T-Series/Quick Command Reference/A-MCA

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Quick Command Reference

The following table offers a quick command reference for devices running firmware version 6.00 and above. For convenience, you may sort the table below by instruction name, command number, or reply number. Follow the links to view a detailed description of each instruction.

Instruction Name	Command#	Command Data	Command Type	Reply Data
Reset	0	Ignored	Command	None
Home	1	Ignored	Command	Final position (in this case 0)
Renumber*	2	Ignored	Command	Device ID
Read Register	5	Register Address	Command	Data
Set Active Register	6	Register Address	Setting	Register Address
Write Register	7	Data	Command	Data
Move Tracking	8	n/a	Reply	Tracking Position
Limit Active	9	n/a	Reply	Final Position
Manual Move Tracking	10	n/a	Reply	Tracking Position
Manual Move	11	n/a	Reply	Final Position
Slip Tracking	12	n/a	Reply	Tracking Position
Unexpected Position	13	n/a	Reply	Final Position
Store Current Position*	16	Address	Command	Address
Return Stored Position	17	Address	Command	Stored Position
Move To Stored Position	18	Address	Command	Final Position
Move Absolute	20	Absolute Position	Command	Final Position
Move Relative	21	Relative Position	Command	Final Position
Move At Constant Speed	22	Speed	Command	Speed
Stop	23	Ignored	Command	Final Position
Set Active Axis*	25	Axis	Setting	Axis
Set Axis Device Number*	26	Device Number	Setting	Device Number
Set Axis Inversion*	27	Invert Status	Setting	Invert Status
Set Axis Velocity Profile*	28	Profile Number	Setting	Profile Number
Set Axis Velocity Scale*	29	Maximum Velocity	Setting	Maximum Velocity
Load Event Instruction*	30	Key Event	Command	Key Event
Return Event Instruction	31	Key Event	Command	n/a
Set Joystick Calibration Mode	33	Calibration Mode	Setting	Calibration Mode
Restore Settings*	36	Peripheral ID	Command	Peripheral ID
Set Microstep Resolution*	37	Microsteps	Setting	Microsteps
Set Running Current*	38	Value	Setting	Value
Set Hold Current*	39	Value	Setting	Value
Set Device Mode*	40	Mode	Setting	Mode
Set Home Speed*	41	Speed	Setting	Speed
Set Target Speed*	42	Speed	Setting	Speed
Set Acceleration*	43	Acceleration	Setting	Acceleration
Set Maximum Position*	44	Range	Setting	Range
Set Current Position	45	New Position	Setting	New Position
Set Home Offset*	47	Offset	Setting	Offset
Set Alias Number*	48	Alias Number	Setting	Alias Number
Return Device ID	50	Ignored	Read-Only Setting	Device ID
Return Firmware Version	51	Ignored	Read-Only Setting	Version
Return Power Supply Voltage	52	Ignored	Read-Only Setting	Voltage
Return Setting	53	Setting Number	Command	Setting Value
Return Status	54	Ignored	Read-Only Setting	Status
Echo Data	55	Data	Command	Data
Return Firmware Build	56	Ignored	Read-Only Setting	Build Number
Return Current Position	60	Ignored	Read-Only Setting	Position
Return Serial Number	63	Ignored	Read-Only Setting	Serial Number
Set Park State*	65	Park State	Setting	Position
Set Peripheral ID*	66	Peripheral ID	Setting	Peripheral ID
Return Digital Input Count	67	Ignored	Read-Only Setting	Pin Count
Read Digital Input	68	Pin Number	Command	Pin State
Read All Digital Inputs	69	Ignored	Command	Pin States
Return Digital Output Count	70	Ignored	Read-Only Setting	Pin Count
Read Digital Output	71	Pin Number	Command	Pin State
Read All Digital Outputs	72	Ignored	Command	Pin States
Write Digital Output	73	See Description	Command	Same as Command Data
Write All Digital Outputs	74	Pin States	Command	Pin States
Return Analog Input Count	75	Ignored	Read-Only Setting	Pin Count
Read Analog Input	76	Pin Number	Command	Voltage
Return Analog Output Count	77	Ignored	Read-Only Setting	Pin Count
Move Index	78	Index Number	Command	Final Position
Set Index Distance	79	Distance	Setting	Distance
Set Cycle Distance	80	Distance	Setting	Distance
Set Filter Holder ID	81	Filter Holder ID	Setting	Filter Holder ID
Return Encoder Count	82	Ignored	Read-Only Setting	Encoder Count
Return Calibrated Encoder Count	83	Ignored	Read-Only Setting	Calibrated Encoder Count
Return Calibration Type	84	Ignored	Read-Only Setting	Calibration Type
Return Calibration Error	85	Ignored	Read-Only Setting	Calibration Error
Set Peripheral Serial Number*	86	Peripheral Serial Number	Setting	Peripheral Serial Number
Force Absolute	87	Force	Command	Force
Force Off	88	Ignored	Command	None
Set Auto-Reply Disabled Mode*	101	Auto-Reply Mode	Setting	Auto-Reply Mode
Set Message ID Mode*	102	Message ID Mode	Setting	Message ID Mode
Set Home Status	103	Home Status	Setting	Home Status
Set Home Sensor Type*	104	Home Sensor Type	Setting	Home Sensor Type
Set Auto-Home Disabled Mode*	105	Auto-Home Disabled Mode	Setting	Auto-Home Disabled Mode
Set Minimum Position*	106	Minimum Position	Setting	Minimum Position
Set Knob Disabled Mode*	107	Knob Disabled Mode	Setting	Knob Disabled Mode
Set Knob Direction*	108	Direction	Setting	Direction
Set Knob Movement Mode*	109	Movement Mode	Setting	Movement Mode
Set Knob Jog Size*	110	Jog Size	Setting	Jog Size
Set Knob Velocity Scale*	111	Velocity Scale	Setting	Velocity Scale
Set Knob Velocity Profile*	112	Velocity Profile	Setting	Velocity Profile
Set Acceleration Only*	113	Acceleration	Setting	Acceleration
Set Deceleration Only*	114	Deceleration	Setting	Deceleration
Set Move Tracking Mode*	115	Tracking Mode	Setting	Tracking Mode
Set Manual Move Tracking Disabled Mode*	116	Tracking Mode	Setting	Tracking Mode
Set Move Tracking Period*	117	Tracking Period	Setting	Tracking Period
Set Closed-Loop Mode*	118	Closed-Loop Mode	Setting	Closed-Loop Mode
Set Slip Tracking Period*	119	Tracking Period	Setting	Tracking Period
Set Stall Timeout*	120	Timeout	Setting	Timeout
Set Device Direction*	121	Direction	Setting	Direction
Set Baud Rate*	122	Baud Rate	Setting	Baud Rate
Set Protocol*	123	Protocol	Setting	Protocol
Convert To Ascii*	124	Baud Rate	Command	Baud Rate
Error	255	n/a	Reply	Error Code

* The settings for these commands are saved in non-volatile memory, i.e. the setting persists even if the device is powered down. To restore all settings to factory default, use command 36.