MCode LMM

Lexium MCode
Programming and Software Reference

Lexium MDrive Motion Control
Lexium MDrive Ethernet TCP/IP
Lexium Motion Module
Intelligent motion systems
Lexium MCode Programming and Software Reference

Date
Revision
Changes
05/02/2013
V1.00, 02.2013
Initial Release
01/10/2013
V1.00, 10.2013
Lexium MDrive Motion Control and Ethernet support release.
04/07/2014
V1.00, 01.2014
Support for firmware release 5.007 - Added status marker for the read
voltage level (VT) command.
04/24/2014
V1.00, 04.2014
Support for firmware release 5.009
08/15/2014
V1.00, 08.2014
Support for firmware release 5.010, minor corrections and additions

throughout.
12/15/2014
V1.00, 12.2014
Support for firmware release 5.013, minor corrections and additions

throughout.
06/04/2015
V1.00, 06.2015
Corrected multiple Ethernet/IP cross-references.
05/26/2016
V2.00, 05.2016
Added support for advanced math functions. Added support for the
Lexium Motion Module. Reorganized to optimize usability.
Important information
This manual is part of the product.
Carefully read this manual and observe all instructions.
Keep this manual for future reference.
Hand this manual and all other pertinent product documentation over to all
users of the product.
Carefully read and observe all safety instructions and the chapter Before
you begin - safety information.
Some products are not available in all countries.

For information on the availability of products, please consult the catalog.
Subject to technical modifications without notice.
All details provided are technical data which do not constitute warranted
qualities.
Most of the product designations are registered trademarks of their
respective owners, even if this is not explicitly indicated.
This page intentionally left blank
Lexium MCode Reference Manual
Table of Contents
Table of Contents
Important information.............................................................................3
Writing conventions and symbols.................................................................1

Introduction..................................................................................................1-1
1.1
1.2
1.3
1.5
About this manual..................................................................... 1-1

Applicability - Lexium MCode compatible products.................. 1-1
1.2.1 Lexium MCode compatible product listing..........1-1
Documentation reference.......................................................... 1-2
1.4.1 Related documents............................................1-2
Product software ...................................................................... 1-2
2 Safety.....................................................................................................2-1
V2.00, 05.2016
2.1
2.2
2.3
2.4
Qualification of personnel........................................................ 2-1

Intended Use........................................................................... 2-1
Hazard Categories.................................................................. 2-2
General safety instructions...................................................... 2-3
Intro to Lexium MCode.........................................................................3-1
Command summary.............................................................................4-1
Command details..................................................................................5-1
3.1
3.2
Operational modes.................................................................. 3-1

Basic components of Lexium MCode...................................... 3-1
3.2.1 Instructions ........................................................3-1
3.2.2 Variables.............................................................3-2
3.2.3 Flags...................................................................3-3
3.2.4 Keywords............................................................3-3
3.2.5 Math functions....................................................3-4
3.3
Program structuring............................................3-4
3.3.1 Programming aids...............................................3-5
3.4
Commonly used variables and instructions........3-6
3.4.1 Variables.............................................................3-6
3.4.2 Motion instructions..............................................3-7
3.4.3 I/O instructions....................................................3-9
3.4.4 System instructions...........................................3-12
3.4.5 Program instructions.........................................3-12
4.1 Compatibility............................................................................ 4-1

4.1.1 All Lexium MDrive products................................4-1
4.1.2 Lexium serial products........................................4-4
4.1.3 Lexium Motion Module........................................4-5
4.1.4 hMTechnology specific.......................................4-5
4.2 Math functions
................................................ 4-6
5.1 Commands.............................................................................. 5-1

5.1.1 A (Acceleration)............................................................... 5-1
5.1.2 AF (hMT Status).............................................................. 5-2
5.1.3 AJ (Acceleration Jerk)..................................................... 5-3
5.1.4 AL (List All Parameters).................................................. 5-4
5.1.5 AO (Attention Output Mask)............................................ 5-5
5.1.6 AS (hMTechnology Mode Select).................................... 5-6
5.1.7 AT (Acceleration Type).................................................... 5-7
5.1.8 AV (Actual hMT Velocity)................................................ 5-8
5.1.9 BD (BAUD Rate)............................................................. 5-9
5.1.10
BE (Backlash Enable)............................................. 5-10
5.1.11
BL (Backlash Amount)............................................. 5-11
Table of Contents
V2.00, 05.2016
5.1.12
5.1.13
5.1.14
5.1.15
5.1.16
5.1.17
5.1.18
5.1.19
5.1.20
5.1.21
5.1.22
5.1.23
5.1.24
5.1.25
5.1.26
5.1.27
5.1.28
5.1.29
5.1.30
5.1.31
5.1.32
5.1.33
5.1.34
5.1.35
5.1.36
5.1.37
5.1.38
5.1.39
5.1.40
5.1.41
5.1.42
5.1.43
5.1.44
5.1.45
5.1.46
5.1.47
5.1.48
5.1.49
5.1.50
5.1.51
5.1.52
5.1.53
5.1.54
5.1.55
5.1.56
5.1.57
5.1.58
5.1.59
5.1.60
5.1.61
5.1.62
5.1.63
5.1.64
5.1.65
5.1.66
5.1.67
5.1.68
ii
BM (Backlash Mode)............................................... 5-12

BP (Break Point)...................................................... 5-14
BR (Branch)............................................................. 5-15
BY (Program Busy)................................................. 5-16
C1 (Motor Step Counter 1)...................................... 5-17
C2 (Encoder Counter 2).......................................... 5-19
CB (Control Bounds)............................................... 5-20
CE (Software Reset Enable)................................... 5-21
CF (Clear Locked Rotor)......................................... 5-22
CK (Checksum Mode)............................................. 5-23
CL (Call Subroutine)................................................ 5-24
CP (Clear Program Memory)................................... 5-25
CW (Clock Width).................................................... 5-26
D1 - D4 (Digital Input Filter)..................................... 5-27
D5 (Analog Input Filter)........................................... 5-28
D (Deceleration)...................................................... 5-29
DB (Encoder Deadband)......................................... 5-30
DC (Decrement Variable)........................................ 5-31
DE (Drive Enable/disable))...................................... 5-32
DG (Disable Global)................................................ 5-33
DJ (Deceleration Jerk)............................................. 5-34
DN (Device Name).................................................. 5-35
DT (Deceleration Type)........................................... 5-36
E (End Program)..................................................... 5-37
EE (Encoder Enable)............................................... 5-38
EF (Error Flag)........................................................ 5-39
EL (Encoder Lines).................................................. 5-40
EM (Echo Mode)..................................................... 5-41
ER (Error Register).................................................. 5-42
ES (Escape Mode).................................................. 5-43
EX (Execute Program)............................................ 5-44
F1 F8 (Floating Point Registers)......................... 5-45
FC (Filter Capture).................................................. 5-46
FD (Factory Defaults).............................................. 5-47
FL (Following Mode Enable)................................... 5-48
FM (Filter Motion Inputs)......................................... 5-49
FS (Index Offset Setting)......................................... 5-50
FT (Reserved)......................................................... 5-51
H (Hold Program Execution)................................... 5-52
HC (Hold Current)................................................... 5-53
HF (Home to Offset)................................................ 5-54
HI (Home to Index Mark)......................................... 5-55
HM (Home to Home Switch).................................... 5-56
HT (Holding Current Delay)..................................... 5-57
I<1-4> (Read Input 1-4)........................................... 5-58
I5 (Read Analog Input)............................................ 5-59
I6 (Read Encoder Index)......................................... 5-60
I7 - I13 (Reserved).................................................. 5-61
IC (Increment Variable)........................................... 5-62
IF (Variable Input Pending)..................................... 5-63
IN (Read Inputs as BCD)......................................... 5-64
IP (Initialize Parameters)......................................... 5-65
IS <1-4> (Input Setup IN1-IN4)............................... 5-66
IS <5> (Analog Input Setup).................................... 5-68
IS <6> (Encoder Index Setup)................................. 5-69
IT (Read Internal Temperature)............................... 5-70
IV (Input to Variable)............................................... 5-71
V2.00, 05.2016
Table of Contents
5.1.69
5.1.70
5.1.71
5.1.72
5.1.73
5.1.74
5.1.75
5.1.76
5.1.77
5.1.78
5.1.79
5.1.80
5.1.81
5.1.82
5.1.83
5.1.84
5.1.85
5.1.86
5.1.87
5.1.88
5.1.89
5.1.90
5.1.91
5.1.92
5.1.93
5.1.94
5.1.95
5.1.96
5.1.97
5.1.98
5.1.99
5.1.100
5.1.101
5.1.102
5.1.103
5.1.104
5.1.105
5.1.106
5.1.107
5.1.108
5.1.109
5.1.110
5.1.111
5.1.112
5.1.113
5.1.114
5.1.115
5.1.116
5.1.117
5.1.118
5.1.119
5.1.120
5.1.121
5.1.122
5.1.123
5.1.124
JE (Jog Enable)....................................................... 5-72

L (List Program Space)........................................... 5-73
LB (Declare User Label).......................................... 5-74
LD (Lead Limit)........................................................ 5-75
LG (Lag Limit).......................................................... 5-76
LL (Position Lead/Lag Count).................................. 5-77
LK (Lock User Program).......................................... 5-78
LM (Limit Response Mode)..................................... 5-79
LR (Locked Rotor)................................................... 5-81
LS (Software Limits)................................................ 5-82
LT (Locked Rotor Timeout)..................................... 5-83
MA (Move Absolute)................................................ 5-84
MD (Motion Mode)................................................... 5-86
MF (Make-up Frequency)........................................ 5-87
MP (Moving to Position).......................................... 5-88
MR (Move Relative)................................................. 5-89
MS (Microstep Resolution)...................................... 5-91
MT (Motor Settling Delay)....................................... 5-93
MU (Make-up Mode)............................................... 5-94
MV (Moving)............................................................ 5-95
NE (Numeric Enable/Disable)................................. 5-96
O1, O2, O3 (Set Output)......................................... 5-97
OE (On Error Handler)............................................ 5-98
OF (Output Fault).................................................... 5-99
OS <1-3> (Output Setup OUT1 - OUT3)................. 5-100
OT (Set Output Total).............................................. 5-102
P (Position Counter)................................................ 5-103
PC (Position Capture at Trip).................................. 5-104
PF (Print Format)..................................................... 5-105
PG (Program Mode)................................................ 5-106
PK (Reserved)......................................................... 5-107
PM (Position Maintenance)..................................... 5-108
PN (Part Number).................................................... 5-109
PR (Print specified data and/or text)....................... 5-110
PS (Pause Program)............................................... 5-111
PW (PWM Mask)..................................................... 5-112
PY (Party Mode)...................................................... 5-113
QD (Queued)........................................................... 5-114
R1-R4 (User Register)............................................. 5-115
RA (Radians or degrees)......................................... 5-116
RC (Run Current).................................................... 5-117
RD (Rotation of Direction)....................................... 5-118
RS (Resume Program Execution)........................... 5-119
RT (Return From Subroutine).................................. 5-120
S (Save to FLASH).................................................. 5-121
SA (Step Angle)....................................................... 5-122
SC (System Configuration Test).............................. 5-123
SF (Stall Factor)...................................................... 5-124
SL (Slew at Velocity)............................................... 5-125
SM (Stall Detect Mode)........................................... 5-126
SN (Serial Number)................................................. 5-127
ST (Stall Flag)......................................................... 5-128
SU (Execute Program on Startup)........................... 5-129
TA (Trip on hMT Status).......................................... 5-130
TC (Trip on Capture)............................................... 5-131
TD (Torque Direction).............................................. 5-132
iii
Table of Contents
5.1.125
5.1.126
5.1.127
5.1.128
5.1.129
5.1.130
5.1.131
5.1.132
5.1.133
5.1.134
5.1.135
5.1.136
5.1.137
5.1.138
5.1.139
5.1.140
5.1.141
5.1.142
5.1.143
TE (Trip Enable)...................................................... 5-133

TI (Trip on Input)...................................................... 5-134
TM (Trip on Main Power Loss)................................ 5-135
TP (Trip on Position)............................................... 5-136
TQ (Torque Percent)............................................... 5-137
TR (Trip on Relative Position)................................. 5-138
TS (Torque Speed).................................................. 5-139
TT (Trip on Time).................................................... 5-140
UG (Firmware Upgrade).......................................... 5-141
UV (Read User Variable)......................................... 5-142
V (Read Axis Velocity)............................................. 5-143
VA (Define User Variable)....................................... 5-144
VC (Velocity Changing)........................................... 5-145
VF (Torque Velocity Filter)...................................... 5-146
VI (Initial Velocity).................................................... 5-147
VM (Maximum Velocity).......................................... 5-148
VR (Version)............................................................ 5-149
VT (Read Voltage)................................................... 5-150
WT (Warning Temperature).................................... 5-151
5.2 Math, logic and trigonometric operators........................................5-152
V2.00, 05.2016
5.2.1
5.2.2
5.2.3
5.2.4
5.2.5
5.2.6
5.2.7
5.2.8
5.2.9
5.2.10
5.2.11
5.2.12
5.2.13
5.2.14
5.2.15
5.2.16
5.2.17
5.2.18
5.2.19
5.2.20
5.2.21
iv
Equal (=).............................................................. 5-154

Not Equal (<>)...................................................... 5-154
Less Than (<)....................................................... 5-155
Less Than or Equal (<=)...................................... 5-155
Greater Than (>).................................................. 5-156
Greater Than or Equal (>).................................... 5-156
AND ( & ).............................................................. 5-157
OR ( | )................................................................. 5-157
XOR ( ^ ).............................................................. 5-158
NOT ( ! )............................................................... 5-158
AB ( Absolute Value )........................................... 5-159
CS (Cosine).......................................................... 5-159
C_ (Arc Cosine).................................................... 5-160
LO (Logarithm Base 2)......................................... 5-160
L_ (Logarithm Base 10)........................................ 5-161
PI (3.141592654)................................................. 5-161
SI (Sine)............................................................... 5-162
S_ (Arc Sine)........................................................ 5-162
SQ (Square Root)................................................ 5-163
TG (Tangent)........................................................ 5-163
T_ (Arc Tangent).................................................. 5-164
Supporting Software............................................................................6-1
Programming and application notes..................................................7-1

7.1
7.1.1
7.1.2
7.1.3
7.2
7.2.1
7.2.2
7.2.3
7.2.4
7.2.5
7.2.6
Party mode communications................................................... 7-1

Response to Echo Mode......................................................... 7-1
Using Check Sum.................................................................... 7-4
Immediate party mode sample codes..................................... 7-5
Programming the I/O............................................................... 7-5
I/O availability per device type................................................. 7-5
Active states defined............................................................... 7-6
Digital input functions.............................................................. 7-6
Digital output functions............................................................ 7-8
Programmable input usage examples..................................... 7-9
Analog input usage............................................................... 7-11
Table of Contents
7.3
7.3.1
7.3.3
7.3.4
7.3.5
7.3.6
7.3.7
Factors impacting motion commands.................................... 7-12

Motor steps............................................................................ 7-12
Move Command.................................................................... 7-12
Closed loop control with an encoder..................................... 7-12
Linear movement................................................................... 7-12
Calculating rotary movement................................................. 7-15
Programming with the optional encoder enabled.................. 7-17
8 hMTechnology......................................................................................8-1
8.1
8.1.1
8.1.2
8.1.3
8.2
8.2.1
8.2.2
8.2.3
8.2.4
8.3
8.4
8.5
hmTechnology overview.......................................................... 8-1

Glossary of Terms................................................................... 8-1
hMTechnology Basics............................................................. 8-2
Overview of motor phase current............................................ 8-3
hMTechnology modes of operation......................................... 8-5
hMT off (bypass) (AS=0) ........................................................ 8-5
hMT on (fixed current) (AS=1) ................................................ 8-6
hMT on (variable current) (AS=2) ........................................... 8-7
hMT on (torque mode) (AS=3) ............................................... 8-8
Position Make-up..................................................................... 8-8
Locked Rotor........................................................................... 8-9
hMTechnology Specific Error Codes..................................... 8-10
Sample programs.................................................................................9-1
9.1
9.2
9.3
9.4
9.5
9.6
9.7
9.8
9.9
9.10
9.11
Move on an input..................................................................... 9-1

Change velocity during a move............................................... 9-2
Binary mask............................................................................. 9-3
Closed Loop............................................................................ 9-5
User input into variables.......................................................... 9-6
Closed loop with homing......................................................... 9-8
Input trip.................................................................................. 9-9
Position teach (encoder required)......................................... 9-10
Analog speed control............................................................. 9-11
Analog slew with stall detect................................................. 9-12
Multiple position trips............................................................. 9-13
10 Error codes.........................................................................................10-1
10.1 Lexium MDrive Error Codes................................................... 10-1
10.2 Lexium Motion Module Error Codes...................................... 10-4
V2.00, 05.2016
Index..................................................................................................................i
Table of Contents
V2.00, 05.2016
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vi
Writing conventions and symbols
WRITING CONVENTIONS AND SYMBOLS
Work steps
If work steps must be performed consecutively, this sequence of steps is

represented as follows:
Special prerequisites for the following work steps
XX
Step 1
YY
Specific response to this work step
XX
Step 2
If a response to a work step is indicated, this allows you to verify that the
work step has been performed correctly.
Unless otherwise stated, the individual steps must be performed in the
specified sequence.
Bulleted lists
The items in bulleted lists are sorted alphanumerical or by priority.

