FBHFßr≤q'2 SEW positioning module _
  _____________________
5
Please select the desired menu option oder setting. ' System info _
  ____________
(
No help available on this menu option. ' Programming _ 
 _____________
O
These menu items are for user data management (create, edit, save, or print). '0 Programming / Program_
  _____________________

This menu option allows you to program programs, which are either rewritten or  loaded from the axis module or hard disk for editing. Thereafter the completed  program can be downloaded to the axis module and/or saved to hard disk. You may  also print the program. '.  Programming / Save _
  ____________________

This menu opton is only active if you have previously loaded a program, it allows  you to save the program to your hard disk. '4  Programming - Save as _
  _______________________
º
This menu option is only active if you have previously loaded a program, it allows  you to download that program to the axis module and/or save it to your hard disk. 'J  Programming / Machine parameters _
  __________________________________
$
This menu option allows you to program machine parameters, which are either  recreated or loaded from the axis module or hard disk for editing. Thereafter  the machine parameters can be downloaded to the axis module and/or saved to  hard disk. You may also print out the machine parameters. '8  Programming / Variables _
  _________________________

This menu option allows you to program the variables, which are either recreated  or loaded from the axis module or the hard disk for editing. Thereafter the  variables can be downloaded again to the axis module and/or saved to the hard disk.  You may also print out the variables. 'D  Programming / Table positions _
  _______________________________
'
This menu option allows you to program the table positions, which are either  recreated or loaded from the axis module or the hard disk for editing.  Thereafter the table positions can be downloaded to the axis module and/or  saved to the hard disk. You may also print out the table positions. '<  Programming / Axis module _
  ___________________________
k
This menu option allows you to view and edit the speed controller parameters  stored in the servo module. '<  Programming / Secure data _
  ___________________________
É
This menu option writes the user data contained in the user memory of the  positioning module to non-volatile memory (flash EPROM). These are: l
         - Machine parameters
         - Variables H00..H99
         - Table positions
         - Programs
T
Depending on the number and length of the programs this may take several  seconds. '@  Programming / Print program _
  _____________________________
å
This menu is only active if you have previously loaded a program. It allows  you to send the program data to a printer for printing. '  Set-up _
  ________
q
These menu items allow you to control axis motion (reference travel and  manual mode) via the serial interface. '<  Set-up / Reference travel _
  ___________________________
╫
This menu item allows you to carry out a reference travel of an axis in  accordance with the reference travel type and travel speeds defined in the  machine parameters, accompanied by a cyclic status readout of actual position  and target position, lag distance, override, status of digital inputs/outputs,  hardware limit switches and controller status. After completing the reference  travel the axis takes the zero offset position defined in the machine  parameters. '	2  Set-up / Manual mode _
  ______________________
┐
This menu item allows you to send travel instructions and other commands to  the axis module via buttons or by direct entry via the serial interface.  The following functions are available: ┐
   - As speed value you may select one of the two parameters for rapid feed
       and creep feed defined in the machine parameters or, alternatively, you
       may enter a value directly.
y
   - To operate the axis in jogging mode press buttons "+" or "-" for 
       moving in positive or negative direction.
Å
   - You can choose between absolute travel and relative travel to positions 
       and by distances, each of which can be entered directly.
π
   - The input line after "Command" allows you to enter all commands
       defined in the command set and send them to the positioning
       module. With request commands the data requested are displayed
       in a window.
3
   - Digital outputs are set via "Output" button.
9
   - To change to another axis click the "Axis" button.
z
   - In the lower section all important data of the positioning module
       are displayed in cyclic intervals.
       
'<  Programming / SSI encoder _
  ___________________________
*
 This menu option performs two functions
&
 1. Call-up via Programming/Encoder:
    Allows you to modify the encoder list.
    The following buttons are active:
      Modify: Allows you to change the current list entries.
      New: Allows you to define a new list entry.
      Accept new: Allows you to edit a new list entry whereby
                  data from the current list entry will be accepted.
      Delete: Deletes the current list entry.
      Print: Prints the encoder list.
      Exit: Saves the changes after a confirmation.
      Escape: Terminates the dialog without storing.
╒
 2. Selection of an encoder in the machine parameters:
    The following buttons are active:
      Exit: The current list entry is entered in the machine parameters.
      Cancel: The list entry is not accepted.
═
 An entry in the list can be sought as follows:
 - with the mouse in the scroll bars
 - by typing the first letters of the name of the encoder 
   (upper and lower case sensitive)
 - with the cursor keys
Ñ
 Details of an encoder entry:
 --------------------------------
 Name:        Manufacturer and designation of the encoder
 Resolution:  Number of pulses per revolution
 Revolutions: Number of revolutions
              1:    Singleturn
              >1:   Multiturn
 Pulse train: Number of bits, which are transmitted during a read operation
 excluding parity and powerfail bits.
 Res. bits:Number of bits, which are transmitted to convey the resolution.
 Coding:      Gra:  Gray
              Bin:  Binary
 Parity:      X:    No parity bit
              E:    Parity Even 
              O:    Parity Odd 
 Powerfail:   0:    No powerfail bit
              1:    Powerfail bit
X
 Note: Parity and powerfail cannot be simultaneously used with one encoder!
          
