T-Series/Quick Command Reference/A-Series Motorized Closed-Loop Devices
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Quick Command Reference
The following table offers a quick command reference for motorized closed-loop devices running firmware version 6.xx. 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 |
| 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 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 Current Position | 60 | Ignored | Read-Only Setting | Position |
| Set Park State* | 65 | Park State | Setting | Position |
| 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 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 |
| 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.
