>

<span style="color: rgb(45, 194, 107);">// Query positive limit polarity</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

##### LIMIT:POL – Global limit polarity

Set the polarity for both limits at once.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-lp%2C-activel" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 21.9633%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 78.038%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">LIMIT:POL,</span></span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Polarity</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-activelow-bool-1" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 60.722%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Polarity**</span>

</td><td style="width: 39.6694%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">UINT</span>

</td></tr></tbody></table>

Polarity of LP.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5B0%3A-active-high%5D-1%3A--1" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 21.6049%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 50.0029%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">\[0:

</td><td style="width: 50.0029%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="83">Active high\]

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 50.0029%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">1:

</td><td style="width: 50.0029%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="83">Active low

</td></tr></tbody></table>

**Remarks**

None.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-lp%2C1%3Ccr%3E%3Clf%3E-rx%3A" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 102.1%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="245"><span style="color: rgb(224, 62, 45);">Tx: LIMIT:POL,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="434"><span style="color: rgb(45, 194, 107);">// Set polarity of both limits to active low</span>

</td></tr></tbody></table>

##### LIMIT:STOPMODE – Limit stop mode

Gets or sets the limits stop mode, which determines behaviour on limit being triggered.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-lsm%2C-mode%3Cc" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 18.848%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 81.1533%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">LIMIT:STOPMODE</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Mode</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 18.848%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 81.1533%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">LSM</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-mode-bool" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 36.5259%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Mode**</span>

</td><td style="width: 63.8655%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">UINT</span>

</td></tr></tbody></table>

The stop mode.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5B0%3A-hard-stop%3B-the-m" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 91.2346%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 6.49582%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">\[0:

</td><td style="width: 93.5053%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="395">Hard stop; the motor will stop immediately on a limit being triggered\]

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 6.49582%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">1:

</td><td style="width: 93.5053%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="395">Soft stop; the motor decelerates according to the profile

</td></tr></tbody></table>

**Returns**

The stop mode, as above.

**Remarks**

When using hard stop, keep in mind that steps may be lost depending on the slewing speed and load on the motor. Treat position counters with caution until the true position has been established. Conversely, when using soft stop, ensure that the motor can decelerate to a stop before the physical end of travel is reached and steps are lost.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-lsm%2C1%3Ccr%3E%3Clf%3E-rx" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 105.927%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: LIMIT:STOPMODE,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: LIMIT:STOPMODE&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0537%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Set soft stop mode</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

#### Profile

##### MOTOR:AMAX - Acceleration

Gets or sets the acceleration, in Hz/s (steps per second per second).

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-amax%2C-accel" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 19.0034%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 80.9979%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:AMAX</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Acceleration</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 19.0034%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 80.9979%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:AMAX</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**<span style="font-size: 4.0pt; mso-bidi-font-size: 6.0pt;"> </span>Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-acceleration-float" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 60.1957%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Acceleration**</span>

</td><td style="width: 40.1957%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">FLOAT</span>

</td></tr></tbody></table>

The acceleration in Hz/s.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5Bdefault%3A-5000%5D-mini" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 83.0864%; height: 70.425px;"><tbody><tr style="height: 22.4px;"><td style="width: 16.3451%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">\[Default:

</td><td style="width: 83.6562%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">5000\]

</td></tr><tr style="height: 25.625px;"><td style="width: 16.3451%; border: none; padding: 0cm; height: 25.625px;" valign="top" width="66">Minimum:

</td><td style="width: 83.6562%; border: none; padding: 0cm; height: 25.625px;" valign="top" width="406">10

<span style="font-size: 11.0pt; line-height: 107%; font-family: 'Calibri',sans-serif; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 'Times New Roman'; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin; mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi; mso-ansi-language: EN-GB; mso-fareast-language: EN-GB; mso-bidi-language: AR-SA;"></span>

</td></tr><tr style="height: 22.4px;"><td style="width: 16.3451%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Maximum:

</td><td style="width: 83.6562%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">15000

</td></tr></tbody></table>

**<span style="font-size: 5.0pt; mso-bidi-font-size: 7.0pt;"> </span>Returns**

User value (data 1) and real value (data 2). See [user/real values](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-many-commands-accept).

**Remarks**

None.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-amax%2C150%3Ccr%3E%3Clf%3E" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 102.347%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 52.9053%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="397"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:AMAX,150&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1.5000E+02,1.4988E+02&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: AMAX&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1.5000E+02,1.4988E+02&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 46.9793%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(45, 194, 107);">// Set acceleration to 150Hz/s</span>

<span style="color: rgb(45, 194, 107);">// Note that the target value of 150 has been adjusted to the closest real value, which deviates from the requested value by 0.12 Hz/s</span>

</td></tr></tbody></table>

##### MOTOR:DMAX - Deceleration

Gets or sets the deceleration, in Hz/s (steps per second per second).

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-dmax%2C-decel" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 18.3807%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 81.6206%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:DMAX</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Deceleration</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 18.3807%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 81.6206%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:DMAX</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**<span style="font-size: 4.0pt; mso-bidi-font-size: 6.0pt;"> </span>Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-deceleration-float" style="border-collapse: collapse; width: 26.6667%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 70.5263%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Deceleration**</span>

</td><td style="width: 29.4737%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">FLOAT</span>

</td></tr></tbody></table>

The deceleration in Hz/s.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5Bdefault%3A-5000%5D-mini-1" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 83.0864%; height: 71.2px;"><tbody><tr style="height: 22.4px;"><td style="width: 16.3451%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">\[Default:

</td><td style="width: 83.6562%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">5000\]

</td></tr><tr style="height: 26.4px;"><td style="width: 16.3451%; border: none; padding: 0cm; height: 26.4px;" valign="top" width="66">Minimum:

</td><td style="width: 83.6562%; border: none; padding: 0cm; height: 26.4px;" valign="top" width="406">10

<span style="font-size: 11.0pt; line-height: 107%; font-family: 'Calibri',sans-serif; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 'Times New Roman'; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin; mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi; mso-ansi-language: EN-GB; mso-fareast-language: EN-GB; mso-bidi-language: AR-SA;"></span>

</td></tr><tr style="height: 22.4px;"><td style="width: 16.3451%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Maximum:

</td><td style="width: 83.6562%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">15000

</td></tr></tbody></table>

**Returns**

User value (data 1) and real value (data 2). See [user/real values](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-many-commands-accept).

**Remarks**

None.