Bulleted lists are structured as follows:

Item 1 of bulleted list
Making work easier
Subitem for 2
Subitem for 2
Information on making work easier is highlighted by this symbol:

Sections highlighted this way provide supplementary information on
making work easier.
Parameters
Parameters are shown as follows

RC
Units of measure
Motor Run Current
Measurements are given US units, metric values are given in SI units in

parenthesis.
Draft V0.900.08.2011
Examples:
1.00 in (25.4 mm)
100 oz-in (70 N-cm)
Writing conventions and symbols
Draft V0.900.08.2011
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1 Introduction
INTRODUCTION
1.1
About this manual

This manual covers the structure, syntax and use of the Lexium MCode
programming and control language for the Lexium Motion products
developed and sold by IMS | Schneider Electric Motion USA.
1.2
Applicability - Lexium MCode compatible products

Note: if you are using an MDrivePlus, MDrive Hybrid or MForce Motion
Control product, please see the MCode Programming and Reference
Manual for MDrivePlus, MDrive Hybrid, and MForce products.
> MCode Programming and Software Reference
1.2.1 Lexium MCode compatible product listing

Lexium MDrive Motion Control
Lexium MDrive Ethernet TCP/IP
Lexium MCode/TCP is the Lexium MCode language adapted to communicate over Ethernet TCP/IP networks. The function and usage are identical as with Lexium MDrive Motion Control products with the exception
that the commands related to RS-422/485 communication and serial
party mode are disabled. Lexium MCode/TCP connects to TCP or UDP
port 503. Multidrop addressing is done using IPv4.
Uses an adaptation of Lexium MCode for use with the Lexium Motion
Module communicating via the UART. Functional differences are:

Closed loop hMTechnology functions not supported
Adds PWM tuning functionality
Analog input is not configurable in software
V2.00, 05.2016
Lexium Motion Module (Motion Control)
Integrated Lexium MDrive Motion Control communicates over an RS422/485 serial interface.
1-1
1 Introduction
1.3
Documentation reference
The following users manuals are available for the Lexium MCode devices:

Product hardware manual describes the technical data and

installation of the product.
Product software manual describes the configuration and programming of the product.
This documentation is also available for download from our website at

http://motion.schneider-electric.com.
1.4.1
Related documents
Lexium Software Suite
The Lexium Software Suite Manual documents the installation and use
of the programming tool for the Lexium Motion products and Ethernet
products.
Associated Ethernet protocols
The Lexium MDrive Ethernet TCP/IP products support multiple industrial
networking protocols:

Modbus/TCP
EtherNet/IP
Profinet IO
Documentation for these protocols is available in separate manuals,

which may be downloaded from the product manual page at http://motion.schneider-electric.com.
1.5
Product software
The Lexium Software Suite is the program used to commission, program and operate the Lexium Motion products. It may be downloaded
from the website at:
LEXIUM SOFTWARE SUITE
V2.00, 05.2016
Instructions for installation and use of this software may be found in the
Lexium Software Suite product manual.
1-2
2 Safety
2 SAFETY
2.1
Qualification of personnel
Only technicians who are familiar with and understand the contents
of this manual and the other relevant documentation are authorized
to work on and with this drive system. The technicians must be able
to detect potential dangers caused by setting parameters, changing parameter values and generally by the operation of mechanical,
electrical and electronic equipment.
The technicians must have sufficient technical training, knowledge
and experience to recognize and avoid dangers.
The technicians must be familiar with the relevant standards, regulations and safety regulations observed when working on the drive
system.
2.2
Intended Use
The drive systems described here are products for general use that
conform to the state of the art in technology and are designed to prevent any dangers. However, drives and drive controllers that are not
specifically designed for safety functions are not approved for applications where the functioning of the drive could endanger persons.
The possibility of unexpected or un-braked movements can never be
totally excluded without additional safety equipment.
For this reason personnel must never be in the danger zone of the
drives unless additional suitable safety equipment prevents any
personal danger. This applies to operation of the machine during
production and also to all service and maintenance work on drives
and the machine. The machine design must ensure personal safety.
Suitable measures for prevention of property damage are also required.
V2.00, 05.2016
In all cases the applicable safety regulations and the specified operating conditions, such as environmental conditions and specified
technical data, must be observed.
The drive system must not be commissioned and operated until
completion of installation in accordance with the EMC regulations
and the specifications in this manual. To prevent personal injury and
damage to property damaged drive systems must not be installed or
operated.
2-1
2 Safety
Changes and modifications of the drive systems are not permitted

and if made no warranty and liability will be accepted.
The drive system must be operated only with the specified wiring
and approved accessories. In general, use only original accessories
and spare parts.
The drive systems must not be operated in an environment subject
to explosion hazard (ex area).
2.3
Hazard Categories
Safety notes and general information are indicated by hazard messages in the manual. In addition there are symbols and instructions
affixed to the product that warn of possible hazards and help to
operate the product safely.
Depending on the seriousness of the hazard, the messages are
divided into three hazard categories.
! DANGER
DANGER indicates an imminently hazardous situation, which,

if not avoided, will result in death or serious injury.
WARNING indicates a potentially hazardous situation, which, if

not avoided, can result in death, serious injury, or equipment
damage.
CAUTION indicates a potentially hazardous situation, which, if

not avoided, can result in injury or equipment damage.
V2.00, 05.2016
CAUTION used without the safety alert symbol, is used to address practices not related to personal injury (e.g. can result in
equipment damage).
2-2
2.4
2 Safety
General safety instructions

! DANGER
UNINTENDED CONSEQUENCES OF EQUIPMENT OPERATION

When the system is started, the drives are usually out of the
operators view and cannot be visually monitored.
Only start the system if there are no persons in the hazardous
area
Failure to follow these instructions will result in death or
serious injury.
! DANGER
EXPOSED SIGNALS
Hazardous voltage levels may be present if using an open
frame power supply to power the product.
Failure to follow these instructions will result in death or
serious injury.
LOSS OF CONTROL

The designer of any control scheme must consider the

potential failure modes of control paths and, for certain
critical functions, provide a means to achieve a safe state
during and after a path failure. Examples of critical control
functions are emergency stop, overtravel stop, power outage and restart.
Separate or redundant control paths must be provided for

critical functions.
System control paths may include communication links.

Consideration must be given to the implication of unanticipated transmission delays or failures of the link.
Observe all accident prevention regulations and local

safety guidelines. 1)
Each implementation of the product must be individually

and thoroughly tested for proper operation before being
placed into service.
Failure to follow these instructions can result in death or

serious injury.
V2.00, 05.2016
1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), Safety
Guidelines for the Application, Installation, and Maintenance of Solid State Control
and to NEMA ICS 7.1 (latest edition), Safety Standards for Construction and Guide
for Selection, Installation and Operation of Adjustable-Speed Drive Systems.
2-3
2 Safety
V2.00, 05.2016
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2-4
3 Intro to Lexium MCode
INTRO TO LEXIUM MCODE
This section will acquaint the user with basics of Lexium MCode programming and the simple 1 and 2 character mnemonics which make up
the Lexium MCode programming language.
3.1
Operational modes.
Basic components of the Lexium MCode programming language.
Operational modes
There are two operational modes for the Lexium MCode compatible
products: Immediate and Program.
3.2
1)
Immediate: Commands are issued and executed directly to the

controller by user input into the terminal window.
2)
Program: Program Mode is used to input user programs into the

motion controller.
Basic components of Lexium MCode

There are five basic components of the Lexium MCode Programming
Language, they are:
1) Instructions
2) Variables
3) Flags
4) Keywords
5) Math functions
3.2.1 Instructions
An instruction results in an action. There are four types of instructions:
Motion instructions are those that lead to the movement of a motor. The
syntax for these commands is as follows: type the command followed by
a space, and then the velocity or position data. For example MA 2000
moves the motor to an absolute position of 2000.
I/O
An I/O instruction results in the change of parameters or the state of an

input or output. The syntax for these commands are as follows: type the
command then a space or an equal sign, then the data. Example: O2=0
or O2 0 sets output 2 to 0.
V2.00, 05.2016
Motion
3-1
Program
A program instruction allows program manipulation. The syntax of these

varies due to the nature of the command. Some command examples
would be PG 100, which toggles the system into program mode starting
at address 100; BR LP, I1=1, which branches to a program labeled LP if
input 1 is true.
System
A system instruction is an instruction that can only be used in immediate mode to perform a system operation such as program execution
(EX) or listing the contents of program memory (L). For example EX 100
executes a program located at address 100 of program memory space,
or EX K1 executes a program labeled K1.
3.2.2 Variables
A Variable is identified by a mnemonic and allows the user to define
or manipulate data. These can also be used with the math functions to
manipulate data. There are two classes of variables: factory-defined and
user-defined. There are 192 user program labels and variables available. The syntax for each variable may differ.
Factory defined variables
User defined variables
Factory defined variables cannot be deleted; they may only have their
values modified. When an FD (Factory Default) instruction processes,
these variables are reset to their factory default values. There are two
types of factory defined variables:

Read/Writable: These factory defined variables can have their

value altered to affect events inside or outside of a program. For
example A (Acceleration variable) can be used to set the Acceleration, or P (Position variable) can be used to set the position
counter.
Read Only: These variables contain data that can be viewed or

used to affect events inside a program. For example, V (Velocity
variable) registers the current velocity of the motor in steps per
second.
The VA instruction allows the user to assign a 2 or 3 character name to

a user variable (32-bit value).
The restrictions for this command are:
V2.00, 05.2016
1) Using a name that already exist as an MCode mnemonic is disallowed. An error 24, Illegal data entered, is asserted when attempted.
3-2
2) The first character must be alpha; the second or third character

may be alphanumeric.
3) A variable is limited to two characters.
With these the user can define a variable to store and retrieve data and
perform math functions. When the FD (Factory Defaults) instruction
is given, these variables will be deleted! There are two types of user
defined variables:

Global variables: global variables are variables that are defined

outside of a program. The benefit to using a global variable is
that no user program memory is required. For example, the user
can define a variable called SP for speed by entering VA SP into
the terminal. The user can then set that variable equal to the
value of a read only variable V (velocity) by entering SP = V into
the terminal.
Local variables: this type of user defined variable is defined

within a program and can only affect events within that program.
It is stored in RAM. Note a local variable is not static, but is
erased and declared again each time a program is executed.
3.2.3 Flags
Flags show the status of an event or condition. A flag only has one of
two possible states: either 1 or 0. Unlike variables, there are only factory
defined flags.
Factory defined flags
Factory defined flags are part of the MCode operating system and may
not be deleted. When an FD (Factory Defaults) instruction executes
given, these flags are returned to their factory default state. There are
two types of factory defined flags::

Read/Writable: This kind of flag is user alterable. They are typically used to set a condition or mode of operation for the device.
For example EE = 1 would enable encoder operation, or EE = 0
would disable the encoder functions.
Read Only: Read Only flags cannot be changed by the user.

They only give the status of an event or condition. Typically this
type of flag would be used in a program in conjunction with the
BR (Branch Instruction) to generate an if/then event based on a
condition. For example, the following line of code in a program
BR SP, MV = 0 would cause a program to branch to a subroutine named SP when the MV, the read only moving flag, is
false.
3.2.4 Keywords
V2.00, 05.2016
Keywords operate in conjunction with the PR and IP instructions to indicate or control variables and flags. For instance, PR UV would print the
state of all the user-defined variables to the screen. IP would restore all
the factory variables from the NVM.
3-3
3.2.5
Math functions
The Lexium products is capable of either integer math or double-precision floating point math.
Math functions are used to perform various arithmetic functions on numeric data stored in registers or variables. Supported functions are +, ,
*, , >, <, =, <=, >=, <>, AND, OR, XOR, NOT.
For floating point calculations, eight (8) registers are provided (F1 - F8).
Available floating point math functions are: ABS, SIN, COS, TAN, ARCSIN, ARCCOS, ARCTAN, PI, SQRT, LOG2, LOG10
Note: Floating-point calculations may only be performed using the
registers provided (F1-F8). Registers R1-R4, MCode variables and user
variables declared using the VA instruction are only capable of integer
math.
3.3
Program structuring
Proper structuring of your Lexium MCode application ensures your
ability to work efficiently and aids in troubleshooting your program. The
figure below illustrates how your application can be blocked out to group
the global system declarations, the program main body, and the subroutines.
'[VARIABLES]
Is = 1,0,0
Ms=256
A=1000000
D=A
Hc=2
Rc=75
P=0
'[PROGRAMS]
PG 1
LB X1
P=0
LB X2
CL Z1, I1-1
H 10
BR X1
Block 2: Main program

The first line places the device in program
mode starting at address 1. This will contain
the main program label, as well as trigger
events which will call subroutines to perform
some action.
Subroutine from
trigger event
LB Z1
MA 51200
H
MA 0
H
RT
Block 3: Subroutines
Subroutines are called from the main program
block based upon a condition such as an input
state, a trip, or a numeric value stored in a
register or variable. They may also be called
unconditionally.
E
PG
V2.00, 05.2016
Block 1: System configuration

Contains the global variables and flags
that define the operating parameters
of the device during the execution of
the program.
Block 4: End program

E - designates the end of the program
PG - exits program mode
Figure 3.1 Recommended Lexium MCode program structure
3-4
3.3.1
Programming aids
Lexium MDrive Programmer
One of the most powerful tools available to you is the Lexium MDrive
Programmer module of the Lexium MDrive Software Suite. The Lexium
MDrive Programmer is visual IDE (Integrated Development Environment) for developing, debugging, simulating and deploying Lexium
MDrive programs written in Lexium MCode.
It features a program text editor, terminal emulation, program simulation
and graphing. Program development may be accomplished by direct
entry or by selecting an action and filling out a dialog.
User Labels
The Lexium MCode programming language allows for 192 user labels
for your programs, subroutines, and user variables and flags. A label
consists of 2 characters, the first of which must be a letter, the second
may be alphanumeric. A label cannot use the same character combination as any of the mnemonics used in the Lexium MCode programming
language.
For purpose of this manual we have used the following example labels:
Program label (G)................Example: G1, G8, Ga
Subroutine label (K)............. Example: K7, K2, Ks
User variable label (Q)........ Example: Q3, Q9, Qz
Example labeling
VA Q1
Create user variable Q1
PG 100
Enter Program mode
LB G1
Label Program G1
CL K1, I2=1
Call Subroutine K1 if Input 2 is HIGH
BR G1
Unconditional Branch to G1
K1
Comments
Declare Subroutine K1
Lexium MCode allows for comments to be inserted in your program

code. The comment character for the Lexium MCode language is the
Apostrophe (). The device will ignore the text string following the apostrophe. Please note that the maximum length of a single line of program
code is 64 characters, this includes program text, spaces and comments.
Using comments will be of assistance in trouble shooting your program.
V2.00, 05.2016
Programming reference
Another powerful tool is this manual. Section 5 contains detailed explanations and usage examples of each mnemonic in the Lexium MCode
Programming Language. These are organized alphabetically. In Section
8 there are a number of fully commented example programs that can be
used to learn the basics of programming and using the various functions
of your Lexium MCode compatible device.
3-5
3.4
Commonly used variables and instructions
3.4.1 Variables
MS (Microstep resolution)
MS (Microsteps Select) defines the resolution of the stepping motor.