O
  .topic DlgDrehgeberModify=351
  Define SSI encoder _
  ____________________
ê
 In this menu the specification of an SSI encoder is defined. At the end
 of the menu the data entered are checked for plausibility:
 

 Resolution:         Number of pulses per revolution.
                     It must be an integer multiple of two. The
                     maximum resolution which can be entered depends on
                     ->'Resolution length' and the 'Pulse train length'.
_
 Revolutions:        Number of encoder revolutions.
                     It must be an integer multiple of two. The
                     maximum resolution which can be entered depends on
                     ->'Resolution length' and the 'pulse train length'.
                     1:   Singleturn encoder
                     >1:  Multiturn encoder
τ
 Pulse train length: This provides the length of the data train without a 
                     powerfail or parity bit.
                     This must be greater than
                     'Resolution length' + _log(revolutions).
ß
 Resolution length:  The bits reserved for transmission of the encoder 
                     resolution.
                     With singleturn encoders this is normally equal to the
                     'Pulse train length'.
ï
 Parity:             Off: The encoder provides no parity bit
                     Even: Parity even
                     Odd:  Parity odd
à
                     Programming of the parity bit is only possible, 
                     if the subsequent "Powerfail" entry field is set to 
                     "Off".
                     
 Powerfail:          On: The encoder additionally provides a powerfail bit
                     If the bit is set to a logical 1, then the encoder value is not 
                     valid.
                     Off: The encoder provides no additional powerfail bit.
                     Programming of "Powerfail" is only possible,
                     if the previous entry field "Parity" is set to "Off".
                     
                     
'  Diagnosis_
  __________
[
These menu items serve for status display and fault diagnosis of the  positioning module. ':  Diagnosis/ Status display_
  __________________________
5
This menu item provides a cyclic status display of: ⌠
  - current program and line number (automatic mode)
  - actual position and target position
  - lag distance
  - override
  - status of inputs/outputs (0 = no current applied,  
                                     1 = current applied)
      Assignment of inputs:
         I000 = X11/4           I010 = X11/12
         I001 = X11/5           I011 = X11/15
         I002 = X11/6           I012 = X11/16
         I003 = X11/7           I013 = X11/17
         I004 = X11/8           I014 = X11/18
         I005 = X11/9           I015 = X11/19
         I006 = X11/10          I016 = X11/20
         I007 = X11/11          I017 = X11/21
      Assignment of outputs:
         O000 = X11/22
         O001 = X11/23
         O002 = X11/24
         O003 = X11/25
         O004 = X11/26
         O005 = X11/27
         O006 = X11/28
         O007 = X11/29
  - Hardware limit switch (0 = not actuated, 1 = actuated)
  - Controller status
      Meaning of the individual status bits:
        15......8 7......0
         xxxxxxxx xxxxxxxx
         ▌▌▌▌▌▌▌▌ ▌▌▌▌▌▌▌▌
         ▌▌▌▌▌▌▌▌ ▌▌▌▌▌▌▌+----- 1 = Waiting for zero pulse
         ▌▌▌▌▌▌▌▌ ▌▌▌▌▌▌+------ 1 = Command error      
         ▌▌▌▌▌▌▌▌ ▌▌▌▌▌+------- 1 = Positioning complete
         ▌▌▌▌▌▌▌▌ ▌▌▌▌+-------- 1 = Zero pulse received 
         ▌▌▌▌▌▌▌▌ ▌▌▌+--------- 1 = Position overflow
         ▌▌▌▌▌▌▌▌ ▌▌+---------- 1 = Lag error
         ▌▌▌▌▌▌▌▌ ▌+----------- 1 = Breakpoint reached
         ▌▌▌▌▌▌▌▌ +------------ 1 = Position control off
         ▌▌▌▌▌▌▌▌
         ▌▌▌▌▌▌▌+-------------- 1 = 8-bit setpoint
         ▌▌▌▌▌▌+--------------- 1 = Stop in case of lag error
         ▌▌▌▌▌+---------------- 1 = Axis in target position
         ▌▌▌▌+----------------- 1 = Speed mode (continuous travel)
         ▌▌▌+------------------ 1 = Positive direction (speed mode)
         ▌▌+------------------- 1 = Transfer parameters without activating
         ▌+-------------------- 1 = Transfer accel./decel. value without activating
         +--------------------- 1 = Interrupt triggered
'8  Diagnosis / Fault report_
  _________________________
n
Upon selection of this menu option the faults last occurred are displayed in  clear text in ascending order. '$  Configuration _
  _______________
4
Allows you to set various terminal configurations. '	8  Configuration / Monitor _
  _________________________
7
Matching the output colours to the monitor connected. 
3 options are available: 
1. Colour monitor _   For EGA/VGA video adapters with colour monitor or
   colour LCD display. 16-colour display.