**<span style="mso-bookmark: _Hlk27057009;">Examples</span>**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-dmax%2C150%3Ccr%3E%3Clf%3E" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 105.927%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 54.8806%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="283"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:DMAX,150&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1.5000E+02,1.4988E+02&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:DMAX&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1.5000E+02,1.4988E+02&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 45.004%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="396"><span style="color: rgb(45, 194, 107);">// Set deceleration to 150Hz/s</span>

<span style="color: rgb(45, 194, 107);">// Query deceleration</span>

<span style="mso-bidi-font-family: 'Courier New';"> </span>

</td></tr></tbody></table>

##### MOTOR:VSTART – Start frequency

Get or set the start frequency in Hz. Must be set less than or equal to [MOTOR:VSTOP](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-vstop-%E2%80%93-stop-frequen). The acceleration ramp starts from this frequency.

The start frequency is the initial step rate, and helps to allow the motor to overcome inertia and start moving smoothly; if start frequency were zero, the duration of the initial few steps might be long enough that the motor would overcome inertia on the first step, then effectively stop for a time, then have to overcome inertia once more for the second step, and so on, until the steps were frequent enough that the motor remains moving.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-vstart%2C-sta" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 23.9882%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 76.0131%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:VSTART</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">StartFrequency</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 23.9882%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 76.0131%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:VSTART</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

<span style="font-size: 6.0pt; mso-bidi-font-size: 8.0pt;"> </span>**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-startfrequency-float" style="border-collapse: collapse; width: 30.8642%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 60.8027%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**StartFrequency**</span>

</td><td style="width: 39.2006%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">FLOAT</span>

</td></tr></tbody></table>

The start frequency in Hz.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5Bdefault%3A-100%5D-minim" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 83.0864%; height: 71.2px;"><tbody><tr style="height: 22.4px;"><td style="width: 16.3451%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">\[Default:

</td><td style="width: 83.6562%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">100\]

</td></tr><tr style="height: 26.4px;"><td style="width: 16.3451%; border: none; padding: 0cm; height: 26.4px;" valign="top" width="66">Minimum:

</td><td style="width: 83.6562%; border: none; padding: 0cm; height: 26.4px;" valign="top" width="406">1

<span style="font-size: 11.0pt; line-height: 107%; font-family: 'Calibri',sans-serif; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 'Times New Roman'; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin; mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi; mso-ansi-language: EN-GB; mso-fareast-language: EN-GB; mso-bidi-language: AR-SA;"></span>

</td></tr><tr style="height: 22.4px;"><td style="width: 16.3451%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Maximum:

</td><td style="width: 83.6562%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">700

</td></tr></tbody></table>

<span style="font-size: 6.0pt; mso-bidi-font-size: 8.0pt;"> </span>**Returns**

User value (data 1) and real value (data 2). See [user/real values](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-many-commands-accept).

**Remarks**

Start frequency must be set equal to or less than stop frequency. If a change to start frequency makes it bigger than stop frequency, stop frequency is automatically adjusted to be equal to start frequency.

Start frequency must be set equal to or less than step frequency. Start frequency is not adjusted to match step frequency if start frequency is greater than step frequency.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-vstart%2C0%3Ccr%3E%3Clf%3E" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 100.617%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0245%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="444"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:VSTART,0&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,0.0000+00,0.0000+00&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:VSTART&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,0.0000+00,0.0000+00&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0245%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="236"><span style="color: rgb(45, 194, 107);">// Set start frequency to 0 Hz</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

##### MOTOR:VSTOP – Stop frequency

Get or set the stop frequency in Hz. Must be greater than or equal to [MOTOR:VSTART](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-vstart-%E2%80%93-start-frequ). The deceleration ramp ends at this frequency. The final step before stop will occur at this frequency.

The stop frequency is the frequency at which the deceleration ramp ends; i.e. the deceleration ramp does not go from the target frequency linearly down to 0, but from the target frequency linearly down to the stop frequency.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-vstop%2C-stop" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 20.873%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 79.1283%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:VSTOP</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">StopFrequency</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 20.873%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 79.1283%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:VSTOP</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-stopfrequency-float" style="border-collapse: collapse; width: 29.1358%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 64.4086%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**StopFrequency**</span>

</td><td style="width: 35.595%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">FLOAT</span>

</td></tr></tbody></table>

The stop frequency in Hz.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5Bdefault%3A-100%5D-minim-1" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 83.0864%; height: 71.2px;"><tbody><tr style="height: 22.4px;"><td style="width: 16.3451%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">\[Default:

</td><td style="width: 83.6562%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">100\]

</td></tr><tr style="height: 26.4px;"><td style="width: 16.3451%; border: none; padding: 0cm; height: 26.4px;" valign="top" width="66">Minimum:

</td><td style="width: 83.6562%; border: none; padding: 0cm; height: 26.4px;" valign="top" width="406">1

<span style="font-size: 11.0pt; line-height: 107%; font-family: 'Calibri',sans-serif; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: 'Times New Roman'; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin; mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi; mso-ansi-language: EN-GB; mso-fareast-language: EN-GB; mso-bidi-language: AR-SA;"></span>

</td></tr><tr style="height: 22.4px;"><td style="width: 16.3451%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Maximum:

</td><td style="width: 83.6562%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">700

</td></tr></tbody></table>

<span style="font-size: 6.0pt; mso-bidi-font-size: 8.0pt;"> </span>**Returns**

User value (data 1) and real value (data 2). See [user/real values](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-many-commands-accept).

**Remarks**

Stop frequency must be set equal to or greater than start frequency. If a change to stop frequency makes it smaller than start frequency, start frequency is automatically adjusted to be equal to stop frequency.

Stop frequency must be set equal to or less than step frequency. Stop frequency is not adjusted to match step frequency if stop frequency is greater than step frequency.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-vstop%2C10%3Ccr%3E%3Clf%3E" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 99.8765%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0245%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="444"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:VSTOP,10&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1.0000+01,9.9996+00&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:VSTOP&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1.0000+01,9.9996+00&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0245%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="236"><span style="color: rgb(45, 194, 107);">// Set stop frequency to 10 Hz</span>

<span style="color: rgb(45, 194, 107);">// Notice the closest real value of 9.9996 Hz set</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

##### MOTOR:VMAX – Step frequency

Gets or sets the target step frequency in Hz, or steps per second. This is the maximum speed the motor will be run at. The target frequency will only be reached if there is enough time or distance to do so; if moving for a short time, for example, the motor may only accelerate to some fraction of the target frequency before it is time to decelerate to a stop.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-vmax%2C-targe" style="margin-left: 1.0cm; border-collapse: collapse; mso-yfti-tbllook: 1184; mso-padding-alt: 0cm 5.4pt 0cm 5.4pt;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 120px; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 411.3pt; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:VMAX</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">TargetFrequency</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 120px; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 411.3pt; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:VMAX</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-targetfrequency-floa" style="border-collapse: collapse; width: 35.4321%; height: 22.3958px;"><tbody><tr style="height: 22.3958px;"><td style="width: 120px; padding: 0cm 5.4pt; border-style: hidden; height: 22.3958px;" valign="top" width="123"><span style="background-color: rgb(248, 202, 198);">**TargetFrequency**</span>