Motor rotation:
1.8 per step (200 steps/rev.)
Microsteps/step:
MS
Microsteps/rev:
MS * 200
MS default:
256 microsteps/step or 256 * 200 = 51200 microsteps/rev
To read:
PR MS
To write:
MS=<integer>
Notes:
MS values are predefined to 20 resolutions. See command

details
As we continue you will see that all motion variables use this value.
P (Position)
V2.00, 05.2016
VI (Initial velocity)
3-6
P indicates the position in either steps or encoder counts depending

upon the enable/disable state of encoder functions.
Open loop:
Position from Counter 1 (C1) in motor steps
Encoder enabled:
Position from Counter 2 (C2) in encoder counts
To read:
PR P
To write:
P=0 will clear the position
Notes:
MS values are predefined to 20 resolutions. See command

details
Initial velocity in steps per second.

Default:
1000 steps/sec
To read:
PR VI
To write:
VI=<integer>
Notes:
VI will return an error is set to a value greater than VM. The

size of the step is a function of MS
VM (Maximum velocity)
A (Acceleration)
D (Deceleration)
3.4.2
Maximum or final velocity in steps per second. (Step size is a function of

the value of ms).
Default:
768000 steps/sec
To read:
PR VM
To write:
VM=<integer>
Notes:
VM will return an error if set to a value less than VI. The

size of the step is a function of MS
Acceleration in steps per second2.

Default:
1000000 steps/sec2
To read:
PR A
To write:
A=<integer>
Notes:
The velocity of the motor increases by <A> every second

until VM, or the velocity commanded by a slew (SL)
Deceleration in steps per second2.

Default:
1000000 steps/sec2
To read:
PR D
To write:
D=<integer>
Notes:
The velocity of the motor decreases by <D> every second

until VI, or the velocity commanded by a slew (SL)
Motion instructions
V2.00, 05.2016
Motion instructions cause the motor to move or affect the movement of

the motor. There are a few factors to consider when programming motion commands. Linear distances, the number of revolutions, degrees
of rotation and timed moves can be calculated and programmed from
these factors.

All motion is programmed either microsteps per second or encoder counts (pulses) per second. When the encoder is disabled
(EE=0), or hMTechnology is enabled (AS=1/2/3) motion scales
in step clock pulses. In encoder mode, (EE-1), the motion commands are scaled in encoder counts.
For example, using the default microstep resolution setting

(MS=512): MR 51200 indexes the axis one revolution
In encoder mode (EE=1) with a 1000 line (4000 count) encoder,

the following applies MR 4000 indexes the axis one revolution.
All motion is directly affected by the motion commands and

variables.There are some factors impacting motion instructions. Section 7 of this document, Application and programming
notes, covers these factors in detail.
3-7
MA (Move absolute)
Move to an absolute position relative to a defined zero position.

For example, type the following commands followed by pressing enter:
P=0
MA 20000
PR P
MA 3000
PR P
set the current position to 0 (zero)

move 20000 steps from 0 in the plus direction
the terminal screen will read 20000
move 3000 steps from 0 in the plus direction
Absolute moves are always relative to 0 (zero).

You may program moves in the minus direction by typing the minus sign
(-) before the value.
MR (Move relative)
Move the number of steps programmed relative to current position.

For example, type the following commands followed by pressing enter:
P=0
MR 20000

PR P
MR 3000

PR P
set the current position to 0 (zero)

move 20000 steps from the current position in
the plus direction
move 3000 steps from the current position in
the plus direction
notice the position read is 23000 and not 3000
Relative moves are cumulative and are either added to or subtracted

from the current position.
You may program moves in the minus direction by typing the minus sign
(-) before the value.
SL (Slew axis)
Move at a constant velocity.

SL 200000 the motor moves at a constant velocity 200000

steps per second
H (Hold)
The slew command overrides the VM (maximum velocity) parameter.
The value of the slew command may be changed on the fly.
You may program moves in the minus direction by typing the

minus sign (-) before the value.
An H (hold command) should typically follow any MA or MR commands

in a program so that program execution is suspended until the motion is
complete.
Below is a usage example.
V2.00, 05.2016
PG 100
enter program mode at address 100
LB M1
label program M1
MR 20000 set mode to relative, move relative 20000
steps
H
hold until motion completes
MR -20000 move relative -20000 steps
H
hold until motion completes
E
end program
PG
exit program mode
3-8
A delay time value (1 to 65000 milliseconds) may be programed with the

hold command.
(Note: There are circumstances where you may not want to hold up
program execution.)
3.4.3
I/O instructions
Is (Set input function)
This command configures the Line, Type and Active state of inputs 1-4.
Type
Function
Description
GP
Typical usage: to trigger events within a program
Home
When active triggers the homing routine as defined

by the homing variable (HM)
Limit plus (+)
Functions as specified by the limit variable (LM).

Triggers an Error 83: Positive limit reached when a
+ limit activates.
Limit minus ()
Functions as specified by the limit variable (LM).

Triggers an Error 84: Negative limit reached when
a limit activates.
G0
Executes a program at address 1 upon activation.
Soft stop
Stops motion with deceleration and halts program

execution. If the program is paused (PS), the input
is ignored.
Pause
Pause/resume program with motion.
Jog plus (+)
When active, jogs the motor in the positive direction

at maximum velocity (VM). The jog enable (JE) flag
must be active (JE=1) for this to function.
Jog minus ()
When active, jogs the motor in the minus direction

at maximum velocity (VM). The jog enable (JE) flag
must be active (JE=1) for this to function.
11
Reset
When set as a RESET input, the action is

equivalent to a CTRL+C (^C) entered into a
terminal. Note: If the input is in a sourcing
configuration, active when high, ground the input
first, or a reset occurs.
High speed capture input - available on input 1 only

12
Capture
When set as a capture input is a momentary highspeed input that operates with the Trip Capture
(TC) variable to run a subroutine upon the trip. It
features variable input filtering ranging from 50 nS
to 12.9 S.
Clock input options - paired on inputs 3 and 4 only

Step/Direction
Step clock (IN3) and direction (IN4) inputs
14
Encoder A/B
Encoder channel A (IN3) and B (IN4) inputs for

following
15
Step Up/Down
Step up (IN3) and down (IN4) inputs
V2.00, 05.2016
13
3-9
The syntax for setting up an input is

Is = <input #>, <type>, <active>
Set input 1 as general purpose active low
Is =1,0,0
Set input 2 as jog+ active high
Is =2,7,1
Set inputs 3 and 4 as Limit +/Limit , active low
Is =3,2,0
Is =4,3,0
Set input 1 as a capture input active high
I<1-4> (Read input state)
Is =1,12,1
Only input 1 may be set to the Capture function
Inputs may be set globally or locally (inside a program)
The syntax to read the settings of the inputs is PR Is
Used to retrieve the value of an individual input.

PR I1 reads the logic state of input 1 and display it in the terminal window.
BR K5, I2=0 branches to the program address tabled K5 when Input 2 is
LOW
V2.00, 05.2016
IN (Read all inputs as decimal)
3-10
Used to read the decimal equivalent of the 4-bit binary nibble represented by all inputs collectively. Note the Input 4 is the Most Significant Bit.
Os (Set output function)
Sets the function of an output.

Type
Function
Description
16
General purpose
Defines the output as a general purpose user

output
17
Moving
Activates when the axis is in motion
18
Error
Indicates a software error condition occurred
19
Stall
Indicates a stalled condition exists. Stall detection

mode (SM) must be enabled, and hMT must be off
(AS=0), and encoder functions must be enabled
(EE=1)
20
Velocity changing
Indicates when the axis is accelerating or

decelerating
21
Locked rotor*
Indicates a locked rotor condition exists
23
Moving to position
Indicates when the axis is moving to a specified

position
24
hMT active*
Indicates as when hMTechnology is active
25
Make-up active*
Indicates when position make-up is in process
29
Attention
Configurable to trigger on an attention event as

defined by the Ao variable
Available on output 1 only

26
Encoder A
Sets as the encoder channel A output

27
Encoder B
Sets as the encoder channel B output

28
Trip
Indicates a trip condition (Output 3 ONLY, active

low only)
*Grayed cells indicate an hMTechnology function, applicable to closed loop Lexium

MDrive products only
Not
available on Lexium MDrive NEMA 17 (42mm) products
The syntax for setting up an output is

Os = <output #>, <type>, <active>
O <1 - 3> (Set output)
Set output 1 as general purpose active low
Os =1,16,0
Set output 2 as moving active high
Os =2,17,1
Set input 3 as a trip output active high
Os =3,28,1
Only output 3 may be set to the trip function
Outputs may be set globally or locally (inside a program)
The syntax to read the settings of the inputs is PR Os
Used to set the state of an output point.
V2.00, 05.2016
O2=1 will set Output 2 TRUE
OT (Set all outputs as BCD)
Used to set the 3 bit binary equivalent of the decimal number represented by all 3 outputs collectively. Note the output 3 is the most significant
bit.
OT=5 will set the outputs to 101
3-11
3.4.4
System instructions
The following system instructions will be used frequently.
CP (Clear program memory)
The CP instruction is used to clear program memory space. CP must be

followed by a save commend S.
FD (Restore facory defaults)
The FD instruction is used to return the device to its factory default

state.
ESC (Stop motion and program)
CTRL+C (Software reset)
3.4.5
<esc> The ESCAPE key will stop the user program and stop the motor with no decel rate.
CTRL+C will reboot the unit. This includes reloading of the programs
stored in nonvolatile memory into RAM and executing any programs
residing at label SU (Start Up).
Program instructions
PG (Begin program mode)
This instruction toggles the device into or out of program mode.

PG 200
xxxxx
xxxxx
xxxxx
PG
LB (User label)
Switch to program mode at address 200

Program starting at address 200
|
Switch out of program mode
Lexium MCode also offers the user the convenience of naming programs, subroutines and processes to ease in branching from one part of
a program to another, or calling a subroutine.
These labels, once set, will act as pointers to locations in program
memory space.
The LB, or label instruction, allows the user to assign a 2 character
name to a program or branch process within a program or subroutine.
V2.00, 05.2016
3-12
1)
A label cannot be named after an instruction, variable or flag.
2)
The first character must be alpha, the second character may be

alpha-numeric.
3)
A label is limited to two characters.
4)
A program labeled SU will run on power-up
Please Note: Any program labeled SU will execute on power-up.

PG 200
LB k1
Label command will name the program K1
xxxxx
Program named by LB command xxxxx
xxxxx
PG
BR (Branch)
Used to branch conditionally or unconditionally to a routine.

PG 200
LB K1
Label command will name the program
xxxxx
xxxxx
Program named by LB command
xxxxx
BR K1
Unconditional branch to Program Label K1
PG
CL (Call subroutine)
Used to call a subroutine conditionally or unconditionally to a routine.

PG 200
LB K1
xxxxx
xxxxx
xxxxx
CL X1
Unconditional call to subroutine label X1
E
End program
PG
[SUBROUTINES]
LB X1
Label subroutine X1
xxxxx
Subroutine named by LB command
RT
Return from subroutine
E (End program)
Designates the end of a program.

PG 200
LB K1
xxxxx
xxxxx
xxxxx
BR K1
E
End Program
PG
V2.00, 05.2016
H (Hold program execution)
Delays program execution in milliseconds.

PG 200
LB K1
xxxxx
xxxxx
xxxxx
H 2000 Hold 2 seconds before execution of program
BR K1
E
End Program
PG
3-13
PR (Print)
Outputs specified text and parameter values to a terminal or terminal

software on a host PC.
PG 200
LB K1
xxxxx
xxxxx
xxxxx
H 2000
Hold 2 seconds before execution.
PR Position =, P
Print position
BR K1
Uncond branch to Program Label K1
E End Program
PG
RT (Return from subroutine)
Required to return from a subroutine to the program.

PG 200
LB K1
xxxxx
xxxxx
xxxxx
CL X1
Unconditional call to subroutine label X1
E
End program
PG
[SUBROUTINES]
LB X1
Label subroutine X1
xxxxx
Subroutine named by LB command
RT
Return from subroutine
VA (Create user variable)
Command used to define a user variable consisting of 2 alphanumeric

characters.
V2.00, 05.2016
PG 200
VA Q1
Define user variable Q1
LB K1
xxxxx
xxxxx
xxxxx
H 2000
Hold 2 seconds before execution
PR Position =, P
Print position
BR K1, Q1<10
Cond branch to K1 if Q1 less than 10
E End Program
PG
3-14
4 Command Summary
COMMAND SUMMARY
4
Lexium MCode supports multiple families of motion control devices. Not
all instructions, variables and flags apply to all motion control products.
4.1 Compatibility
4.1.1
All Lexium MDrive products

The commands listed in Table 4.1A-D are compatible with all Lexium
Motion and Ethernet TCP/IP products. Some function of the command
may differ slightly between products. Attention should be paid to the
command details for compatibility notes.
V2.00, 05.2016
Abbreviations
Access: RO = Read only, RW = Read/Write, RC = Read/Clear, WO=Write only
Usage: I - Immediate, P = Program, I/P = Immediate or program
Mnemonic
Function
Access
Usage
Type
Compatibility notes
Acceleration
RW
I/P
Variable
AJ
Acceleration Jerk
RW
I/P
Variable
Firmware Version 6.0.01 +
AL
List All Parameters
Instruction
AO
Attention Output mask
RW
I/P
Variable
Certain attention events are

product specific. See details
AT
Acceleration Type
RW
I/P
Variable
BE
Backlash Enable
RW
I/P
Flag
BL
Backlash Amount
RW
I/P
Variable
BM
Backlash Mode
RW
I/P
Variable
BP
Break Point
I/P
Instruction
BR
Branch
Instruction
BY
Program Executing (busy)
RO
Flag
C1
Counter 1 (step count)
RW
I/P
Variable
C2
Counter 2 (encoder)
RW
I/P
Variable
Encoder required
CE
CTRL+C reset enable
RW
I/P
Flag
CL
Call Subroutine
Instruction
CP
Clear Program memory
Instruction
CW
Clock Width
RW
I/P
Variable
D<1-4>
Input Filter
RW
I/P
Variable
D5
Analog Input Filter
RW
I/P
Variable
Deceleration
RW
I/P
Variable
DB
Encoder Dead-band
RW
I/P
Variable
Encoder required
DC
Decrement Variable
I/P
Math
Table 4.1A: MCode command summary - All Lexium Products
4-1
4 Command Summary
Abbreviations
Mnemonic
V2.00, 05.2016
Function
Access
Usage
Type
Compatibility notes
DE
Drive Enable/Disable
RW
I/P
Flag
DJ
Deceleration Jerk
RW
I/P
Variable
DT
Deceleration Type
RW
I/P
Variable
End Program
Instruction
EE
Encoder Enable/Disable
RW
I/P
Flag
Encoder required
EF
Error Flag
RC
I/P
Flag
EL
Encoder Lines
RW
I/P
Variable
Lexium Motion Module Only
EM
Echo Mode
RW
I/P
Flag
ER
Error Register
RC
I/P
Variable
ES
Escape <esc> Mode
RW
I/P
Flag
EX
Execute Program
Instruction
F<1-8>
Floating Point Register
RW
I/P
Variable
FC
Filter Capture Input
RW
I/P
Variable
FD
Restore Factory Defaults
I/P
Instruction
FL
Following Mode Enable
RW
I/P
Flag
FS
Index Offset Setting
RW
I/P
Variable