2. Monochrome LCD   @   For EGA/VGA video adapters with monochrome LCD display.
    
3. Monochrome monitor   R   For EGA/VGA or monochrome/Hercules video adapters with 
   monochrome monitor.
'D  Konfiguration / Kommunikation ▄
  ▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀
Å
  Abfrage der Achsadresse:
    Bevor mit einer Achse kommuniziert werden kann, muß über eine
    Dialogbox die Achsadresse eingegeben werden.
1
  Universaladresse (Punkt-zu-Punkt):
    Bei Kommunikation mit einer Achse wird grundsätzlich die spezifische
    Universal-Adresse 254 verwendet. Damit kann auch eine Achse mit
    unbekannter Geräte-Adresse angesprochen werden. Dieser Modus ist nur
    sinnvoll, wenn nur eine Achse angeschlossen ist.
'1   Command set _
  _____________

  - Program structure
G
    %Pxx (...)
    Nxxx ...
    Nyyy ...
    Nzzz ...
    ...
    END
S
  ---------------------------- Travelling commands ------------------------------
K
    ([W] = Wait option: Positioning command without program continuation)
(
    GO 0              Reference travel
f
    GO [W] Ax Vy      Absolute travel to pos. x at speed y
    GO [W] Ax Hyy     Absolute travel to pos. x at speed 
                      set in variable Hyy 
    GO [W] AHxx Vy    Absolute travel to pos. set in variable 
                      Hxx at speed y
    GO [W] AHxx Hyy   Absolute travel pos. set in Hxx
                      at speed set in Hyy 
~
    GO [W] Rx Vy      Relative travel by distancex at speed y
    GO [W] Rx Hyy     Relative travel by distance x at speed
                      set in variable Hyy 
    GO [W] RHxx Vy    Relative travel by distance set in variable Hxx
                      at speed y
    GO [W] RHxx Hyy   Relative travel by distance set in variable Hxx
                      at speed set in Hyy

    GOTP [W] Rx Vy    Relative travel from touch probe position
                      by distance x at speed y
    GOTP [W] Rx Hyy   Relative travel from touch probe position 
                      by distance x at speed set in variable Hyy 
    GOTP [W] RHxx Vy  Relative travel from touch probe position
                      by distance x set in variable Hxx at speed y
    GOTP [W] RHxx Hyy Relative travel from touch probe position
                      by distance x set in variable Hxx at speed set in variable Hyy 
\
    GOV [+] y         Continuous travel in pos. direction at speed y
    GOV - y           Continuous travel in neg. direction at speed y 
    GOV Hyy           Continuous travel in pos. or neg. direction at 
                      speed set in variable Hyy 
    GOT [W] A Vy      Absolute travel to position in table at speed y
                      