</td><td style="width: 48.0836%; padding: 0cm 5.4pt; border-style: hidden; height: 22.3958px;" valign="top" width="164">FLOAT

</td></tr></tbody></table>

The target frequency in Hz.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5Bdefault%3A-1-khz%5D-min" style="margin-left: 1.0cm; border-collapse: collapse; border: none; mso-border-alt: solid windowtext .5pt; mso-yfti-tbllook: 1184; mso-padding-alt: 0cm 0cm 0cm 0cm;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 90px; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">\[Default:

</td><td style="width: 304.75pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="406">1 kHz\]

</td></tr><tr style="mso-yfti-irow: 1; height: 12.5pt;"><td style="width: 90px; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">Minimum:

</td><td style="width: 304.75pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="406">1 Hz

</td></tr><tr style="mso-yfti-irow: 2; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 90px; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">Maximum:

</td><td style="width: 304.75pt; border: none; padding: 0cm 0cm 0cm 0cm; height: 12.5pt;" valign="top" width="406">15 kHz

</td></tr></tbody></table>

**Returns**

User value (data 1) and real value (data 2). See [user/real values](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-many-commands-accept).

**Remarks**

Motor torque decreases with speed, and each motor will have a different maximum frequency that it can achieve while reliably maintaining synchronicity (when synchronicity is lost, the motor fails to complete the steps that it is commanded to, leading to a difference between the true and actual positions), depending on the load it is driving.

Step frequency must be set equal to or greater than start frequency and stop frequency. Step frequency is not adjusted to match start frequency and stop frequency if step frequency is smaller than start frequency and stop frequency.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-vmax%2C1000%3Ccr%3E%3Clf" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 100.617%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 53.5247%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="444"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:VMAX,1000&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1.0000E+03,1.0000E+03&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:VMAX&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1.0000E+03,1.0000E+03&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 46.3599%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="236"><span style="color: rgb(45, 194, 107);">// Set step frequency to 1 kHz</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

##### MOTOR:VACT – Actual frequency

Get the live step frequency of the motor in Hz (steps per second).

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-query%3A-vact%3Ccr%3E%3Clf%3E" style="margin-left: 1.0cm; border-collapse: collapse; mso-yfti-tbllook: 1184; mso-padding-alt: 0cm 5.4pt 0cm 5.4pt;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 70.05pt; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 411.3pt; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:VACT</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Returns**

The frequency at which the motor is spinning in Hz.

**Remarks**

This value is derived from the stepper motor control logic; there is no feedback from the motor itself. Hence, the motor could be stalled while which continues to indicate the expected.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-vact%3Ccr%3E%3Clf%3E-rx%3A" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 100.864%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0245%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="444"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:VACT&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1.0000E+03&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0245%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="236"><span style="color: rgb(45, 194, 107);">// Query state of blink</span>

</td></tr></tbody></table>

##### MOTOR:PACT – Actual position

Gets or sets the actual position in steps.

The usual way to position the motor is to initialise the actual position to some reference value, usually 0, then adjust the target position to move the motor. In this way, by setting [MOTOR:RUNA](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-runa-%E2%80%93-run%2C-absolute) to 0 the motor can be homed to the initial 0 position. If you wish to perform relative movements, while still retaining an absolute reference, see [MOTOR:PREL](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-prel-%E2%80%93-relative-posi) command.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-pactual%2C-ac" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%; height: 50.8px;"><tbody><tr style="height: 30.4px;"><td style="width: 18.6923%; padding: 0cm 5.4pt; border-style: hidden; height: 30.4px;" valign="top" width="93">**Command:**

</td><td style="width: 81.309%; padding: 0cm 5.4pt; border-style: hidden; height: 30.4px;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:PACT</span></span><span style="color: black; mso-themecolor: text1;">,</span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Position</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="height: 20.4px;"><td style="width: 18.6923%; padding: 0cm 5.4pt; border-style: hidden; height: 20.4px;" valign="top" width="93">**Query:**

</td><td style="width: 81.309%; padding: 0cm 5.4pt; border-style: hidden; height: 20.4px;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:PACT</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-targetposition-int" style="border-collapse: collapse; width: 33.7037%; height: 52px;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 33.7013%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Position**</span>

</td><td style="width: 66.3018%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">INT</span>

</td></tr></tbody></table>

The target position in steps.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-minimum%3A%C2%A0--8388608-m-1" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 34.5679%; height: 44.8px;"><tbody><tr style="height: 22.4px;"><td style="width: 31.0714%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Minimum:<span style="mso-spacerun: yes;"> </span>

</td><td style="width: 68.9286%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">-8388608

</td></tr><tr style="height: 22.4px;"><td style="width: 31.0714%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Maximum:

</td><td style="width: 68.9286%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">8388607

</td></tr></tbody></table>

**Returns**

The absolute position, as above.

**Remarks**

Query is applicable any time, Set requires the motor in standby condition.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-pact%3Ccr%3E%3Clf%3E-rx%3A" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 101.728%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0245%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="444"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:PACT&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1000.00&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:PACT,0&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,0.00&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0245%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="236"><span style="color: rgb(45, 194, 107);">// Query</span>

<span style="color: rgb(45, 194, 107);">// Set actual position 0</span>

</td></tr></tbody></table>

##### MOTOR:PREL – Relative position

Gets or sets the relative position counter in steps.

Use this function to perform relative movement, while still retaining reference to absolute position via <span style="color: rgb(53, 152, 219);">[MOTOR:PACT](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-pact-%E2%80%93-actual-positi)</span>. Set the desired value then use the <span style="color: rgb(53, 152, 219);">[MOTOR:RUNR](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-runr---run%2C-relative)</span> command to initiate movement.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-prel%2C-relat" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 18.0692%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 81.9321%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:PREL</span></span><span style="color: black; mso-themecolor: text1;">,</span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Position</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 18.0692%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 81.9321%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:PREL</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;"> &lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**<span style="font-size: 3.0pt; mso-bidi-font-size: 5.0pt;"> </span>Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-relativedisplacement" style="border-collapse: collapse; width: 32.3457%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 40.458%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Position**</span>

</td><td style="width: 59.542%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">INT</span>

</td></tr></tbody></table>

The target position in steps.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-minimum%3A%C2%A0--8388608-m-2" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 34.5679%; height: 44.8px;"><tbody><tr style="height: 22.4px;"><td style="width: 31.0714%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Minimum:<span style="mso-spacerun: yes;"> </span>

</td><td style="width: 68.9286%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">-8388608

</td></tr><tr style="height: 22.4px;"><td style="width: 31.0714%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Maximum:

</td><td style="width: 68.9286%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">8388607

</td></tr></tbody></table>

**<span style="font-size: 4.0pt; mso-bidi-font-size: 6.0pt;"> </span>Returns**

The relative position, as above.