Encoder required
FT
Reserved
Hold Program Execution
Instruction
HC
Hold Current
RW
I/P
Variable
HF
Home to Index Offset
I/P
Instruction

Encoder required
HI
Home to Index
I/P
Instruction

Encoder required
HM
Home to Home Switch
I/P
Instruction
HT
Hold Current Delay
RW
I/P
Variable
I<1-4>
Read Input 1 - 4
RO
I/P
Variable
I5
Read Analog Input
RO
I/P
Variable
I6
Read Encode Index
RO
I/P
Variable
Encoder required
IC
Increment Variable
I/P
Instruction
IF
Variable Input Pending
RC
Flag
IN
Read Inputs as BCD
RO
I/P
Variable
IP
Initialize Parameters
Variable
IS<1-4>
Input 1 - 4 Setup
RW
I/P
Variable
IS 5
Analog Input Setup
RW
I/P
Variable
Parameter settings do not

impact LMM analog input
function
IS 6
Encoder Index Setup
RW
I/P
Variable
Encoder required
IT
Internal Temperature
RW
I/P
Variable
IV
Input to Variable
Variable
JE
Jog Enable/Disable
RW
I/P
Flag
List Program Space
Instruction
LB
Label
Instruction
LK
Lock Program
RW
Flag
LM
Limit Mode
RW
I/P
Variable
Table 4.1B: MCode command summary - All Lexium Products
4-2
4 Command Summary
Abbreviations
Function
Access
Usage
Type
Compatibility notes
LS
Mnemonic
Software Limit
RW
I/P
Variable
MA
Move Absolute
I/P
Instruction
MD
Motion Mode
RW
I/P
Variable
MP
Moving to Position
RO
I/P
Flag
MR
Move Relative
I/P
Instruction
MS
Microstep Resolution
RW
I/P
Variable
MT
Motor Settling Delay Time
RW
I/P
Variable
MV
Moving
RO
I/P
Flag
NE
Numeric Enable/Disable
RW
I/P
Flag
O<1-3>
Write Output State
WO
I/P
Variable
OE
On Error Handler
Instruction
OF
Output Fault
RC
I/P
Variable
OS
Output Setup
RW
I/P
Variable
OT
Write All Outputs
WO
I/P
Variable
Position Counter
RW
I/P
Variable
PC
Captured Position
RO
I/P
Variable
PF
Print Format
RW
I/P
Variable
PG
Program Mode
Instruction
PK
Reserved
PM
Position Maintenance
RW
I/P
Flag
Encoder required
PN
Part Number
RO
I/P
Keyword
PR
Print Specified Data/Text
I/P
Instruction
PS
Pause Program
I/P
Instruction
R<1-4>
User Register
RW
I/P
Variable
RA
Radians/degrees
RW
I/P
Variable
RC
Run Current
RW
I/P
Variable
RD
Reverse Direction
I/P
Instruction
RS
Resume Program
I/P
Instruction
RT
Return from Subroutine
I/P
Instruction
Save to FLASH
I/P
Instruction
SF
Stall Factor
RW
I/P
Variable
Encoder required
SL
Slew at Velocity
I/P
Instruction
V2.00, 05.2016
Table 4.1C: MCode command summary - All Lexium Products
4-3
4 Command Summary
Abbreviations
Mnemonic
Function
Access
Usage
Type
Compatibility notes
SM
Stall Detect Mode
RW
I/P
Variable
Encoder required
SN
Serial Number
RO
I/P
Keyword
SU
Start Up
Keyword
ST
Stall Flag
RO
I/P
Flag
Encoder required
TE
Trip Enable
RW
I/P
Flag
TC
Trip on Capture
RW
I/P
Variable
TI
Trip on Input
RW
I/P
Variable
TM
Trip on Main Power Loss
RW
I/P
Variable
TP
Trip on Position
RW
I/P
Variable
TR
Trip on Relative
RW
I/P
Variable
TT
Trip on Time
RW
I/P
Variable
UG
Upgrade Firmware
Instruction
UV
User Variables
Keyword
Current Velocity
RO
I/P
Variable
VA
Declare User Variable
I/P
Instruction
VC
Velocity Changing
RO
I/P
Flag
VI
Initial Velocity
RW
I/P
Variable
VM
Max. Velocity
RW
I/P
Variable
VR
Version
I/P
Keyword
VT
Read Voltage
RO
I/P
Variable
WT
Warning Temperature
RW
I/P
Variable
Table 4.1D: MCode command summary - All Lexium Products
4.1.2
Lexium serial products

The commands listed in Table 4.2 apply specifically to Lexium Motion
products with a serial interface (RS-422/485/UART)
Lexium MDrive Motion Control (P/N LMDxM)
Lexium Motion Module (P/N LMM-15-M)
These commands are disabled on Lexium MDrive Ethernet TCP/IP

products and will return an Error 37: Command/Variable/Flag not available if used.
V2.00, 05.2016
Abbreviations
Mnemonic
Function
Access
Usage
Type
Compatibility notes
BD
BAUD Rate
RW
Variable
CK
Checksum Mode
RW
I/P
Variable
DG
Disable Global Response
RW
I/P
Flag
DN
Device Name
RW
Variable
PY
Party Mode Enable
RW
I/P
Flag
QD
Device Queued
Rw
Flag
Table 4.2: MCode command summary - Serial Communications specific commands
4-4
4.1.3
4 Command Summary

The commands listed in Table 4.3 apply specifically to Lexium Motion
Module. These will return an Error 37: Command/Variable/Flag not
available if used.
Lexium Motion Module (P/N LMM-15-M)
Abbreviations
Mnemonic
Function
Access
Usage
Type
Compatibility notes
EL
Encoder Lines
RW
I/P
Variable
PW
PWM Mask
RW
I/P
Variable
SA
Step Angle
RW
I/P
Variable
Table 4.3: MCode command summary - Lexium Motion Module specific commands
4.1.4
hMTechnology specific
The commands listed in Table 4.4 apply specifically to Lexium MDrive
closed loop products with the hMTechnology functions. These will return
an Error 37: Command/Variable/Flag not available if used on open loop
or Lexium Motion Module products.
Lexium MDrive Motion Control (P/N LMDCMxxx)
Lexium MDrive Ethernet TCP/IP (P/N LMDCExxx)
Abbreviations
Mnemonic
Function
Access
Usage
Type
Compatibility notes
AF
hMT Status
RO
I/P
Flag
AS
hMT Mode
RW
I/P
Variable
AV
Actual hMT Velocity
RO
I/P
Variable
CB
Control Bounds
RW
I/P
Variable
CF
Clear Locked Rotor
I/P
Instruction
LD
Lead Limit
RW
I/P
Variable
LG
Lag Limit
RW
I/P
Variable
LL
Position Lead/Lag
RO
I/P
Variable
LR
Locked rotor
RO
I/P
Flag
LT
Locked Rotor Timeout
RW
I/P
Variable
MF
Makeup Frequency
RW
I/P
Variable
MU
Position Makeup Mode
RW
I/P
Variable
TD
Torque Direction
RW
I/P
Variable
TQ
Torque Percent
RW
I/P
Variable
TS
Torque Speed
RW
I/P
Variable
VF
Torque Velocity Filter
RW
I/P
Variable
V2.00, 05.2016
Table 4.4: MCode command summary - hMTechnology specific commands
4-5
4 Command Summary
4.2
Math functions
The MCode math, comparison, logic and trigonometric operators
shown in Table 4.5 are compatible with all Lexium Motion Control
and Ethernet TCP/IP products. The advanced floating point math
and trigonometric functions are the ONLY available in models with
Firmware Version 6.0.01 +.
Note that math and trigonometric functions performed outside the floating point registers (F1 - F8) will be rounded down to the nearest integer.
Operator
Function
Usage
R1 + R2
R1 - R2
R1 * R2
R1/R2
R1 <> R2
R1 = R2
R1 < R2
R1 <= R2
R1 > R2
R1 >= R2
R1 = R2 &
R1 = R2 |
R1 = R2 ^
R1 = R2 !
Add Two Variables and/or Flags
Subtract Two Variables and/or Flags
Multiply Two Variables and/or Flags
Divide Two Variables and/or Flags
<>
Not Equal
Equal
<
Less Than
<=
Less Than and/or Equal
>
Greater Than
>=
Greater Than and/or Equal
&
AND (Bitwise)
OR (Bitwise)
XOR (Bitwise)
NOT (Bitwise)
Floating point and trigonometric functions - Firmware Version 6.0.01 +
R3
R3
R3
R3
AB
Absolute Value
CS
Cosine
C_
Arc Cosine
LO
Logarithm (Base 2)
L_
Logarithm (Base 10)
PI
Value of Pi 3.141592654
SI
Sine
SQ
Square Root
S_
Arc Sine
TG
Tangent
T_
Arc tangent
F1
F1
F1
F1
F1
F1
F1
F1
F1
F1
F1
=
=
=
=
=
=
=
=
=
=
=
AB
CS
C_
LO
L_
PI
SI
SQ
S_
TG
T_
V2.00, 05.2016
Table 4.5: MCode command summary - Math and Trigonometric functions
4-6
R1
F2
F2
F2
F2
F2
F2
F2
F2
F2
5 COMMAND DETAILS
LEXIUM MCODE REFERENCE MANUAL
COMMAND DETAILS
This section consists of two main subsections, 5.1: Commands, which

has detailed explanation of each Lexium MCode command, and 5.2:
Math, Logic and Trigonometric operators.
5.1 Commands
5.1.1 A (Acceleration)
Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
Function Group
Set/Read Acceleration
Notes
LMM
Access
Motion variable
RW
Usage
Program/
Immediate
Description
Defines the acceleration rate when changing velocity. If the value of A is 76800 steps per second2, the motor accelerates at
a rate of 76800 counts per second, every second at the default linear acceleration type.
With VM (Maximum Velocity) set at 768000 microsteps per second, it takes 10 seconds to reach VM from an initial velocity
(VI) of 0 (axis stopped).
The primary factor determining the range and units applied to the acceleration profile is the logic state of the EE (Encoder
Enable) flag. When disabled (EE=0) acceleration is measured in steps/sec2. When enabled (EE=1) the value represents
encoder counts/sec2.
The secondary factors impacting acceleration is the configuration of AT (Acceleration Type) and AJ (Acceleration Jerk). AT
adds triangle and sinusoidal S-curve capability to the default linear acceleration type. The AJ variable allows the user to set
a constant value to compensate for load oscillations.
Range (Clock mode)
66 to 1100 X 106
Units
106
Range (Encoder)
6 to 44 X
Syntax
A=<integer>, PR A
steps/sec2
counts/sec2
Default
1000000
78125
Code example
Related
A=20000
Set acceleration to 20000 steps/sec2
A=Q1
Set acceleration to be equal to user variable Q1
PR A
Print acceleration value

AJ (Acel Jerk)
AT (Accel Type)
D (Deceleration)
EE (Encoder Enable)
VI (Initial Velocity)
VM (Max Velocity)
V2.00, 05.2016
Networking protocol equivalents

EtherNet/IP
5-1
class
instance
attribute
0x66
0x01
Modbus/TCP
0x0000
5 COMMAND DETAILS
5.1.2 AF (hMT Status)

LMD(O)
Compatibility
LMD(C)
LMM
Function
Mnemonic
AF
Notes
Function Group
Read hMT status
Access
Status Flag
RO
Usage
Program/Immediate
Description
The AF status flag holds the status code reflecting the last hMT status event. In the case where multiple status conditions
exist, the returned result will represent the sum of the active status conditions.
In most cases the flag will return a status code 128: hMT Initialization complete, as hMT will initialize on power up/reset.
Example: PR AF returns a status code of 5, indicating that LD (Lead Limit) and LL (Max. Lead/Lag Limit) were reached.
Status code
Condition
Lead limit reached
Lag limit reached
Maximum lead/lag limit reached
Locked rotor
16
Hybrid mode is active
32
Hardware fault condition exists
64
At zero
128
hMT initialization complete
256
hMT initialization error
Range
See above
Syntax
PR AF, BR <label/address>, AF = <value>
Units
Default
Code example
Related
PR AF
Print the status of AF to the terminal
BR Q1, AF&2
Branch to Q1 if AF not 0 - indicating LG (Lag Limit) is reached
CL Q1, AF=4
Call subroutine Q1 if a lead or lag limit is reached
AO (Attn Output)
AS (hMT Mode)
TA (hMT Status Trip)
V2.00, 05.2016
EtherNet/IP
5-2
class
instance
attribute
0x6A
0x01
Modbus/TCP
0x008F
5 COMMAND DETAILS
5.1.3 AJ (Acceleration Jerk)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
AJ
Function Group
Acceleration Jerk
Firmware 6.00.00+
Notes
LMM
Access
Motion Variable
RW
Usage
Program/
Immediate
Description
Acceleration Jerk is the rate of change of acceleration, or, the derivative of acceleration with respect to time.
The acceleration jerk variable only impacts the motion profile when an S-curve acceleration type (AT=2 or AT=3) is selected.
The jerk value may be adjusted to any integer value between 0 and 127 to compensate for load oscillations. The motion
logic in the Lexium product samples 256 data points during the acceleration ramp. The value applied to AJ represents the
number of data points on either side of the center of the acceleration table, at which the acceleration is at a constant, linear
acceleration at the value defined by A (Acceleration). For example: With AJ=64, the Acceleration ramp will be constant for
128 samples, or 64 samples on either side of the ramp center.
See Figure 5.1: Acceleration Jerk, for example.
DP256
Velocity
DP196
DP128
AJ=127
DP64
AJ=0
DP1
AJ=64
Time
Figure 5.1 Acceleration jerk

Range
0 to 127
Syntax
AJ=<value>,, PR AJ
Units
Default
Code example
Related
AJ=32
Set acceleration jerk to 32
PR AJ
Read the value of AJ to the terminal window

A (Acceleration)
AT (Accel Type)
D (Deceleration)
DJ (Decel Jerk)
VM (Max Velocity)
DT (Decel Type)
V2.00, 05.2016
EtherNet/IP
5-3
Modbus/TCP
5 COMMAND DETAILS
5.1.4 AL (List All Parameters)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
AL
Notes
LMM
Function Group
Return All Parameters
Access
Keyword
RO
Usage
Immediate
Description
The AL keyword is used with the PR (PRINT) instruction to print the value/state of all variables and flags to
the terminal program.
Range
Syntax
PR AL
Units
Default
Code example
PR AL
Related
Read the value of all parameters to the terminal window