    GOT [W] A Hyy     Absolute travel to position in table at speed set 
                      in variable Hyy 
    GOT [W] R Vy      Relative travel by distance in table at speed y
    GOT [W] R Hyy     Relative travel by distance in table at speed y
O
  ----------------------------- Stop commands -------------------------------
─
    STOP B            Stopping with programmed deceleration
    STOP M            Stopping with maximum deceleration
    STOP 0            Stopping via setpoint = 0 (switch off position control)
N
  ----------------------------- Wait commands ------------------------------
E
    WAIT x            Wait for x in ms
    WAIT Hxx          Wait for time in ms set in variable Hxx
    WAIT BK           Wait until breakpoint is reached
    WAIT TP           Wait until touch probe is received 
    WAIT NL           Wait until zero pulse is received 
    WAIT ST           Wait until axis has completed positioning 
                      (setpoint position = target position)
    WAIT PW           Wait until axis is in position window
    WAIT (Ixxx=[0/1]) Wait until input =0 or 1
  ----------------------------- Set commands -------------------------------
ö
    SET :aa: ....       With all SET commands an optional axis identifier :aa
                        can be specified after the keyword SET
                        aa:   0..7:  Axis number
                              @ Broadcast message (to all axes including its 
                              own)
                              
  Setting outputs                            
  --------------------
Ä
    (pp    = Output port (00)
      o    = Output port number (0..7)
     qq,rr = Input port (00, 01
      i,k  = Input port number (0..7) )
Θ
    SET Oppo = [0/1]     Set output ppo to 0/1
    SET Opp  = Pyy       Set output port pp to value yy (hexadecimal)
    SET Oppo = Myy       Set output ppo to flag Myy
    SET Opp  = Cyy       Set mask for port pp with counter Cyy
ë
    SET Oppo = (Iqqi [|/&] Irrk)
                         Set output Oppo to result from
                         combining the two inputs Iqqi and Irrk
                         (| = OR, & = AND)
    SET Oppo = (Iqqi [|/&] Myy)
                         Set output Oppo to result from
                         combining input Iqqi and flag Myy
                         (| = OR, & = AND)
    SET Oppo = (Mxx  [|/&] Myy)
                         Set output Oppo to result from
                         combining the two flags Mxx and Myy
                         (| = OR, & = AND)
    SET Oppo = (Oqqi [|/&] Orrk)
                         Set output Oppo to result from combining
                         the two outputs Oqqi and Orrk
                         (| = OR, & = AND)
    SET Oppo = (Oqqi [|/&] Myy)
                         Set output Oppo to result from combining
                         output Oqqi and flag Myy
                         (| = OR, & = AND)
    SET Oppo = (Oqqi [|/&] Irrk)
                         Set output Oppo to result from combining
                         output Oqqi and input Irrk
                         (| = OR, & = AND)
&
  Setting flags
  ------------------
╛
    (All Mx flags can be addressed directly with SET Mxx=... or address 
    indexed with SET M [Cxx]. In the latter case the flag index results from
    the counter status of counter Cxx)
ú
    SET Mx = [0/1]       Set  flag Mxx to 0/1
    SET Mx = Myy         Set flag Mxx to second flag Myy
    SET Mx = -Myy        Set flag Mx with negated flag Myy
k
    SET Mx = (Iqqi [|/&] Irrk)
                         Set flag Mx to result from combining 
                         the two inputs Iqqi and Irrk
                         (| = OR, & = AND)
    SET Mx = (Iqqi [|/&] Myy)
                         Set flag Mx to result from combining 
                         input Iqqi and flag Myy 
                         (| = OR, & = AND)
    SET Mx = (Mxx  [|/&] Myy)
                         Set flag Mx to result from combining 
                         the two flags Mxx and Myy
                         (| = OR, & = AND)
    SET Mx = (Oqqi [|/&] Orrk)
                         Set flags Mx to result from combining
                         the two outputs Oqqi and Orrk
                         (| = OR, & = AND)
    SET Mx = (Oqqi [|/&] Myy)
                         Set flag Mx to result from combining
                         output Oqqi and flag Myy
                         (| = OR, & = AND)
    SET Mx = (Oqqi [|/&] Irrk)
                         Set flag Mx to result from combining 
                         output Oqqi and input Irrk
                         (| = OR, & = AND)
,
  Setting variables
  --------------------
╨
    (All variables Hx can be addressed directly with SET Hxx=... or address indexed 
    with SET H [Cxx]. In the latter case the index of the variables results from 
     the counter status of counter Cxx)
∞
    SET Hx = y           Set variable Hx to value y
    SET Hx = Hy          Set variable Hx to second variable 
    SET Hx = Cyy         Set variable Hx to counter Cyy
    SET Hx = Tyy         Set variable Hx to to table position Tyy
s
    SET Hx [+/-/*/:] y   Calculate variable by addition/subtraction/
                         multiplication/division of/by y
    SET Hx [+/-/*/:] Hyy Calculate variable by addition/subtraction/
                         multiplication/division of/by value specified by 
                         variable Hyy
                          