**Remarks**

Set requires the motor be in standby condition.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-prel%3Ccr%3E%3Clf%3E-rx%3A" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 100.864%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0245%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="444"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:PREL&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1000.00&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:PREL,0&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,0.00&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0245%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="236"><span style="color: rgb(45, 194, 107);">// Query</span>

<span style="color: rgb(45, 194, 107);">// Set relative position 0</span>

</td></tr></tbody></table>

##### TZW – Zero wait time

Gets or sets the waiting time after ramping down to a stop before the next movement or direction inversion can start. Can be used to avoid excess acceleration, e.g. from [MOTOR:VSTOP](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-vstop-%E2%80%93-stop-frequen) to [MOTOR:VSTART](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-vstart-%E2%80%93-start-frequ).

When using higher values for the start and stop frequency, a subsequent move in the opposite direction would result in a jerk equal to start frequency + stop frequency. The motor may not be able to follow this. Zero wait time can be used to introduce a short delay between the two and eliminate the jerk.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-tzw%2C-durati" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 18.6923%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 81.309%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:TZW</span></span><span style="color: black; mso-themecolor: text1;">,</span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Duration</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 18.6923%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 81.309%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:TZW</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;"> &lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-duration-float-2" style="border-collapse: collapse; width: 28.0247%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 41.6225%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Duration**</span>

</td><td style="width: 58.2302%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">FLOAT</span>

</td></tr></tbody></table>

The waiting time in seconds.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5Bdefault%3A-0%5D-minimum-4" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 58.3951%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 19.6629%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">\[Default:

</td><td style="width: 80.3389%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="406">0\]

</td></tr><tr style="mso-yfti-irow: 1; height: 12.5pt;"><td style="width: 19.6629%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">Minimum:

</td><td style="width: 80.3389%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="406">0

</td></tr><tr style="mso-yfti-irow: 2; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 19.6629%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">Maximum:

</td><td style="width: 80.3389%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="406">2.7 s

</td></tr></tbody></table>

**Returns**

The zero wait time, as above.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-tzw%2C100%3Ccr%3E%3Clf%3E-" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 101.111%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0245%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="444"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:TZW,0.1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1.0000E+02&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:TZW&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1.0000E+02&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0245%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="236"><span style="color: rgb(45, 194, 107);">// Set TZW to 100 ms</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

##### MOTOR:THIGH – Microstep transition

Gets or sets the full step / microstepping transition. When frequency falls below this threshold (approximately), the motor switches from full step to the selected microstep resolution. The product determines the upper threshold automatically and applies hysteresis to avoid possible jitter between the two stepping modes. The upper threshold cannot be adjusted.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-thigh%2C-thre" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 18.5361%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 81.4652%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:THIGH</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Threshold</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 18.5361%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 81.4652%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:THIGH</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;"> &lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-threshold-float" style="border-collapse: collapse; width: 28.642%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 47.5352%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Threshold**</span>

</td><td style="width: 52.2887%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">FLOAT</span>

</td></tr></tbody></table>

Threshold in frequency Hz.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5Bdefault%3A-10000-hz%5D-" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 58.3951%; height: 67.2px;"><tbody><tr style="height: 22.4px;"><td style="width: 22.4112%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">\[Default:

</td><td style="width: 77.5906%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">10000 Hz\]

</td></tr><tr style="height: 22.4px;"><td style="width: 22.4112%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Minimum:

</td><td style="width: 77.5906%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">1 Hz

</td></tr><tr style="height: 22.4px;"><td style="width: 22.4112%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Maximum:

</td><td style="width: 77.5906%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">15000 Hz

</td></tr></tbody></table>

**Returns**

User value (data 1) and real value (data 2). See [user/real values](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-many-commands-accept).

**Remarks**

AML Device control software calculates and displays the upper threshold value for reference, although as noted above it cannot be adjusted.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-thigh%2C500%3Ccr%3E%3Clf" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 104.198%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 54.5102%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="434"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:THIGH,500&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,5.0000E+02,5.0400E+02&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:THIGH&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,5.0000E+02,5.0400E+02&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 45.3744%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="245"><span style="color: rgb(45, 194, 107);">// Set threshold to 500 Hz</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

#### Step/Direction

##### MOTOR:EDGE – Edge to step on

Gets or sets which edge(s) a step occurs on when in step direction mode.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-edge%2C-both%3C" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 18.5365%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 81.4648%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:EDGE</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Edge</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 18.5365%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 81.4648%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">MOTOR:EDGE</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;"> &lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

<span style="font-size: 5.0pt; mso-bidi-font-size: 7.0pt;"> </span>**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-both-bool" style="border-collapse: collapse; mso-yfti-tbllook: 1184; mso-padding-alt: 0cm 5.4pt 0cm 5.4pt;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 49.4pt; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Edge**</span>

</td><td style="width: 92.35pt; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">UINT</span>

</td></tr></tbody></table>

Edge(s) to step on.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5B0%3A-rising-edge-only" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 58.3951%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 22.4112%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">\[0:

</td><td style="width: 77.5906%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="406">Rising edge only\]

</td></tr><tr style="mso-yfti-irow: 1; height: 12.5pt;"><td style="width: 22.4112%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">1:

</td><td style="width: 77.5906%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="406">Both rising and falling edges

</td></tr></tbody></table>

**Returns**

Edge(s) to step on.

**Remarks**

Use option for both edges to halve the frequency on the step input required to obtain a given step rate.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-edge%2C1%3Ccr%3E%3Clf%3E-r" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 100.617%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0245%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="434"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:EDGE,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:EDGE&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0245%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="245"><span style="color: rgb(45, 194, 107);">// Set step on both edges</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

##### MOTOR:INTERP – Step interpolation

Gets or sets a value indicating whether the step input should be interpolated to 256 microsteps. Applicable in [Mode.StepDir](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-mode---choose-mode-o) mode only.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-interp%2C-int" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 20.873%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 79.1283%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">INTERP</span></span><span style="color: black; mso-themecolor: text1;">, </span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Interpolate</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 20.873%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 79.1283%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">INTERP</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-interpolate-bool" style="border-collapse: collapse; width: 23.4568%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 62.2813%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Interpolate**</span>

</td><td style="width: 38.0708%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">BOOL</span>

</td></tr></tbody></table>

Enable interpolation of step input to 256 microsteps.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5B0%3A-normal%3B-each-ste" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 80%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 5.09259%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">\[0:

</td><td style="width: 94.9074%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="395">Normal; each step input will cause one step at the current resolution\]

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 5.09259%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="58">1:

</td><td style="width: 94.9074%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="395">Interpolate; each step input will be interpolated to 256 microsteps.