FD (Factory Defaults)
IP (Initialize Parameters)
V2.00, 05.2016
EtherNet/IP
5-4
Modbus/TCP
5 COMMAND DETAILS
5.1.5 AO (Attention Output Mask)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
AO
Trigger events vary with hMT
Notes
LMM
Function Group
Set/Read Attention Output

Mask
Access
I/O variable
RW
Usage
Program/Immediate
Description
The AO variable will define the condition(s) on which the attention output triggers LED 2, or to the output point
assigned to the Attention Output function.
If multiple conditions need to trigger the output the result is additive. i.e. Lead limit (4) and Lag limit (8) AO=12,
Moving flag (16384) and Stall Flag (32768) AO=49152
Note that the available trigger events will vary depend on the model Lexium Motion Control product.
Highlighted events apply only to Lexium MDrive models with hMTechnology.
*External encoder required for function
Range
0 - 4,294,967,295
Syntax
AO=<mask>,
Units
Default
Code example
Related
AO=512
Attention active when at hold current level
PR AO
Return the AO mask value to the terminal
O<1-3> (Set Output)
OS (Output Setup)
V2.00, 05.2016
EtherNet/IP
5-5
class
instance
attribute
0x67
0x01
Modbus/TCP
See Modbus/TCP
Fieldbus Manual Section
4.3: Mfg Specific
Function Codes
5 COMMAND DETAILS
5.1.6 AS (hMTechnology Mode Select)

EXECUTION OF MOTION
Changing hMT mode to torque mode (AS=3) will result in immediate motion at the velocity specified
by the torque speed (TS) variable.
zz
Motion will occur immediately on AS=3
Failure to follow these instructions can result in death, serious injury or equipment damage.
Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
AS
Notes
LMM
Function Group
Set/Read hMT Mode Select
Access
Motion Variable
RW
Usage
Program/
Immediate
Description
Sets the operating mode for hMTechnology device to one of four modes: Off, Fixed Current, Variable Current and Torque.
These modes will determine the operational characteristics of the closed loop Lexium MDrive Motion product.
NOTE: MS (Microstep Resolution cannot be set lower than ten (10) when hMTechnology is enabled.
Mode
Operation
hMT inactive (default): Motor performs as a traditional stepper.
Fixed current mode, motor current will be as specified by the run current (RC) and hold current (HC) variables
Variable current mode, motor current will vary as needed to move/position the load with a
maximum current level established by the run current (RC) variable
Torque mode, motor torque and speed will vary as needed to move/position the load at the
maximum torque specified by the set torque percent variable (TQ) at the maximum speed as
specified by the set torque speed variable (TS).
IMPORTANT: Motion will commence IMMEDIATELY upon setting AS=3 without warning.
Range
0-3
Syntax
AS=<mode>, PR AS
Units
Default
Code example
Related
AS=2
Set the hMT mode to variable current
PR AS
Return the hMT mode setting to the terminal

AV (Actual hMT Velocity)
RC (Run Current)
HC (Hold Current)
LR (Locked Rotor)
MF (Makeup Freq)
MU (Position Makeup)
MS (Microstep resolution)
TD (Torque Dir)
TQ (Torque %)
TS (Torque Speed)
V2.00, 05.2016

EtherNet/IP
5-6
class
instance
attribute
0x6A
0x02
Modbus/TCP
0x008E
5 COMMAND DETAILS
5.1.7 AT (Acceleration Type)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
AT
Function Group
Set/Read Acceleration
Type
Firmware 6.00.00+
Notes
LMM
Access
Motion Variable
RW
Usage
Program/Immediate
Description
Defines the type of acceleration profile used when a move is executed. There are three (3) acceleration types available for
Lexium MDrive products: Linear (constant), triangle s-curve and sinusoidal s-curve.
Velocity
VM
linear (AT = 1)
triangle s-curve (AT = 2)
sinusoidal s-curve (AT = 3)
VI
Time
Figure 5.2 Acceleration ramp types

Type
Accel Ramp
Description
Linear (default)
Constant smooth (linear) acceleration from initial to max velocity.
Triangle
Triangle s-curve profile.
Sinusoidal
The sinusoidal s-curve profile is very similar to the triangle s-curve. The
main difference is that it has less jerk when starting or stopping.
Range
1- 3
Syntax
AT=<type>, PR AT
Units
Default
1 - Linear
Code example
Related
AT=3
Set the Acceleration type to sinusoidal s-curve
PR AT
Return the configured acceleration type

A (Acceleration)
AJ (Acceleration Jerk)
D (Deceleration)
DT (Decel Type)
VI (Initial Velocity
VM (Max Velocity)
DJ (Decel Jerk)
V2.00, 05.2016
EtherNet/IP
5-7
Modbus/TCP
5 COMMAND DETAILS
5.1.8 AV (Actual hMT Velocity)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
AV
Notes
LMM
Function Group
Actual hMT Velocity
hMT Variable
Firmware 6.00.00+
Access
RO
Usage
Program/Immediate
Description
AV reads the actual axis velocity when hMT is enabled. The granularity of the output is based upon the setting of
the VF (Velocity Filter).
PR AV | [BR/CL] <label/address>, AV<math><num>
Syntax
Code example
Related
PR AV
0
Print the actual hMT velocity

the hMT velocity is zero
BR Q1,AV>10000
Conditional branch to Q1 when AV is greater than 10000
AS (hMT Mode)
VF (Velocity Filter)
V2.00, 05.2016
EtherNet/IP
5-8
class
instance
attribute
Modbus/TCP
5 COMMAND DETAILS
5.1.9 BD (BAUD Rate)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
BD
LMM
Notes
Function Group
Set/Read Serial BAUD

Rate
Serial RS-422/485/UART only
Access
Communications
Variable
RW
Usage
Program/Immediate
Description
This variable sets the baud rate for serial communications via the RS-422/485 interface. The baud rate is set by indicating
the first two digits of the desired rate as shown in the table below.
In order for the new BAUD rate to take effect, the user must issue the S (SAVE) instruction and then reset the device. When
the Lexium device is reset, it will communicate at the new BAUD rate. Additionally. when the BAUD is changed, it MUST be
matched in Lexium Motion Control Programmer.
A delay time between the command requests to the device must be considered to allow it time to interpret a command and
respond to the host before sending a subsequent command. The time between requests is dependent on the command and
the corresponding response from the device.
The BAUD command is incompatible with Lexium MDrive TCP/IP products. If used, an Error 37: Command not available,
will return when queried.
Mode
Operation
48
4800 bps
96
9600 bps (default)
19
19200 bps
38
38000 bps
11
115000 bps
Note: When placing the product into firmware upgrade mode UG (Upgrade Firmware) the device will automatically set the
BAUD to 19200 bps.
Range
See table above
Syntax
BD =<mode>, PR BD
Units
Default
96 (9600 bps)
Code example
Related
BD=48
Set serial baud rate to 4800 bits per second
PR BD
Read the value of BD to the terminal window

CK (Checksum)
EM (Echo mode)
UG (Upgrade)
V2.00, 05.2016
EtherNet/IP
5-9
Modbus/TCP
5 COMMAND DETAILS
5.1.10 BE (Backlash Enable)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
BE
Notes
LMM
Function Group
Set/Read Backlash Enable
Motion Flag
Firmware 6.00.00+
Access
RW
Usage
Immediate/Program
Description
The BE flag enables the backlash compensation feature.
Backlash is the amount of mechanical variance within a system. For example, the nut on a leadscrew may require several
steps to engage the screw thread. During a direction change, several steps would again be required before the actual
motion in the opposite direction would begin.
Lexium Motion Products are able to compensate for that amount, eliminating any positional errors due to backlash.
using the BM (Backlash Compensation Mode) and BL (Backlash Compensation Amount) variables.
State
Meaning
Disable backlash compensation (default)
Enable backlash compensation
Range
0/1
Syntax
BE=<0/1> | PR BE
Units
Default
Code example
Related
BE=1
Enable backlash compensation
PR BE
Return the state of the backlash compensation enable flag

BL (Backlash Amount)
BM (Backlash Mode
V2.00, 05.2016
EtherNet/IP
5-10
Modbus/TCP
5 COMMAND DETAILS
5.1.11 BL (Backlash Amount)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
BL
Notes
LMM
Function Group
Set/Read Backlash Amount
Firmware 6.00.00+
Access
Motion Variable
RW
Usage
Immediate/Program
Description
This variable represents the amount of backlash compensation employed in motor steps, or in encoder counts if encoder
functions are enabled (EE=1).
The BL variable is signed. If no sign precedes the value, it is assumed to be positive. The minus (-) symbol must always be
programmed, The sign indicates the direction and is only required when using Backlash Compensation Mode 1 (BM=1 Mechanical Compensation).
BL
Ballscrew
Nut
Figure 5.3 Backlash amount parameter
Range
2147483648
Syntax
BL=<steps> | PR BL
Units
steps /
counts
Default
Code example
Related
BL=25600
Set backlash compensation amount to 1/2 revolution @ MS=256 (motor steps)
BL=2000
Set backlash compensation amount to 1/2 revolution @ EE=1 (encoder counts)
PR BL
Return the amount of backlash compensation to the terminal
BE (Backlash Enable)
BM (Backlash Mode)
EE (Encoder Enable)
MS (Microstep Resolution)
V2.00, 05.2016
EtherNet/IP
5-11
Modbus/TCP
5 COMMAND DETAILS
5.1.12 BM (Backlash Mode)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
BM
Notes
LMM
Function Group
Set/Read Backlash Mode
Firmware 6.00.00+
Access
Motion Variable
RW
Usage
Program/Immediate
Description
The BM (Backlash Mode) variable sets the mode of operation for backlash compensation, either mathematical (mode 0) or mechanical (mode 1).
Backlash compensation must be enabled using the BE (Backlash Enable) flag in order to function.
Mode 0: Mathematical Compensation
When mathematical backlash compensation has employed the value of BL (Backlash Amount) adds to each
change of direction. On each reversal move, the controller outputs the programmed move plus the backlash
units to the driver, taking up the backlash from the change in direction and completes the move to the correct
position.
MCode parameters
BE=1
enable backlash compensation
BL=1000
set backlash amount to 1k steps
BM=0
set backlash mode to mathematical
100k
1k
50k
50k
1k
Figure 5.4 Backlash compensation Mode 0: Mathematical
Figure 5.4 illustrates Mode 0 operation using the assumption that backlash is taken up before the first move:
is +100k steps
1)
Move
2)
Move
is -50k steps. When the motor reverses direction, there are 1000 steps of backlash where no
physical motion occurs. When Move
executes on the reversal of direction, the value of BL (1000) is
added to the value of the motion command: MA 50000 + 1000 results in a total motor move distance of
51000 steps, though the load only moves 50000 steps. The position counter (P) records the total move
distance of 51000.
3)
Move
sated
4)
Because the next move, Move

Move
is -50k steps. Because the backlash was taken up during Move , Move is uncompen
, is a reversal of direction, BL
is again added to the +100000 steps of
Mode 1: Mechanical Compensation
V2.00, 05.2016
Mechanical backlash compensation always loads the axis in the direction of the sign () of the BL. A move
in the direction opposite to that indicated by the sign () of BL has the value specified by BL added to it. A
5-12
5 COMMAND DETAILS
separate move is then made relative to the sign () of BL to take up the backlash amount and load the axis.
Whenever possible, program more backlash than there actually is.
MCode parameters
BE=1
enable backlash compensation
BL=15000 set backlash amount to 15k steps
BM=1
set backlash mode to mechnaical
100k
3 1
15k
+
100k + 10k + 5k
10k Mech.
Backlash
Figure 5.5 Backlash compensation Mode 1: Mechanical
Figure 5.5 illustrates Mode 1 operation using the assumption that backlash is taken up and the axis loaded
in the plus (+) direction before the first move:
1)
Move
is plus (+) 100k steps
NOTE: Whenever possible, always enter a larger compensation value than the actual to ensure proper backlash
removal and proper axis loading.
2)
The example in Figure 5.5 assumes 10k steps of mechanical backlash, set BL (Backlash Amount) to
15000 (or some value greater than 10000)
3)
Move
indexes the axis minus (-) 100k steps but due to 10k steps backlash, the (uncompensated) physical movement of the axis would only be 90k steps. Since Move
is opposite the sign of the compensation, 15k sites of compensation is added giving a sum of 115k steps. Because of the physical backlash, the
result would be a 5 unit overshoot.
4)
On execution of Move
, the axis moves back in the plus (+) direction 15k steps 10k to take up backlash and 5k to go to the correct position and load the axis again.
Range
0/1
Syntax
BM=<mode> | PR BM
Units
Default
Code example
Related
BM=1
Set backlash compensation mode to 1: mechanical compensation
PR BM
Return the mode setting for backlash compensation to the terminal

BE (Backlash Enable)
BL (Backlash Amount)
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5.1.13 BP (Break Point)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
BP
Notes
LMM
Function Group
Break Point
Access
Program Instruction
Usage
Program/Immediate
Description
The Break Point Instruction is a debugging tool used to set break points within a program to assist in troubleshooting and
optimizing your Lexium MCode programs.
The program must execute in either trace or single-step mode for the BP instruction to take effect. The program executes for
the number of times specified by the count, then goes into single-step mode at the address or label specified by BP. Press
the spacebar to step through the program if in single-step mode.
While a program is running; typing BP without a value will break a program and allow the spacebar to step through the
program where it is. As if a BP was set.
To disable the break point, set BP=0.
Range
Syntax
BP <label/address>,<count>
Units
Default
Code example
Related
BP X1,3
Break at label X1 after 3 cycles
EX P1,2
Execute program P1 in single-step mode

EX (Execute program)
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5.1.14 BR (Branch)
Compatibility
LMD(O)
Mnemonic
LMD(C)
LMM
Function
BR
Function Group
Branch
Notes
Access
Program Instruction
Usage
Program/Immediate
Description
The branch instruction is used to perform a conditional or unconditional branch to a location in a Lexium MCode program. It
can also be used to perform loops and IF THEN logic within a program.
There are two parameters to a branch instruction. These are used to perform two types of branches:
Conditional Branch
Two parameters define a conditional branch: the first specifies an address or user label where program execution should
continue when the conditions defined by the second parameter occur. The condition parameter may include flag states,
variable values or logical functions. Only one condition may exist.
Example conditions defining the second parameter include:

Input logic states: I1=0 (Input 1 is LOW), I2=1 (Input 2 is HIGH)
Flag logic states: ST=1 (Axis is stalled)
Variable values (user or factory): V1<=10 (User Variable V1 is less than/equal to 10)
Unconditional Branch
In this type of branch the second parameter is not specified, and then the execution continues at the label or address
specified by the first parameter.
Range
Syntax
(unconditional) BR <label/address> | (conditional) BR <label/address>, [VAR/FLG/

IN]<math><condition>
Units
Default
Code example
Related
BR Q1
Unconditional branch to labeled location Q1
BR Q1,I1=1
Conditional branch to labeled location Q1 when input 1 is equal to 1
CL (Call Subroutine)
EX (Execute Program)
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5.1.15 BY (Program Busy)

Compatibility
LMD(O)
Mnemonic
LMD(C)
LMM
Function
BY
Function Group
Program Busy (executing)
Notes
Access
Status Flag
RO
Usage
Immediate
Description
The BY flag indicates the status of program execution: (0) program is not executing or (1) program running.
Range
0/1
Syntax
PR BY
Units
Default
Code example
PR BY
Related
Return the state of the busy flag

E (End Program)
EX (Execute program)
PG (Program Mode)
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5.1.16 C1 (Motor Step Counter 1)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
C1
Notes
LMM
Function Group
Read/Set Counter 1 (Motor