    SET Hx = IP          Set variable Hx to actual position
    SET Hx = SP          Set variable Hx to target position
    SET Hx = OV          Set variable Hx to override value
    SET Hx = TP          Set variable Hx to touch probe position
    
    Setting counters
  ------------------
"
    SET Cxx = y       Set counter Cxx to value y
    SET Cxx = Hyy     Set counter Cxx to variable Hyy
    SET Cxx = Cyy     Set counter Cxx to second counter Cyy
    SET Cxx [+/-] y   Calculate counter value Cxx by adding/subtracting y
    SET Cxx [+/-] Hyy Calculate counter value Cxx by adding/subtracting 
                      value specified by variable Hyy
    SET Cxx = Irr     Set counter Cxx to input port Irr
                      (rr = 00, 01)
    SET Cxx = Opp     Set counter Cxx to output port Opp
                      (pp = 00)
&
  Setting timers
  -----------------
í
    SET Zxx = y       Set timer Zxx to value y
    SET Zxx = Hyy     Set timer Zxx to variable Hyy
  
  Setting table positions
  -----------------------------
╤
    (Table positions Tx can be set directly with SET Txx=... or address 
    indexed with SET T [Cxx]. In the latter case, the index of the variables
    results from the counter status of counter Cxx)
     

    SET Tx = y        Set table position Tx to value y
    SET Tx = Hyy      Set table position Tx to variable Hyy
    SET Tx = IP       Set table position Tx to current actual position 
    SET Tx = SP       Set table position Tx to current target position
.
  Other SET commands
  ---------------------
╩
    SET OV = [0/1]    Deactivate/activate override
    SET 0             Accept current actual position as reference position
    SET NP            Accept current target position as reference position
¿
    SET B[A/R] = x    Set absolute/relative breakpoint to y
    SET B[A/R] = Hyy  Set absolute/relative breakpoint to value set in 
                      variable Hyy
%
    SET K[15,16,17,26,27,40] = x
                      Change accel./decel.-specific or controller-specific factors
                      
    SET TP            Activate touch probe logic (inquire with JMP (TP=...))
    SET NL            Activate zero pulse logic (inquire with JMP (TP=...))
∙
    SET SP = x        Set target position to x
    SET SP = Hyy      Set target position to value specified in variable Hyy
    SET IP = x        Set actual position to x
    SET IP = Hyy      Set actual position to value specified in variable Hyy
]
    SET BRAKE = 1     Apply mechanical brake
    SET BRAKE = 0     Release mechanical brake
L
  ----------------------------- Other commands ---------------------------
"
    SAVE              Store data
N
  ----------------- Jump instructions and subroutine calls -----------------
;
    (Abbreviations: Ny = Line number, END = Program end, Pyy = Program number
     Flags Mx and variables Hx can be addressed directly with SET Mxx=... or 
     SET Hxx=... or address indexed with SET M[Cxx]... or SET H[Cxx]. In the latter 
     case the index results from the counter status of counter Cxx)
    
╘
     DESTINATION : Ny     = Line number to jump to
            END    = Jump to program end 
            Pyy    = Number of subroutine to be called
            P[Cyy] = Number of subroutine to be called in Cyy)
=
    JMP  DESTINATION                          Unconditional
┴
                                       Condition set by:
    JMP (Ixxx = [0/1])  DESTINATION           Digital input status
    JMP (Oxxx = [0/1])  DESTINATION           Digital output status
1
    JMP (IP [>/<] x)  DESTINATION             Actual position (direct)
    JMP (IP [>/<] Hxx)  DESTINATION           Actual position (through variable)
    JMP (SP [>/=/<] x)  DESTINATION           Target position (direct)
    JMP (SP [>/=/<] Hxx)  DESTINATION         Target position (through variable)
ü
    JMP (Mx = [0/1])  DESTINATION             Status of logic flag
    JMP (Cxx [>/=/<] d)  DESTINATION          Counter status
@
    JMP (Hx [>/=/<] z)  DESTINATION           Variable status (direct comparison)
    JMP (Hx [>/=/<] Hyy)  DESTINATION         Variable status (comparison with 2nd
                                       variable)
                                       