</td></tr></tbody></table>

**Returns**

True if interpolation mode is active, as above.

**Remarks**

Enabling this feature affords the benefits of high-resolution microstepping, without the drawback of very high step clock rates. Internal logic tracks the rate at which steps are supplied and smooths them out into 256 microsteps; e.g. if resolution is set to full-step and see [edge to step on](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-edge-%E2%80%93-edge-to-step-) is set to rising, then each rising edge on the step input generates a series of 256 microsteps at the motor.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-interp%2C1%3Ccr%3E%3Clf%3E" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 102.84%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.0245%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="368"><span style="color: rgb(224, 62, 45);">Tx: MOTOR:INTERP,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: MOTOR:INTERP&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.0245%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="311"><span style="color: rgb(45, 194, 107);">// Enable interpolation</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

#### Bake

##### BAKE:T – Bake temperature setpoint

Gets or sets the bake temperature setpoint. To run bake, select bake mode using the [MODE, ](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-mode---choose-mode-o)then start bake using the run bake command[.](https://bookstack.vps-da8d40f3.arunmicro.com/link/14#bkmrk-runb-%E2%80%93-run-bake) Use stop command to end bake.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-baket%2C-setp" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">BAKE:T</span></span><span style="color: black; mso-themecolor: text1;">,</span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Setpoint</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">BAKE:T</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;"> &lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-setpoint-uint" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 60.722%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Setpoint**</span>

</td><td style="width: 39.6694%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">UINT</span>

</td></tr></tbody></table>

Bake temperature setpoint.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5Bdefault%3A-150-%C2%B0c%5D-mi" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 58.3951%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 22.1997%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">\[Default:

</td><td style="width: 77.802%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="406">150 °C\]

</td></tr><tr style="mso-yfti-irow: 1; height: 12.5pt;"><td style="width: 22.1997%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">Minimum:

</td><td style="width: 77.802%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="406">0 °C

</td></tr><tr style="mso-yfti-irow: 2; mso-yfti-lastrow: yes; height: 12.5pt;"><td style="width: 22.1997%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">Maximum:

</td><td style="width: 77.802%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="406">200 °C

</td></tr></tbody></table>

**Returns**

Bake temperature setpoint in °C, as above.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-baket%2C100%3Ccr%3E%3Clf" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 104.94%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="368"><span style="color: rgb(224, 62, 45);">Tx: BAKE:T,100&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,100&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: BAKE:T&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,100&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="311"><span style="color: rgb(45, 194, 107);">// Set bake setpoint to 100 °C</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

##### BAKE:RUN – Start bake

Start bake. Configure the bake temperature setpoint using [BakeTemperature](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-baket-%E2%80%93-bake-tempera).

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-bake%3Arun%3Ccr" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">BAKE:RUN</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-bake%3Arun%3Ccr%3E%3Clf%3E" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 104.94%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="368"><span style="color: rgb(224, 62, 45);">Tx: BAKE:RUN&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="311"><span style="color: rgb(45, 194, 107);">// Run bake</span>

</td></tr></tbody></table>

##### BAKE:ELAPSED – Elapsed bake time

Gets the elapsed bake time.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-bake%3Aelapse" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">BAKE:ELAPSED</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Returns**

Elapsed time in format h:m:s where h is hours, m is minutes and s seconds.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-bake%3Aelapsed%3Ccr%3E" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 104.94%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="368"><span style="color: rgb(224, 62, 45);">Tx: BAKE:ELAPSED&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,2:34:12&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="311"><span style="color: rgb(45, 194, 107);">// Bake has run for 2 hours 34 minutes and 12 seconds</span>

</td></tr></tbody></table>

#### Boost

##### BOOST:EN – Boost enable

Gets or sets a value indicating whether the boost supply should be enabled. The boost supply steps up the input voltage from 48 V to 67 V to maximise motor dynamic performance. Enable for best performance. Regardless of this setting, the boost supply is disabled when input voltage falls below 48 V, or the boost enable jumper is not fitted.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-boost%3Aen%2Cst" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">BOOST:EN</span></span><span style="color: black; mso-themecolor: text1;">,</span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">State</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">BOOST:EN</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;"> &lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-state-bool" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 60.722%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**State**</span>

</td><td style="width: 39.6694%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">BOOL</span>

</td></tr></tbody></table>

Enable the boost circuit.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-0%3A-disable-boost-%5B1%3A" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 58.3951%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 12.5pt;"><td style="width: 22.1997%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">0:

</td><td style="width: 77.802%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="406">Disable boost

</td></tr><tr style="mso-yfti-irow: 1; height: 12.5pt;"><td style="width: 22.1997%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="66">\[1:

</td><td style="width: 77.802%; border: none; padding: 0cm; height: 12.5pt;" valign="top" width="406">Enable boost\]

</td></tr></tbody></table>

**Returns**

Enable state.

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-boost%3Aen%2C1%3Ccr%3E%3Cl" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 104.94%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="368"><span style="color: rgb(224, 62, 45);">Tx: BOOST:EN,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: BOOST:EN&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="311"><span style="color: rgb(45, 194, 107);">// Enable boost</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

<span style="font-family: var(--font-heading, var(--font-body)); font-size: 1.33em; font-weight: 400; background-color: rgb(255, 255, 255);">Coms: Ethernet</span>

##### COMS:NET:DHCP – DHCP

Gets or sets a value indicating whether DHCP is enabled. If enabled, DHCP (Dynamic Host Configuration Protocol) will be used to automatically assign network configuration, such as IP address and gateway, to the device.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-coms%3Anet%3Adh" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:NET:DHCP</span></span><span style="color: black; mso-themecolor: text1;">,</span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">State</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:NET:DHCP</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-state-bool-1" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 60.722%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**State**</span>

</td><td style="width: 39.6694%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">BOOL</span>

</td></tr></tbody></table>

DHCP enable state

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-0%3A-disable-dhcp-%5B1%3A-" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 58.3951%; height: 44.8px;"><tbody><tr style="height: 22.4px;"><td style="width: 22.1997%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">0:

</td><td style="width: 77.802%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">Disable DHCP

</td></tr><tr style="height: 22.4px;"><td style="width: 22.1997%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">\[1:

</td><td style="width: 77.802%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">Enable DHCP\]