Counts)
Motion Variables
Access
RW
Usage
Program/Immediate
Description
This variable contains the 32-bit integer count of the clock pulses generated by the Lexium MCode compatible device.
Counter 1 supplies the position count for P (Position Counter) when the Lexium Motion product is operating in open loop
mode without an encoder or EE (Encoder Enable) is set to zero (0/disabled).
Rollover behavior:
When C1 reaches its limit in either the plus (+) or minus(-) direction rolls over to the limit value of the opposite signed count
and counts up or down from there.
For example
C1 = 2147483647, its plus (+) upper limit
Enter a plus (+) move of 1 motor count
Issuing PR C1 returns -2147483648, the minus (-) lower limit.
Range
-2147483648 to
+2147483647
Syntax
C1=<counts> | PR C1 | BR <label/address>, C1=<counts>
Units
motor counts
Default
V2.00, 05.2016
Code example
5-17
C1=10000
Set the value of counter 1 to 10000
PR C1
Read the value of counter 1 to the terminal
BR Q1, C1=512000
Conditional branch to named location Q1 when counter 1 = value
CL X5, C1=512000
Conditional call to named subroutine X5 when counter 1 = value
5 COMMAND DETAILS
Snippet File [Download Snippet]

The following program snippet illustrates the declaration of a user variable, Xr, to function as a rollover counter.
The motion runs until C1 reaches a predetermined value, the call a subroutine to increment the rollover counter
variable, then zero C1 before returning to the program.
To use: Download the program sample and extract from the zip file. Open c1-counter-rollover.ixt in Motion Control
Programmer and download to your Lexium Motion product. Enter EX X1 to execute.
This snippet may be adapted to duplicate this functionality with the C2 (Encoder Counter) variable and P (Position
Counter) by replacing the C1 references to the appropriate variable.
Global variables
VA Xr=0
Define user variable Xr (Rollover Counter) and set value to 0
Program Contents
PG 1
LB X1
Enter program mode @address 1, name program X1
'***Motion***
Motion code block
CL X2, C1>=2000000000
BR X1
Call named subroutine X2 when C1 greater than/equal assigned value
'***Subroutine***
LB X2
IC Xr
PR Xr
PR C1
C1=0
RT
Increment the rollover counter register, reset C1 to zero, return from subroutine X2
E
PG
Related
End, exit program mode

C2 (Counter 2)
EE (Encoder Enable)
P (Position Counter)
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5.1.17 C2 (Encoder Counter 2)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
C2
Notes
LMM
Function Group
Read/Set Counter 2
(Encoder Counts)
Access
Motion Variables
RW
Usage
Program/Immediate
Description
This variable contains the 32-bit integer value of the encoder counts read by the Lexium MCode compatible device. In
encoder mode Counter 2 supplies the position count for P (Position Counter) when the Lexium Motion product is operating
in open loop mode without an encoder or EE (Encoder Enable) is set to one (1/enabled).
Rollover behavior:
When C2 reaches its limit in either the plus (+) or minus(-) direction rolls over to the limit value of the opposite signed count
and counts up or down from there.
For example
C2 = 2147483647, its plus (+) upper limit
Enter a plus (+) move of 1 encoder count
Issuing PR C2 returns -2147483648, the minus (-) lower limit.
Range
-2147483648 to
+2147483647
Syntax
C2=<counts> | PR C2 | BR <label/address>, C2=<counts>
encoder counts
Units
Default
Code example
Related
C2=10000
Set the value of counter 2 to 10000
PR C2
Read the value of counter 2 to the terminal
BR Q1, C2=40000
Conditional branch to named location Q1 when counter 2 = value
CL X5, C2=40000
Conditional call to named subroutine X5 when counter 12 = value
C1 (Counter 1)
EE (Encoder Enable)
EL (Encoder Lines)
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5.1.18 CB (Control Bounds)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
CB
Notes
LMM
Function Group
Read/Set Control Bounds

(for hMT)
Access
Motion Variable
Usage
Program/
Immediate
RW
Description
The CB (Control Bounds) variable defines the operational tolerance for the closed loop hMTechnology. The four (4)
settings that are used to tune the control tolerance to optimize the device for torque, speed or balanced torque-speed
performance.
The mode settings represent a range value in full motor steps. The hMTechnology feature keeps the relationship
between the rotor and the stator within the tolerance by the particular mode setting.
For example, CB=0 provides the tightest control bounds for optimal torque performance. The hMT algorithm keeps the
rotor-stator relationship within 1.1 full steps. CB =3 opens the performance gap between the rotor and the stator to 1.7
steps for better speed performance.
CB (Control Bounds) is only applicable when hMTechnology is in fixed or variable current modes (AS=1 or AS=2).
When hMT torque mode (AS=3) is active, control bounds are predefined at 1.1 motor steps (CB=0) and may not be
adjusted.
2 FULL STEPS
STALL
1-2
1-2
STALL
LEAD*
LAG*
Control Bounds Modes

*LAG: rotor is behind stator (accelerating or transient load)
LEAD: rotor is ahead of stator (decelerating or overhauling load)
Figure 5.6 Control bounds variable for hMTl

Mode
Value
Operation
1.1
1.1 motor full steps provides optimal torque performance
1.3
1.3 motor full steps (default)
1.5
1.5 motor full steps
1.7
1.1 motor full steps provides optimal speed performance
Range
0-3
Syntax
CB=<mode> | PR CB
best overall balanced torque-speed performance
Units
Default
Code example
Related
CB=2
Set the control bounds mode for hMT to 1.5 motor full steps
PR CB
Return the control bounds mode to the terminal

AS (hMT Mode)
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5.1.19 CE (Software Reset Enable)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
CE
Notes
LMM
Function Group
Software reset enable/disable
Access
Configuration flag
R/W
Usage
Program/Immediate
Description
This setup flag will configure the device to respond or not respond to a CTRL+C software reset.
Mode
Operation
Disabled, Lexium device will not respond to a CTRL+C input
Enabled (default) CTRL+C entry will assert a software reset, stopping motion and running
programs. Unsaved user variables and data will be lost.
Is addressable in party mode (PY=1), CTRL+C will respond the same as CE=1 when not in
party mode.
Range
02
Syntax
CE=<mode>, PR CE
Units
Default
1 (enabled)
Code example
Related
CE=0
Disable response to software reset command CTRL+C
PR CE
Return the software reset mode to the terminal

DN (Device Name)
PY (Party Mode)
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5.1.20 CF (Clear Locked Rotor)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
CF
Notes
LMM
Function Group
Clear Locked Rotor Error
Access
hMT instruction
Usage
Program/Immediate
Description
The CF instruction clears a locked rotor fault and re-enables the output bridge.
A locked rotor is indicated by both the LR (Locked Rotor Flag), by the assertion of an Error 104, or, by a latched state on the
Attention Output, if so configured using the AO (Attention Output Mask) variable.
A power cycle will also clear a locked rotor.
Range
Syntax
CF
Units
Default
Code example
CF
Related
Clear locked rotor condition, re-enable output bridges

AS (hMT Mode)
LR (Locked Rotor)
LT (Locked Rotor Timeout)
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5.1.21 CK (Checksum Mode)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
CK
Notes
LMM
Function Group
Checksum mode select
Access
Configuration Variable
Usage
R/W
Program/Immediate
Description
This setup variable configures the device to operate in checksum mode. In this mode, appending the ASCII character
representing the value of the checksum is required following the command string.
To calculate the checksum, using an example motion command: MR 51200 (move relative one revolution):
Command
<space>
82
32
53
49
50
48
48
7-bits
ASCII:
77
Action:
Convert to the sum to binary
1011
0111
Action:
One's complement the result
0100
1000
Action:
Adding one results in a two's complement
0100
1001
Action:
Or result with 128
1100
1001
Result:
sum
Checksum (decimal) =
ASCII Table lookup DEC 201 provides check sum character =
Enter MR 51200[ALT]+0201 OR paste MR

checksum mode
439
201
51200 into the active terminal window to execute command via
To assist in calculating the checksum, we have provided a Microsoft Excel spreadsheet which calculates the checksum and displays
the checksum character. See the Resource Download portion of this table to download the Checksum Calculator.
Mode
Operation
Checksum mode disabled (default)
Puts the device into checksum mode. When enabled, all communications with the device require a checksum
to follow the commands. The checksum is the 2s complement of the 7-bit sum of the ASCII value of all the
characters in the command OR ed with 128 (Hex = 0x80). The command is acknowledged with an NAK (0x15
Checksum verification failure) if the checksum is incorrect or an ACK (0x06 - checksum verification successful)
when the command correctly processes (no error).
Enables checksum mode. However, NAK only sent for bad checksum. ACK is not echoed if a program is running, NAK is only echoed if an error occurs. In immediate mode, both ACK or NAK characters are echoed.
Range
0-2
Syntax
CK=<mode>, PR CK
Units
Default
0 (disabled)
Code example
Related
CK=1
Enable checksum verification in mode 1: ACK and NAK always sent
PR CK
Return the selected checksum mode to the terminal

BD (BAUD Rate)
Resource download
V2.00, 05.2016
Download
Checksum Calculator (*.xlsx)

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5.1.22 CL (Call Subroutine)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
CL
LMM
Notes
Function Group
Call Subroutine
Access
Program Instruction
Usage
Program
Description
This instruction is used to invoke a subroutine within a program, allowing the user to segment code and call a subroutine
from multiple places rather than repeating code within a program.
There are two parameters to the CL (Call Subroutine) instruction. The first specifies the program address or label of
the subroutine to be invoked if the second parameter, the condition, is satisfied. If the second parameter is not used or
blank, the subroutine indicated by the first parameter is always invoked.
The condition setting includes variables, flags as well as logical and input functions that are to be evaluated. There can
only be one condition.
The subroutine must end with an RT (Return) instruction. The RT instruction will cause program execution to return to
the address line following the line invoking a subroutine call.
Range
Syntax
(unconditional) CL <label/address>
(conditional) CL <label/address>, [VAR/FLG/IN]<math><condition>
Units
Default
Code example
Related
CL Q3
Unconditionally call subroutine at labeled location Q3
CL Q3,I1=1
Conditionally call subroutine at labeled location Q3 when input 1 is 1.
BR (Branch)
RT (Return from Subroutine)
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5.1.23 CP (Clear Program Memory)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
CP
LMM
Notes
Function Group
Clear Program Memory
Access
Program Instruction
Usage
Immediate
Description
Clears the program space in the NVM as specified by the instruction parameter. Programs are stored and executed directly
from NVM. The CP instruction will empty program memory only. It will not erase globally declared user variables or flags.
An S (Save) command must be issued following the invocation of a CP (Clear Program).
Issuing an FD (Factory Defaults) will also clear program memory space.
CP may be used with a parameter to determine whether or not to leave user variables.
Parameter
Operation
Retain user variables
Delete user variables
Range
Syntax
CP <label/address> | CP
Units
Default
Code example
Related
CP
S
Clear all of program memory and save
CP 0, P1
Clear program memory occupied by labeled program P1, retain user variables
S (Save)
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5.1.24 CW (Clock Width)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
CW
Function Group
Clock Width for Trip Output
Notes
LMM
Access
I/O Variable
RW
Usage
Program/Immediate
Description
CW sets the pulse width duration for the trip output in 50 nanosecond increments. The trip output will be active for the
duration specified by the CW variable.
ON
50 nS
100 nS
CW=1
CW=3
OUT3 (TRIP)
OFF
Figure 5.7 Clock width command impact on Trip output pulse width
Range
0 - 255
Syntax
CW=<time>, PR CW
50 nSec
Units
Default
10 (x 50 nSec)
Code example
Related
CW=100
Set Trip output clock width to 5000 nSec (100 * 50 nS)
PR CW
100
Read the value of CW to the terminal

Clock width is 100 nSec
PC (Position Capture)
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5.1.25 D1 - D4 (Digital Input Filter)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
D1-D4
Notes
LMM
Function Group
Read/Set Digital Input

Filter
Access
I/O Variable
RW
Usage
Program/Immediate
Description
Variable defines the time in milliseconds that the input is allowed to settle following a state transition, a factor
common to mechanical switches..
Filtering is applied separately to each input.
Range
0 (no filtering) - 255
Syntax
D[1-4]=<time> | PR D[1-4]
milliseconds
Units
Default
Code example
Related
D2=50
Set the digital filter of input 2 to 50 msec
PR D2
50
Read the value of D2 to the terminal

Filtering for input 3 is 50 msec
D5 (Analog Filter)
I[1-4] (Read Input 1-4)
IS (Input Setup)
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0x0010
0x0011
0x0012
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5.1.26 D5 (Analog Input Filter)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
D5
Notes
LMM
Function Group
Set/Read Analog Input

Filter
Access
I/O Variable
RW
Usage
Program/Immediate
Description
The Analog Filter is a continuously updating process. It does a running average (AA) by computing the equation
shown below where D5 (Analog Filter) is a value between 0 and 1000 and I5 (Read Analog Input) is the current
reading between 0 and 4095.
Aa = ((Aa * (D5 - 1)) + I5) / D5

Range
0 1000
Syntax
D5=<counts> | PR D5
milliseconds
Units
Default
Code example
Related
D5=50
Set the analog filter to 50 counts
PR D5
50
Read the value of D5 to the terminal

the analog filter is set to 50
D[1-4] (Input Filter)
I[1-4] (Read Input)
IS (Input Setup)
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5.1.27 D (Deceleration)
Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
Function Group
Set/Read Deceleration
Notes
LMM
Access
Motion variable
RW
Usage
Program/Immediate
Description
Defines the deceleration rate when changing velocity. If the value of D is 76800 steps per second2, the motor decelerates at
a rate of 76800 counts per second, every second at the default linear acceleration type.
The primary factor determining the range and units applied to the deceleration profile is the logic state of the EE (Encoder
Enable) flag. When disabled (EE=0) deceleration is measured in steps/sec2. When enabled (EE=1) the value represents
encoder counts/sec2.
The secondary factors impacting deceleration is the configuration of DT (Deceleration Type) and DJ (Deceleration Jerk). DT
adds triangle and sinusoidal S-curve capability to the default linear deceleration type. The DJ variable allows the user to set
a constant value to compensate for load oscillations.
Range (Clock mode)
66 to 1100 X 106
106
Range (Encoder)
66 to 44 X
Syntax
D=<integer> | PR D
steps/sec2
Units
counts/sec2
Default
1000000
40000
Code example
D=2000
Set deceleration to 2000 steps/sec2
PR D
Print deceleration to the terminal screen

deceleration is set to 2000 steps/sec2
2000
Related
A (Acceleration)
DJ (Decel Jerk)
VM (Max Velocity)
EE (Encoder Enable)
DT (Decel Type)
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5.1.28 DB (Encoder Deadband)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
DB
LMM operability requires connected

and configured encoder
Notes
LMM
Function Group
Encoder Deadband
Access
Motion Variable
Usage
RW
Program/Immediate
Description
This variable defines the plus (+) and minus (-) length of the encoder dead-band in encoder counts.
A move completes when motion stops within the range defined by the DB (Encoder Deadband) parameter. If
PM (Position Maintenance) is enabled, (PM=1), the position corrects when pushed outside of DB value once in
position.
Encoder functions must be enabled (EE=1) for the DB to take effect.
Range
0 65000
Syntax
DB=<counts>, PR DB
counts
Units
Default
Code example
Related
DB=10
Set the encoder deadband to 10 counts
PR DB
Read the value of DB to the terminal
C2 (Counter 2)
EE (Encoder Enable)
SM (Stall Mode)
ST (Stall Flag)
PM (Position Maint.)
SF (Stall Factor)
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5.1.29 DC (Decrement Variable)