    JMP (Zxx [>/=/<] z)  DESTINATION          Timer value (time counter)
    JMP (ST = [0/1])  DESTINATION             Axis status 
    JMP (BK = [0/1])  DESTINATION             Breakpoint
    JMP (TP = [0/1])  DESTINATION             Touch probe
    JMP (PW = [0/1])  DESTINATION             Axis inside position window
*
Program and data management instructions &  (Click with mouse or press <ENTER>)
F¼.('
3  Reference travel types _
  _____________________
U
The selection of the reference travel type is basically determined by two  factors: ╢  1st the position of the reference cam relative to the hardware limit switches and
  2nd the position of the encoder zero pulse to be evaluated relative to the 
     reference cam.
5
The assignment is evident from the following table: |  (Lim-:    negative HW limit switch
   Lim+:    positive HW limit switch
   R C A M: reference cam
   N P:     zero pulse)
╜
  Type 0 : no reference position required; current position becomes reference position.
           
  Type 1:  + Lim-+-----------▌R C A M+-------------+Lim+▌
                          N▌P
e
  Type 2:  + Lim-+-----------▌R C A M+-------------+Lim+▌
                                      N▌P
[
  Type 3:  + Lim-+-----------▌R C A M+-------------+Lim+▌
                            N▌P
c
  Type 4:  + Lim-+-----------▌R C A M+-------------+Lim+▌
                                    N▌P
W
  Type 5:  + Lim-+R C A M+-------------------------+Lim+▌
                        N▌P
i
  Type 6:  + Lim-+-------------------------▌R C A M+Lim+▌
                                          N▌P
W
  Type 7:  + Lim-+R C A M+-------------------------+Lim+▌
                        N▌P
h
  Type 8:  + Lim-+-------------------------▌R C A M+Lim+▌
                                         N▌P
'à
  ------------------ Program and data management commands (only for commands 
                     in manual mode -----------------
*
    %DIR              Request directory 
┘
                      Transmission of a program:
    %Pxx (a)            Program header: xx  = Program number(2 digits, 
                                        00..99)         
                                        a   = Program names(max. 20 
                                        characters)
    Ny ...              Program line: y   = Line number(0..999)
                                      ... = Command ->Command set
    END                 Recognition of end
à
    %RD Pxx           Request program number xx
    %RD Pxx Ny        Request line number y from program number xx
    %Pxx Ny ...       Insert/overwrite line number y
                      in program number xx
    %CL Pxx           Delete program number xx
    %CL Pxx Ny        Delete line number y from program number y
                      
    %CL PXX           Delete all programs
Ñ
    %RD KXX           Request all machine parameters
    %RD Kxx           Request machine parameter number xx
    %Kxx:y            Set machine parameter Kxx to y
Æ
    %RD MXX           Request all flags (M00..M99)
    %RD Mxx           Request flag number xx
    %Mxx:y            Set flag Mxx to y (0 or 1)
º
    %RD TXX           Request all table positions (T00..T15)
    %RD Txx           Request table position number xx
    %Txx:y            Set table position Txx to y
ù
    %RD HXX           Request all variables (H00..H99)
    %RD Hxx           Request variable number xx
    %Hxx:y            Set variable Hxx with y
Æ
    %RD CXX           Request all counters (C00..C99)
    %RD Cxx           Request counter number xx
    %Cxx:y            Set counter Txx to y
─
    ?                 Request complete status with fault message if applicable
    ?G                    "     actual position  without    "
    ?H                    "     target position    "        "
    ?O                    "     lag distance       "        "
    ?I                    "     controller status  "        "
    ?J                    "     override value     "        "
    ?K                    "     digital inputs     "        "
    ?L                    "     digital outputs    "        "
    ?M                    "     current program no."        "
    ?N                    "     current program line "        "
    ?P                    "     hardware limit switches  "        "
G
    %RDSSI            Request current position from the absolute 
                      encoder (only APA)
    %RDS              Request sin² parameters
    %SAV              Save all user data from RAM to non-volatile 
                      memory (flash EPROM)
    %DEL              Delete complete non-volatile memory for user data 
    %RES              Reset fault message
    %+Rx              Select manual (remote) operation (optional with
                      indication of timeout period x in ms; default: 500 ms)
    %-R               Deselect manual (remote) operation
/
Command set Click with mouse or press <ENTER> ╥!'%(
 #(),234╥≡±·6@F^Ü¢╕■      ╤KæJ1½
ü4	╥
ñ7V°l"φ"_+,u,P.c01√_½
ü7Vve°φ"φ"_+u,P.            