</td></tr></tbody></table>

**Returns**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-enable-state-bool-1" style="border-collapse: collapse; width: 44.0741%; height: 42px;"><tbody><tr style="height: 22.4px;"><td style="width: 12.8852%; padding: 0cm 5.4pt; border-style: hidden;"></td><td style="width: 33.0532%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="66">Enable state

</td><td style="width: 53.7815%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">BOOL</span>

</td></tr></tbody></table>

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-coms%3Anet%3Adhcp%2C1%3C" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 104.94%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="368"><span style="color: rgb(224, 62, 45);">Tx: COMS:NET:DHCP,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: COMS:NET:DHCP&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="311"><span style="color: rgb(45, 194, 107);">// Enable DHCP</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

##### COMS:NET:GATEWAY – Gateway

Gets or sets the gateway address. When DHCP is enabled, the value read back will be the value assigned by DHCP rather than any value you might have set. Any value set however is retained, and will apply if DHCP is disabled at a later time.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-coms%3Anet%3Aga" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%; height: 44.8px;"><tbody><tr style="height: 22.4px;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="93">**Command:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:NET:GATEWAY</span></span><span style="color: black; mso-themecolor: text1;">,</span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Address</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="height: 22.4px;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="93">**Query:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:NET:GATEWAY</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-address-dotted-decim" style="border-collapse: collapse; width: 48.8889%; height: 53px;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 15.2416%; padding: 0cm 5.4pt; border-style: hidden;"><span style="background-color: rgb(248, 202, 198);">  
</span>

</td><td style="width: 34.5725%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Address**</span>

</td><td style="width: 50.5576%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">DOTTED DECIMAL</span>

</td></tr></tbody></table>

**Returns**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-address-dotted-decim-1" style="border-collapse: collapse; width: 42.716%; height: 21px;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 15.0175%; padding: 0cm 5.4pt; border-style: hidden;"><span style="background-color: rgb(248, 202, 198);">  
</span>

</td><td style="width: 34.472%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66">**Address**

</td><td style="width: 50.5134%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">DOTTED DECIMAL</span>

</td></tr></tbody></table>

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-coms%3Anet%3Adhcp%3Ccr" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 104.94%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="368"><span style="color: rgb(224, 62, 45);">Tx: COMS:NET:DHCP&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: COMS:NET:GATEWAY,192.168.1.1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,10.0.96.1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="311"><span style="color: rgb(45, 194, 107);">// Query DHCP state</span>

<span style="color: rgb(45, 194, 107);">// DHCP is on</span>

<span style="color: rgb(45, 194, 107);">// Set the gateway</span>

<span style="color: rgb(45, 194, 107);">// DHCP is on, and has assigned the gateway so the returned value does not match what we set</span>

</td></tr></tbody></table>

##### COMS:NET:NETMASK – Subnet mask

Gets or sets the subnet mask. When DHCP is enabled, the value read back will be the value assigned by DHCP rather than any value you might have set. Any value set however is retained, and will apply if DHCP is disabled at a later time.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-coms%3Anet%3Ane" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%; height: 44.8px;"><tbody><tr style="height: 22.4px;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="93">**Command:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:NET:NETMASK</span></span><span style="color: black; mso-themecolor: text1;">,</span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Mask</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="height: 22.4px;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="93">**Query:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:NET:NETMASK</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-mask-dotted-decimal" style="border-collapse: collapse; width: 48.5185%; height: 59px;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 15.2675%; padding: 0cm 5.4pt; border-style: hidden;"><span style="background-color: rgb(248, 202, 198);">  
</span>

</td><td style="width: 22.9015%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Mask**</span>

</td><td style="width: 61.8331%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">DOTTED DECIMAL</span>

</td></tr></tbody></table>

**Returns**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-mask-dotted-decimal-1" style="border-collapse: collapse; width: 46.7901%; height: 42px;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 15.2416%; padding: 0cm 5.4pt; border-style: hidden;"><span style="background-color: rgb(248, 202, 198);">  
</span>

</td><td style="width: 34.5725%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66">**Mask**

</td><td style="width: 50.5576%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">DOTTED DECIMAL</span>

</td></tr></tbody></table>

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-coms%3Anet%3Anetmask" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 104.94%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="368"><span style="color: rgb(224, 62, 45);">Tx: COMS:NET:NETMASK&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,255.255.248.0&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="311"><span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

##### COMS:NET:IP – IP Address

Gets or sets the IP address. When DHCP is enabled, the value read back will be the value assigned by DHCP rather than any value you might have set. Any value set however is retained, and will apply if DHCP is disabled at a later time.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-coms%3Anet%3Aip" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%; height: 44.8px;"><tbody><tr style="height: 22.4px;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="93">**Command:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:NET:IP</span></span><span style="color: black; mso-themecolor: text1;">,</span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Address</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="height: 22.4px;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="93">**Query:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:NET:IP</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-address-dotted-decim-2" style="border-collapse: collapse; width: 51.1111%; height: 45px;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 15.2416%; padding: 0cm 5.4pt; border-style: hidden;"><span style="background-color: rgb(248, 202, 198);">  
</span>

</td><td style="width: 34.5725%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Address**</span>

</td><td style="width: 50.5576%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">DOTTED DECIMAL</span>

</td></tr></tbody></table>

**Returns**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-address-dotted-decim-3" style="border-collapse: collapse; width: 50.7407%; height: 13px;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 15.2416%; padding: 0cm 5.4pt; border-style: hidden;"><span style="background-color: rgb(248, 202, 198);">  
</span>

</td><td style="width: 34.5725%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66">**Address**

</td><td style="width: 50.5576%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">DOTTED DECIMAL</span>

</td></tr></tbody></table>

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-coms%3Anet%3Aip%3Ccr%3E%3C" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 104.94%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="368"><span style="color: rgb(224, 62, 45);">Tx: COMS:NET:IP&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,10.0.97.70&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="311"><span style="color: rgb(45, 194, 107);">// Query the IP address</span>

</td></tr></tbody></table>

##### COMS:NET:IPCONF – Get network config summary

Outputs a summary of network configuration in human readable form.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-query%3A-coms%3Anet%3Aipco" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%; height: 44.8px;"><tbody><tr style="height: 22.4px;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="93">**Query:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:NET:IPCONF</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Returns**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-network-config-summa" style="border-collapse: collapse; width: 93.0864%; height: 20px;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 10.6102%; padding: 0cm 5.4pt; border-style: hidden;"><span style="background-color: rgb(248, 202, 198);">  
</span>

</td><td style="width: 30.7699%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66">**Network config summary**

</td><td style="width: 58.621%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"> See example below.