Compatibility
Mnemonic
DC
LMD(O)
LMD(C)
Function
LMM
Function Group
Decrement Variable
Instruction
Notes
Access
Usage
Program/Immediate
Description
Decrements the specified factory or user variable by one (1).
Attempting to decrement an unspecified or a read-only variable asserts an Error 25: variable is read-only.
Attempting to decrement a mode select or configuration variable, for example MS (Microstep Resolution) asserts
an Error 26: attempting to increment or decrement an illegal variable.
DC <var>
Syntax
Code example
DC V1
Related
Decrement user variable V1
IC (Increment Variable)
VA {Create User Var)
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5.1.30 DE (Drive Enable/disable))

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
DE
Notes
LMM
Function Group
Drive Enable/disable
Access
Configuration Flag
RW
Usage
Program/Immediate
Description
Enables (1- default) or disables (0) the drive output bridges.
Issuing a motion command, for example, MA (Move Absolute), MR (Move Relative), SL (Slew), or any homing
command while the drive is disabled (DE=0), returns an Error 94: attempting motion while the drive is disabled.
Mode
Operation
Bridge outputs disabled. Attempting motion returns an error 94.
Bridge outputs enabled (default).
Range
0/1
Syntax
DE=<mode>
Units
Default
1 - Enabled
Code example
DE=0
Related
Set drive enabled state to 0 (disabled)
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5.1.31 DG (Disable Global)

Compatibility
Mnemonic
LMD(O)
LMD(C)
LMM
Function
DG
Function Group
Enable/disable global
response in party mode
Serial RS-422/485 models and LMM

only
Notes
Access
ConfigurationFlag
RW
Usage
Program/Immediate
Description
Enables or disables device response to global commands made while in party mode (PY=1). In the default state
(DG=1) the device executes global commands without sending back a response. By setting DG=0, that device
responds global commands.
Mode
Operation
Enable global response to commands (commands echo back to terminal)
Disable global response to commands (default command does not echo back to terminal)
Note that DG only impacts operation when the device is in serial party mode (PY=1).
Range
0/1
Syntax
DG=<mode> | <dn>DG=0
Units
Default
Code example
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Related
5-33
DG=0
Enable global response to commands
aDG=0
Enable global response to commands on named device "a"
DN (Device name)
PY (Party Mode)
5 COMMAND DETAILS
5.1.32 DJ (Deceleration Jerk)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
DJ
Firmware 6.00.00+
Notes
LMM
Function Group
Read/Set Deceleration
Jerk
Access
Motion Variable
Usage
RW
Program/Immediate
Description
Deceleration Jerk is the rate of change of Deceleration, or, the derivative of Deceleration with respect to time.
The Deceleration jerk variable only impacts the motion profile when an S-curve Deceleration type (DT=2 or DT=3) is
selected.
The jerk value may be adjusted to any integer value between 0 and 127 to compensate for load oscillations. The motion
logic in the Lexium product samples 256 data points during the deceleration ramp. The value applied to DJ represents the
number of data points on either side of the center of the deceleration table, at which the deceleration is at a constant, linear
deceleration at the value defined by D (Deceleration). For example: With DJ=64, the deceleration ramp will be constant for
128 samples, or 64 samples on either side of the ramp center. See Figure 5.8: Deceleration Jerk, for example.
DP256
Velocity
DP196
DP128
DJ=127
DP64
DJ=0
DP1
DJ=64
Time
Figure 5.8 Deceleration jerk

Range
0 to 127
Syntax
DJ=<value> | PR DJ
Units
Default
Code example
Related
DJ 32
Set deceleration jerk to 32
PR DJ
32
Read the value of DJ to the terminal window

decel jerk is set to 32
A (Acceleration)
AJ (Accel Jerk)
VM (Max Velocity)
AT (Accel Type)
DT (Decel Type)
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5 COMMAND DETAILS
5.1.33 DN (Device Name)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
DN
LMM
Function Group
Device name for party

mode
Serial RS-422/485 models and LMM

only
Notes
Access
Communication variable
RW
Usage
Program/Immediate
Description
Configures the name of the device for party mode communications. The acceptable range of characters is a-z,
A-Z, 0-9. The factory default is ! Once named, the device name must precede the instruction to that drive. When
assigning a device name, the character MUST be within quotation marks. Attempting to assign a device name
without enclosing it within quotation marks returns an Error 21.
The name is case sensitive.
Resetting the device to the default character (!) requires an FD (Factory Default Reset). The device name must be
saved or it will be lost on power cycle or factory reset.
Range
a-z, A-Z, 0-9
Syntax
DN="<char>" | PR DN
Units
ASCII
Code example
V2.00, 05.2016
Related
5-35
DN="a"
Set the device name to the character "a"
PR DN
Return the device name to the terminal window
PY (Party Mode)
Default
5 COMMAND DETAILS
5.1.34 DT (Deceleration Type)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
DT
LMM
Function Group
Read/Set Deceleration
Type
Firmware 6.00.00+
Notes
Access
Motion Variable
RW
Usage
Program/Immediate
Description
Defines the type of deceleration profile used when a move is executed. There are three (3) deceleration types available for
Lexium products: Linear (constant), triangle s-curve and sinusoidal s-curve.
Velocity
VM
VI
linear (DT = 1)
triangle s-curve (DT = 2)
sinusoidal s-curve (DT = 3)
Time
Figure 5.9 Deceleration types

Type
Accel Ramp
Description
Linear (default)
Constant smooth (linear) deceleration from initial to max velocity.
Triangle
Triangle s-curve profile.
Sinusoidal
The sinusoidal s-curve profile is very similar to the triangle s-curve. The
main difference is that it has less jerk when starting or stopping.
Range
1- 3
Syntax
DT=<type> | PR DT
Units
Default
1 - Linear
Code example
Related
DT=3
Set the deceleration type to sinusoidal s-curve
PR DT
Return the configured deceleration type

A (Acceleration)
AJ (Acceleration Jerk)
D (Deceleration)
DT (Decel Type)
VI (Initial Velocity
VM (Max Velocity)
DJ (Decel Jerk)
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5 COMMAND DETAILS
5.1.35 E (End Program)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
LMM
Notes
Function Group
End program
Program Instruction
Access
Usage
Program/Immediate
Description
The operation of the E (End Program) instruction differs between immediate and program mode.
Program mode
In program mode, the E instruction is used to designate the end of a program.
Immediate mode
An E issued while in immediate mode ends the currently executing program. If a move is in progress, the program
ends after motion completes.
Syntax
Code example
E
V2.00, 05.2016
Related
5-37
End program
PG (Program Mode)
5 COMMAND DETAILS
5.1.36 EE (Encoder Enable)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
EE
Notes
LMM
Function Group
Encoder functions enable
Access
Usage
Configuration flag
Description
Enables or disables encoder mode. Once placed in encoder mode, all motion-related variables and commands
register in encoder counts. The value of P (Position Counter) will update from C2 (Encoder Counter).
Encoder functions such as stall detection and position mainteneance require that encoder functions be enabled
(EE=1).
Mode
Operation
Disable (default) encoder functions, motion registers in motor step counts.
Enable encoder functions, motion registers in encoder counts. Functions such as stall detection and position maintenance are available.
Range
0/1
Syntax
EE=<mode> | PR EE
Units
Default
0 (disabeled)
Code example
Related
EE=1
Enable encoder functions
PR EE
Return the status of encoder functions
C2 (Encoder Counter 2)
DB (Deadband)
EL (Encoder Lines)
FM (Filter Motion)
PM (Position Maintenance)
SF (Stall Factor)
SM (Stall Mode)
ST ((Stall Flag)
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5 COMMAND DETAILS
5.1.37 EF (Error Flag)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
EF
Function Group
Error Flag
Notes
LMM
Access
Status Flag
RO
Usage
Program/Immediate
Description
EF Indicates whether or not an error condition exists. It clears automatically when a new program executes. The
only way to manually clear EF is to read the value of the ER (Error) variable or set ER=0.
If an external indication of the EF status is desired, the AO (Attention Output Mask) may be set to one (AO=1). The
EF state displays on the output point configured as the attention output or on LED 2 on Lexium MDrive products.
There is an instruction, OE (On Error), which allows the user to specify the execution of a subroutine in the
program memory when an error occurs. The subroutine might contain instructions to read the ER variable that
would clear the EF flag.
Value
Operation
No error exists (default).
Error condition exists
Range
0/1
Syntax
PR EF
Units
Default
Code example
PR EF
Related
Read the value of the error flag to the terminal
AO (Attention Output Mask)
ER (Error)
OE (On Error)
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0x65
0x03
Modbus/TCP
0x001F
5 COMMAND DETAILS
5.1.38 EL (Encoder Lines)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
EL
Notes
LMM
Function Group
Encoder Lines
Access
RW
Usage
Program/Immediate
Description
The Lexium Motion Module features quadrature encoder inputs (A/B/Index). EL (Encoder Lines), sets the line count
for the connected encoder and is used as the scaling factor for calculating encoder moves, C2 (Counter 2) reads 4
x EL or 4 counts per line.
MS (Microstep Resolution) is relative to EL. To calculate the minimum value for MS use the following equation:
MS minimum = (EL x 8) <FSREV>
The following example uses a 512 line encoder and a 1.8 stepper motor (200 F:
512 X 8 = 4096, 4096 200 = 20.48
Minimum MS = 25 steps/step (5000 steps/rev.)
Range
1 to 2000
Syntax
EL=<lines>, PR EL
Units
lines
Default
1000
Code example
Set encoder lines
EL=500
Set the encoder lines to match a 500 line encoder (2000 counts/rev)
Display encoder lines setting

PR EL
Related
Return the encoder line count to the terminal window
C2 (Encoder Counter)
EE (Encoder Enable)
MS (Microstep Resolution)
SA (Step Angle)
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5 COMMAND DETAILS
5.1.39 EM (Echo Mode)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
EM
Notes
LMM
Function Group
Read/set Echo Mode
Access
Usage
RW
Program/Immediate
Description
Sets the echo configuration of the communications channel.
Mode
Operation
Echo all entered commands and data back to the terminal. Carriage return/line feed indicates that the
command accepted (full duplex) (default) by the display of the prompt character >.
Do not echo entered commands and data back to the terminal, only return the cursor. CR/LF indicates command accepted by the display of a blinking cursor. Printed values display to the terminal,
i.e. PR EM returns 1.
Does not return prompt, only echoes data requested by PRINT (PR) and LIST (L) commands.
Command and data echo stored in the print queue, returns to the terminal upon termination of the
command string.
Range
03
Syntax
EM=<mode>, PR EM
Units
Default
0 (echo all)
Code example
Related
EM=1
Set the echo mode to 1, do not echo commands and data except for a print.
PR EM
1
Return the echo mode to the terminal window

Echo is set to mode 1
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5 COMMAND DETAILS
5.1.40 ER (Error Register)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
ER
Notes
LMM
Function Group
Variable
Error Register
List of error codes will vary between

products
Access
Usage
R/W
Program/Immediate
Description
Holding register for the most recent error that has occurred. The ER variable must be read or set to zero to clear
the error code and reset EF (Error Flag).
An error condition is indicated by question mark character (?) in place of the prompt (>).
A command, OE (On Error Handler) is used to execute a subroutine when an error condition occurs. While OE
activates on any error, subroutines may be executed for specific error codes using BR (Branch) and CL (Call
Subroutine) instructions.
While many error codes are common across the product family, each particular device has error codes associated
with it specifically. Section 9: Error codes lists the error codes for each product:
Section 9.1: Lexium MDrive (Open Loop)
Section 9.2: Lexium MDrive (Closed Loop with hMTechnology)
Section 9.3: Lexium Motion Module
ER=0 | PR ER | BR <label/address>, ER=<code> | CL <label/address>, ER=<code>
Syntax
Code example
Set to a value
ER=0
Clear stored error code
Display error
PR ER
Return last error to the terminal window
Program Flow
Related
BR Q1, ER=86
Branch to labeled location Q1 on error code 86 (motor stall)
CL Z2, ER=104
Call labeled subroutine Z2 on error code 104 (hMT locked rotor)
AO (Attention Output Mask)
BR (Branch)
OE (On Error)
RT (Return)
EF (Error Flag)
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0x65
0x03
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0x00121
5 COMMAND DETAILS
5.1.41 ES (Escape Mode)

Compatibility
LMD(O)
Mnemonic
LMD(C)
LMM
Function
ES
Notes
Function Group
Set Escape Mode
Access
R/W
Usage
Program/Immediate
Description
Sets the mode of escaping a program or motion event, either using the [ESC] key or by keying in [CTRL+E]. Modes
2 and 3 add an addressability function to the escape for operation in PY (Party Mode).
Mode
Operation
Escape triggers on [CTRL + E] keypress
Escape triggers on {ESC] keypress (default)
Addressable escape set to trigger on <device-name>[CTRL + E] keypress
Addressable escape set to trigger on <device-name>[ESC] keypress
Range
03
Syntax
ES=<mode>,, PR ES
Units
Default
Code example
Set escape mode
ES=0
Set escape to trigger on [CTRL + E] keypress
Display mode setting