</td></tr></tbody></table>

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-coms%3Anet%3Aipconf%3C" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 104.94%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 60.5596%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="368"><span style="color: rgb(224, 62, 45);">Tx: COMS:NET:IPCONF&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Ethernet interface:&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);"> IPv4 Address. . . . . . . . . . . :10.0.97.70&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);"> Subnet Mask . . . . . . . . . . .:255.255.248.0&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);"> Default Gateway . . . . . . . :10.0.96.1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);"> DHCP State. . . . . . . . . . . . :Enabled&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 39.325%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="311"></td></tr></tbody></table>

##### COMS:NET:LINK – Get link up status

Gets a value indicating whether the ethernet interface link is up. This will read back as false when the LAN connector is unplugged for example.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-query%3A-coms%3Anet%3Alink" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:NET:LINK</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Returns**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-link-up-state-bool" style="border-collapse: collapse; width: 44.0741%; height: 42px;"><tbody><tr style="height: 22.4px;"><td style="width: 12.8852%; padding: 0cm 5.4pt; border-style: hidden;"></td><td style="width: 33.0532%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="66">Link up state

</td><td style="width: 53.7815%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">BOOL</span>

</td></tr></tbody></table>

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-coms%3Anet%3Alink%3Ccr" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 104.94%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="368"><span style="color: rgb(224, 62, 45);">Tx: COMS:NET:LINK&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="311"><span style="color: rgb(45, 194, 107);">// Query</span>

<span style="color: rgb(45, 194, 107);">// Link is up</span>

</td></tr></tbody></table>

##### COMS:NET:MAC – Get MAC address

Gets the Ethernet interface MAC address.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-query%3A-coms%3Anet%3Amac%3C" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:NET:MAC</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Returns**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-mac-address-mac" style="border-collapse: collapse; width: 44.0741%; height: 42px;"><tbody><tr style="height: 22.4px;"><td style="width: 12.8852%; padding: 0cm 5.4pt; border-style: hidden;"></td><td style="width: 33.0532%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="66">MAC address

</td><td style="width: 53.7815%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">MAC</span>

</td></tr></tbody></table>

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-coms%3Anet%3Amac%3Ccr%3E" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 104.94%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="368"><span style="color: rgb(224, 62, 45);">Tx: COMS:NET:MAC&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,44:b7:d0:c7:16:75&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="311"><span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

#### Coms: Serial

##### COMS:SERIAL:BAUD – Baud rate

Gets or sets the baud rate.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-coms%3Aserial" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:SERIAL:BAUD</span></span><span style="color: black; mso-themecolor: text1;">,</span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Baud</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:SERIAL:BAUD</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-baud-uint" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 60.722%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Baud**</span>

</td><td style="width: 39.6694%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">UINT</span>

</td></tr></tbody></table>

Baud rate

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-48009600144001920038" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 58.3951%; height: 44.8px;"><tbody><tr style="height: 22.4px;"><td style="width: 100%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">4800  
9600  
14400  
19200  
38400  
57600  
\[115200\]  
230400  
460800  
921600

</td></tr></tbody></table>

**Returns**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-baud-rate-uint" style="border-collapse: collapse; width: 44.0741%; height: 42px;"><tbody><tr style="height: 22.4px;"><td style="width: 12.8852%; padding: 0cm 5.4pt; border-style: hidden;"></td><td style="width: 33.0532%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="66">Baud rate

</td><td style="width: 53.7815%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">UINT</span>

</td></tr></tbody></table>

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-coms%3Aserial%3Abaud" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 104.94%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="368"><span style="color: rgb(224, 62, 45);">Tx: COMS:SERIAL:BAUD,9600&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,9600&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: COMS:SERIAL:BAUD&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,9600&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="311"><span style="color: rgb(45, 194, 107);">// Set 9600 baud</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

##### COMS:SERIAL:MODE – RS232/RS485 mode selection

Gets or sets the serial coms mode, either RS232 or RS485. Unplug from the host device before changing the mode.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-coms%3Aserial-1" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:SERIAL:MODE</span></span><span style="color: black; mso-themecolor: text1;">,</span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Mode</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:SERIAL:MODE</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-mode-enum-2" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 60.722%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Mode**</span>

</td><td style="width: 39.6694%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">ENUM</span>

</td></tr></tbody></table>

Serial interface mode

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-0%3A-rs232-%5B1%3A-rs485%5D" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 58.3951%; height: 44.8px;"><tbody><tr style="height: 22.4px;"><td style="width: 22.1997%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">0:

</td><td style="width: 77.802%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">RS232

</td></tr><tr style="height: 22.4px;"><td style="width: 22.1997%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">\[1:

</td><td style="width: 77.802%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">RS485\]

</td></tr></tbody></table>

**Returns**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-mode-enum-3" style="border-collapse: collapse; width: 44.0741%; height: 42px;"><tbody><tr style="height: 22.4px;"><td style="width: 12.8852%; padding: 0cm 5.4pt; border-style: hidden;"></td><td style="width: 33.0532%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="66">Mode

</td><td style="width: 53.7815%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">ENUM</span>

</td></tr></tbody></table>

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-coms%3Aserial%3Amode" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 104.94%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="368"><span style="color: rgb(224, 62, 45);">Tx: COMS:SERIAL:MODE,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: COMS:SERIAL:MODE&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="311"><span style="color: rgb(45, 194, 107);">// Set RS485 mode</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

##### COMS:SERIAL:RS485DEL – Turnaround delay

Gets or sets a value in milliseconds specifying the delay to execute between receipt of a command from the host and the client (SMD4) sending the response. Applicable to RS485 mode only.

The RS485 interface is half duplex (it can send or receive data, but cannot do both at once) and so by default is in the receive state. The interface switches to transmit mode when a command has been received, executed and a response is ready to send. The turnaround delay is used to insert an additional delay following execution of the command but preceding switching to transmit, to allow the host more time to switch into receive mode.

Experiment with increasing this setting if you find that host receives a response with a portion missing from the start of the response, for example missing some or all of the status an error flags.

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-coms%3Aserial-2" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:SERIAL:RS485DEL</span></span><span style="color: black; mso-themecolor: text1;">,</span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Delay</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:SERIAL:RS485DEL</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-delay-uint" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 60.722%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Delay**</span>

</td><td style="width: 39.6694%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">UINT</span>

</td></tr></tbody></table>

Delay in ms.

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-default%3A-0-minimum%3A-" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 58.3951%; height: 44.8px;"><tbody><tr style="height: 22.4px;"><td style="width: 22.1997%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Default:

</td><td style="width: 77.802%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">0

</td></tr><tr><td style="width: 22.1997%; border: none; padding: 0cm;">Minimum:

</td><td style="width: 77.802%; border: none; padding: 0cm;">0

</td></tr><tr style="height: 22.4px;"><td style="width: 22.1997%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Maximum:

</td><td style="width: 77.802%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">1000

</td></tr></tbody></table>

**Returns**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-delay-in-ms-uint" style="border-collapse: collapse; width: 44.0741%; height: 42px;"><tbody><tr style="height: 22.4px;"><td style="width: 12.8852%; padding: 0cm 5.4pt; border-style: hidden;"></td><td style="width: 33.0532%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="66">Delay in ms

</td><td style="width: 53.7815%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">UINT</span>

</td></tr></tbody></table>

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-coms%3Aserial%3Ars48" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 104.94%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="368"><span style="color: rgb(224, 62, 45);">Tx: COMS:SERIAL:RS485DEL,10&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: COMS:SERIAL:RS485DEL&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,10&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="311"><span style="color: rgb(45, 194, 107);">// Set delay of 10 ms</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

##### COMS:SERIAL:TERM – Termination

Gets or sets a value indicating whether RS485 line termination should be used. If enabled, a 120 termination resistance is placed between the RS485 A and B pins. See [section on termination](https://bookstack.vps-da8d40f3.arunmicro.com/link/27#bkmrk-rs232%2F485).

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-coms%3Aserial-3" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:SERIAL:TERM</span></span><span style="color: black; mso-themecolor: text1;">,</span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">State</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:SERIAL:TERM</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-state-bool-2" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 60.722%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**State**</span>

</td><td style="width: 39.6694%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">BOOL</span>

</td></tr></tbody></table>

Termination enable state

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-%5B0%3A-disabled%5D-1%3A-ena" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 58.3951%; height: 44.8px;"><tbody><tr style="height: 22.4px;"><td style="width: 22.1997%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">\[0:

</td><td style="width: 77.802%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">Disabled\]

</td></tr><tr style="height: 22.4px;"><td style="width: 22.1997%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">1:

</td><td style="width: 77.802%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">Enabled

</td></tr></tbody></table>

**Returns**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-enable-state-bool-2" style="border-collapse: collapse; width: 44.0741%; height: 42px;"><tbody><tr style="height: 22.4px;"><td style="width: 12.8852%; padding: 0cm 5.4pt; border-style: hidden;"></td><td style="width: 33.0532%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="66">Enable state

</td><td style="width: 53.7815%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">BOOL</span>

</td></tr></tbody></table>

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-coms%3Aserial%3Aterm" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 104.94%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="368"><span style="color: rgb(224, 62, 45);">Tx: COMS:SERIAL:TERM,0&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,0&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: COMS:SERIAL:TERM&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,0&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="311"><span style="color: rgb(45, 194, 107);">// Disable termination</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>

##### COMS:SERIAL:SLAVEADDR – Slave address

Gets or sets the slave address. Only applicable when addressing mode is used, see [addressing section](https://bookstack.vps-da8d40f3.arunmicro.com/link/51#bkmrk-addressing).

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-command%3A-coms%3Aserial-4" style="margin-left: 1cm; border-collapse: collapse; width: 79.2593%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Command:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:SERIAL:SLAVEADDR</span></span><span style="color: black; mso-themecolor: text1;">,</span><span class="CmdDocsArgNameChar" style="background-color: rgb(248, 202, 198);"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">Address</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr><tr style="mso-yfti-irow: 1; mso-yfti-lastrow: yes;"><td style="width: 20.8729%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="93">**Query:**

</td><td style="width: 79.1284%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="548">**<span class="CmdDocsHeadingChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">COMS:SERIAL:SLAVEADDR</span></span>**<span class="CmdDocsMinorChar"><span style="mso-bidi-font-family: 'Times New Roman'; mso-bidi-theme-font: minor-bidi;">&lt;CR&gt;&lt;LF&gt;</span></span>

</td></tr></tbody></table>

**Arguments**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-address-uint" style="border-collapse: collapse; width: 23.4571%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 60.722%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="66"><span style="background-color: rgb(248, 202, 198);">**Address**</span>

</td><td style="width: 39.6694%; padding: 0cm 5.4pt; border-style: hidden;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">UINT</span>

</td></tr></tbody></table>

Termination enable state

<table border="1" cellpadding="0" cellspacing="0" class="MsoTableGrid" id="bkmrk-default%3A-1-minimum%3A-" style="margin-left: 1cm; border-collapse: collapse; border: none; width: 58.3951%; height: 44.8px;"><tbody><tr style="height: 22.4px;"><td style="width: 22.1987%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Default:</td><td style="width: 77.8013%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">1</td></tr><tr><td style="width: 22.1987%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Minimum:

</td><td style="width: 77.8013%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">1

</td></tr><tr style="height: 22.4px;"><td style="width: 22.1987%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="66">Maximum:

</td><td style="width: 77.8013%; border: none; padding: 0cm; height: 22.4px;" valign="top" width="406">247

</td></tr></tbody></table>

**Returns**

<table border="0" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-address-uint-1" style="border-collapse: collapse; width: 44.0741%; height: 42px;"><tbody><tr style="height: 22.4px;"><td style="width: 12.8852%; padding: 0cm 5.4pt; border-style: hidden;"></td><td style="width: 33.0532%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="66">Address

</td><td style="width: 53.7815%; padding: 0cm 5.4pt; border-style: hidden; height: 22.4px;" valign="top" width="123"><span style="color: rgb(53, 152, 219);">UINT</span>

</td></tr></tbody></table>

**Examples**

<table border="1" cellpadding="0" cellspacing="0" class="MsoNormalTable" id="bkmrk-tx%3A-coms%3Aserial%3Aslav" style="background: rgb(244, 244, 244); border-collapse: collapse; border: none; width: 104.94%;"><tbody><tr style="mso-yfti-irow: 0; mso-yfti-firstrow: yes; mso-yfti-lastrow: yes;"><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-left: 1pt solid rgb(127, 127, 127); border-image: initial; border-right: none; padding: 0cm 5.4pt;" valign="top" width="368"><span style="color: rgb(224, 62, 45);">Tx: COMS:SERIAL:SLAVEADDR,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(224, 62, 45);">Tx: COMS:SERIAL:SLAVEADDR&lt;CR&gt;&lt;LF&gt;</span>

<span style="color: rgb(53, 152, 219);">Rx: 0x0000,0x0000,1&lt;CR&gt;&lt;LF&gt;</span>

</td><td style="width: 50.045%; border-top: 1pt solid rgb(127, 127, 127); border-right: 1pt solid rgb(127, 127, 127); border-bottom: 1pt solid rgb(127, 127, 127); border-image: initial; border-left: none; padding: 0cm 5.4pt;" valign="top" width="311"><span style="color: rgb(45, 194, 107);">// Disable termination</span>

<span style="color: rgb(45, 194, 107);">// Query</span>

</td></tr></tbody></table>