PR ES
Related
Return last error to the terminal window
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5 COMMAND DETAILS
5.1.42 EX (Execute Program)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
EX
Function Group
Execute Program
Notes
LMM
Access
Program Instruction
Usage
Immediate
Description
Executes a specified program label or address at a selected mode of execution. If the mode is unspecified or 0,
the program executes in normal mode. Modes 1 and 2 aid in application development and troubleshooting by
adding trace and single-step modes.
A custom factory label, SU (Start Up) is provided to execute a program so named on power cycle/software reset
[CTRL + C].
There are three modes of program execution.
Note: Attempting to execute an undefined label will return an Error 30.
Mode
Operation
Normal execution
The program executes continuously until the program E (End), but the instructions are
traced to the communications port so the user can see the instructions as they process
The user can step through the program using the space bar to process each line of the program. The program can be resumed at normal speed in this mode by pressing the enter key
Range
<label/address>, 0 2
Syntax
EX <label/address>,<mode>
Units
Default
Code example
Related
EX G1
Execute program at named location G1 normally
EX G1,2
Execute program at named location G1 in single-step mode
SU (Start Up)
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5 COMMAND DETAILS
5.1.43 F1 F8 (Floating Point Registers)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
F1, F2, ... F8
Notes
LMM
Function Group
Floating Point Registers
Firmware 6.00.00+
Access
Mathematics Variable
RW
Usage
Program/Immediate
Description
Double precision 64-bit floating point registers are used to perform calculations requiring a floating decimal point.
For use with advanced math and trigonometric operators.
When transferred to a user variable or an integer register R1 R4 (User Registers), the fraction portion of the
floating point number is discarded.
When a motion command is used with a floating point register, for example SL=F2 or MA F5 the axis will move at
the rate or to the position represented by the register value, rounded down to the nearest integer.
The display format for the data contained in floating point registers derives from the PF (Print Format) command.
Range
max +
1.7976931348623158308
min +
4.9406564584124655324
Units
Default
F<num>=<fpvalue>, F<num><math/trig><var/reg>
Syntax
Code example
Set to a value
F2=3.256
Set F2 to a value of 3.256
Math and trig function
Related
F2=CS R3
Set F2 to the cosine value of register R3
F1=R2*F2
Multiply R2 by F2
R<1-4> (User Registers)
PF (Print Format)
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5 COMMAND DETAILS
5.1.44 FC (Filter Capture)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
FC
Notes
LMM
Function Group
Set capture input filtering
I/O Variable
Not applicable to LMDxx42
Access
RW
Usage
Program/Immediate
Description
Sets the digital filtering to be applied to Input 1 when configured as a Capture input (type = 12).
Mode
'
Min Pulse
Cutoff Frequency
0 (default)
50 nS
10 MHz
150 nS
3.3 MHz
200 nS
2.5 MHz
300 nS
1.67 MHz
500 nS
1.0 MHz
900 nS
555 kHz
1.7 S
294.1 kHz
3.3 S
151 kHz
6.5 S
76.9 kHz
12.9 S
38.8 kHz
Note that the FC command is not available on Lexium MDrive NEMA 17 Motion Control and Ethernet TCP/IP
product.
Range
09
Syntax
FC=<mode>, PR FC
Units
Default
Code example
Related
FC=2
Set capture input to filter signals with a pulse width <150 nS, or of frequency
greater than 3.3 MHz
PR FC
Return the filter setting for the capture input
IS (Input Setup)
TC (Trip Capture)
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attribute
0x67
0x07
Modbus/TCP
0x0024
5 COMMAND DETAILS
5.1.45 FD (Factory Defaults)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
FD
Notes
LMM
Function Group
Restore factory default settings
Instruction
Access
Usage
Immediate
Description
Issuance of the FD (Factory Defaults) command resets the device to factory default state WITHOUT WARNING
upon entering FD followed by a carriage return. An FD results in the loss of all saved data: programs, user
variables, and stored parameter values.
NVM values will be retained. PN (Part Number), SN (Serial Number), PW (PWM Mask) and FS (Index Offset)
settings.
FD
Syntax
Code example
FD
V2.00, 05.2016
Related
5-47
Reset the device to factory default state
CP (Clear Program)
5 COMMAND DETAILS
5.1.46 FL (Following Mode Enable)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
FL
Notes
LMM
Function Group
Following Mode Enable
Configuration Flag
Firmware 6.00.00+
Access
Usage
RW
Program/Immediate
Description
When in an enabled state (FL=1), the axis follows the signals on the input pins 3 and 4 at a 1:1 ratio.
Prerequisite: Configuration of IN3 and IN4 as an clock inputs: Step/Direction, ENC A/ENC-B or Step Up/Step Down
is required.
Mode
Operation
Normal operation, axis motion controlled program or immediate command
Axis motion follows inputs 3 and 4 at a 1:1 ratio
Note that the FL command is not applicable to the encoder inputs on the Lexium Motion Module. These inputs are
strictly for encoder mode of operation.
Range
0/1
Syntax
FL=<0/1>, PR FL
Units
Default
0 (disabled)
Code example
Prerequisite
IS=3,13,1
IS=4,13,1
Configure IN3 & IN4 to step direction
Operation
FL=1
Enable following mode
Return status
PR FL
Related
Return the following mode setting
FM (Filter Motion)
I<3-4> (Inputs 3-4)
IS (Input Setup)
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5 COMMAND DETAILS
5.1.47 FM (Filter Motion Inputs)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
FM
Function Group
Filter Motion Inputs
Firmware 6.00.00+
Notes
LMM
Access
I/O Variable
Usage
RW
Description
Sets the digital filtering applied to Inputs 3 and 4 when configured as clock inputs.
Prerequisite: Configuration of IN3 and IN4 as an clock inputs: Step/Direction, ENCA/ENCB or Step Up/Step Down
is required.
Mode
Min Pulse
Cutoff Frequency
50 nS
10 MHz
150 nS
3.3 MHz
200 nS
2.5 MHz
300 nS
1.67 MHz
500 nS
1.0 MHz
900 nS
555 kHz
1.7 S
294.1 kHz
3.3 S
151 kHz
6.5 S
76.9 kHz
12.9 S
38.8 kHz
Range
09
Syntax
FM=<mode>, PR FM
Units
Default
Code example
Related
IS=3,13,1
IS=4,13,1
Configure IN3 & IN4 to step direction
FM=2
Set the motion inputs to filter signals with a pulse width <150 nS, or of frequency
greater than 3.3 MHz
PR FM
2
Return the motion filter setting

Motion input filter is set to 200 nS
FL (Following Mode Enable)
I<3-4> (Inputs 3-4)
IS (Input Setup)
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5 COMMAND DETAILS
5.1.48 FS (Index Offset Setting)
Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
FS
LMM
Firmware 6.00.00+, if using an LMM a

connected and configured encoder is
required.
Notes
Function Group
Index Offset Setting
Access
RW
Usage
Program/Immediate
Description
FS (Index Offset) sets the reference position for HF (Home to Index Offset) operation. It represents the offset
between the encoder index mark and the manually set shaft flat position.
FS is configured using a utility included in the Motion Control Programmer application. To configured, select View >
Set Shaft Flat Position and follow the instructions on the configuration dialogs.
To manually calculate the value of FS (no load on shaft):
1)
Perform a Home to Index operation. For example HI 1 will home the axis to the encoder index mark. You
may verify the index by entering PR I6 in the terminal. A returned value of 1 indicates the index mark is
aligned.
2)
Zero the encoder counter by entering C2=0.
3)
Disable the driver by entering DE=0 to allow free rotation of the shaft.
4)
Manually move the motor shaft to the desired position.
5)
Retrieve the value of C2 by entering PR C2.
6)
Calculate FS = C2*12.8 and enter FS=<result>
7)
Re-enable the driver (DE=1)
Make a positional move, HF <mode> will home the axis to the Index offset position.
NOTE: A closed loop Lexium MDrive or Lexium Motion Module with a connected and configured encoder is
required.
Range
25600
Syntax
FS=<counts>, PR FS
Units
Counts
Default
Code example
Related
FS=10246
Set the offset to 10346 counts
PR FS
Read the value of the shaft flat offset
HF (Home to Offset)
I6 (Index Mark)
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5 COMMAND DETAILS
5.1.49 FT (Reserved)
Mnemonic
FT
Function
Function Group
Reserved for Factory
Reserved
Access
Usage
Description
FT is reserved for factory use. Attempting to use FT as a user variable or label will return an Error 24: Illegal data
entered.
V2.00, 05.2016
Range
5-51
Units
Default
5 COMMAND DETAILS
5.1.50 H (Hold Program Execution)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
Notes
LMM
Function Group
Hold program execution
Access
Program Instruction
Usage
Program
Description
The hold instruction is used in a program to suspend program execution. There are two ways to use the hold
instruction:
H, when not followed by the time parameter suspends program execution until the motion completes. Used without
the time parameter, a Hold should always follow a programmed motion instruction such as MA (Move Absolute) or
MR (Move Relative). H should also follow the homing instructions: HI (Home to Index), HM (Home to Home Switch)
or HF (Home to Offset)
The only parameter to the hold instruction suspends program execution for the specified number of milliseconds.
Range
1 - 65000
Syntax
H, H <time>
Units
milliseconds
Default
Code example
Related
MA 512000
H
Execute an absolute move, suspend program execution until motion completes
H 20000
Suspend program execution for 20 seconds
E (End Program)
MA (Move Absolute)
HF(Home to Shaft Flat)
HI (Home to Index)
HM (Home to Home Switch)
MR (Move Relative)
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5 COMMAND DETAILS
5.1.51 HC (Hold Current)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
HC
LMM
Notes
Function Group
Access
Motion variable
R/W
Motor holding current
Usage
Program/Immediate
Description
Defines the motor holding current as 0, or OFF, or as a percentage value from 1 to 100%. The transition from RC
(Run Current) to HC (Hold Current) is impacted by two other commands: HT (Hold Current Delay) and MT (Motor
Settling Delay Time). These two variables are additive, with the sum being the total time to transition from the RC
(Run Current) level to the specified standstill current.
Notes:
For Lexium MDrive products the current is only given in a percentage range as the driver is already sized and
tuned to the integrated motor.
The Lexium Motion Module is a 1.5A RMS standalone integrated driver/controller. The actual drive output current is
derived thus: HC=5 results in a holding current level of 0.075A 1.5A * 0.05 = 0.75A.
Range
0 (disabled), 1 to 100
Syntax
HC=<percent>, PR HC
Percent (%)
Units
Default
5%
Code example
Related
HC=0
Disable holding current, motor is at set RC (Run Current) at all times
PR HC
Read the value of the holding current
HT (Hold Current Delay time)
MT (Motor Settling Delay Time
RC (Run Current)
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5 COMMAND DETAILS
5.1.52 HF (Home to Offset)

For a detailed explanation on the homing types see
[homing parameter details section]. The homing types are common to all
the homing instructions.
Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
HF
Notes
LMM
Function Group
Home to Index Offset
Firmware 6.00.00+
Encoder
Access
Motion instruction
Usage
R/W
Program/Immediate
Description
This instruction moves the axis to an offset position of the encoder index mark position specified by FS (Offset
Setting)
When HF executes, the axis moves in specified direction at VM (Maximum Velocity) until it reaches the preset
position. It then creeps away from the home position in the direction specified at VI (Initial Velocity). Motion ceases
as soon as the shaft flat position clears.
Diagrammed in detail in [homing parameter details section] are the four combinations for this command, as well as
for the related HI (Home to Index Mark) and HM (Home to Home Switch) instructions.
Type
Slew (VM) direction
Creep (VI) direction
(-) minus
(+) plus
(-) minus
(-) minus
(+) plus
(-) minus
(+) plus
(+) plus
Range
1 to 4
Syntax
HF <type>
Units
Default
Code example
Seek index offset position in the (+) direction, creep off position in (-) minus
direction
HF 3
Related
EE (Encoder Enable)
FS (Offset Setting)
VM (Maximum Velocity)
HI (Home to Index)
HM (Home to Home Switch
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5.1.53 HI (Home to Index Mark)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
HI
Notes
LMM
Function Group
Home to Index Mark
Encoder
Access
Motion instruction
Usage
R/W
Program/Immediate
Description
This instruction homes the axis to the encoder index mark.
When HI executes, the axis moves in specified direction at VM (Maximum Velocity) until it reaches the encoder
index. It then creeps away from the index position in the direction specified at VI (Initial Velocity). Motion ceases as
soon as the shaft flat position clears.
Diagrammed in detail in [section var] are the four combinations for this command, as well as for the related HF
(Home to Index Offset) and HM (Home to Home Switch) instructions.
Type
Slew (VM) direction
(-) minus
(+) plus
(-) minus
(-) minus
(+) plus
(-) minus
(+) plus
(+) plus
Range
1 to 4
Syntax
HI <type>
Units
Default
Code example
HI 1
Related
Seek encoder index in the (-) minus direction, creep off in (+) plus direction
EE (Encoder Enable)
FS (Offset Setting)
HF (Home to Offset)
HM (Home to Home)
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5.1.54 HM (Home to Home Switch)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
HM
Notes
LMM
Function Group
Home to Home Switch
Access
Motion instruction
R/W
Usage
Program/Immediate
Description
This instruction homes the axis to Home Switch.
When HM executes, the axis moves in specified direction at VM (Maximum Velocity) until it reaches the home
switch. It then creeps away from the switch in the direction specified at VI (Initial Velocity). Motion ceases as soon
as the switch deactivates.
To use HM (Home to Home Switch), a switch connected to an input defined as home using the IS (Input Setup)
command thus IS=<input #>, 5,<active>. For example, Is=2,5,0 configures Input 2 as a homing input, active when
low.
Diagrammed in detail in [homing parameter details section] are the four combinations for this command, as well as
for the related HF (Home to Index Offset) and HI (Home to Index) instructions.
Note that HM is the only homing function available without an encoder.
Type
Slew (VM) direction
(-) minus
(+) plus
(-) minus
(-) minus
(+) plus
(-) minus
(+) plus
(+) plus
Range
1 to 4
Syntax
HM <type>
Units
Default
Code example
HM 1
Related
Seek home switch in the (-) minus direction, creep off in (+) plus direction
EE (Encoder Enable)
FS (Offset Setting)
HF (Home to Offset)
HI (Home to Index)
IS (Input Setup)
LM (Limit Method)
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5.1.55 HT (Holding Current Delay)

Compatibility
LMD(O)
Mnemonic
LMD(C)
LMM
Function
HT
Holding current delay
Notes
Function Group
Access
Motion variable
R/W
Usage
Program/Immediate
Description
Delay in milliseconds between the RC (Motor Run Current) and HC (Motor Hold Current)., The delay time is also
impacted by the MT (Motor Settling Delay) variable. The sum of MT + HT represents the total time delay between
RC and HC.
The total of MT+HT cannot add up to more than 65535, thus, the value of MT is included in the total delay.
Thus the maximum setting for HT=(65535-MT). If setting HT to 0, MT is still in effect. If both HT and MT are set to
0, the current will not reduce, but maintain the RC (Run Current) percentage.
Exceeding this maximum returns an Error 21: Illegal data value entered.
DELAY =
HT +
MT
Current
Motion Stops (MV=0)
RC% (Run Current)
HC% (HoldCurrent)
Time
Figure 5.10 HT (Hold Current Delay) and MT (Motor Settling Delay) relationship
Range
0 to (65535-MT)
Syntax
HT=<time>, PR HT
milliseconds
Units
Default
500
Code example
Related
HT=0
Disable HT, motor will still delay the set MT value
PR HT
Read the value of HT (Hold Current Delay)
HC (Hold Current)
MT (Motor Settling Delay)
RC (Run Current)
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5 COMMAND DETAILS
5.1.56 I<1-4> (Read Input 1-4)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
I1, I2, I3, I4
Notes
LMM
Function Group
Read input logic state
I/O variable
Input 1 is not available on NEMA 17 (42

mm) models.
Access
RO
Usage
Program/Immediate
Description
Reads the state of the specified input 1 - 4. I(x) is used with PR (Print), BR (Branch) and CL (Call Subroutine)
instructions and with registers and user variables.
The response to the input state will be dependent on active (low/high) setting of the input.
Range
0/1
Syntax
PR I<x>, BR <label/address>, I<x>=<0/1>, CL <label/address>, I<x>=<0/1>
Units
Default
Code example
Related
PR I2
Return the logic state of input 2
BR L2,I3=1
Branch to labeled location L2 when input 3 is HIGH
CL Q5,I4=0
Call subroutine Q5 when I4 is zero
IN (Read all inputs)
IS (Input setup)
OS (outut setup)
OT Set all outputs)
O<1-3> (Set output)
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0x002E
0x002F
0x0030
5 COMMAND DETAILS
5.1.57 I5 (Read Analog Input)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
I5
LMM
Notes
Function Group
Read analog input
I/O variable
Access
RO
Usage
Program/Immediate
Description
Reads the current value of the 12-bit analog input, which ranges from 0 to 4096 counts. The counts represent the
signal amplitude sensed on the analog input.
Range
0 to 4096
counts
Syntax
PR I5, BR <label/address>, I5 =<integer>, CL <label/address>, I5=<integer>
Units
Default
Code example
Related
PR I5
Return the vslue of the analog input
BR L2,I5>2048
Branch to labeled location L2 when I5 is greater than 2048 counts
CL Q5,I5=<2048
Call subroutine Q5 when I5 is equal or less than 2048 counts
IS (Input setup)
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5 COMMAND DETAILS
5.1.58 I6 (Read Encoder Index)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
I6
Notes
LMM
Function Group
Read encoder index mark
I/O variable
Access
Usage
RO
Program/Immediate
Description
Reads the logic state of the encoder index mark. This will either be one or zero, as there are no configuration
settings for the index mark.
Typical uses for this variable would include: running a subroutine or incrementing a counter variable when the
index mark is active.
Range
0 or 1
Syntax
PR I6, BR <label/address>, I6 =<0/1>, CL <label/address>, I6=<0/1>
Units
Default
Code example
Related
PR I6
Read the value of the encoder index
BR L2,I6=0
Branch to labeled location L2 when I6 is zero
CL Q5,I5=1
Call subroutine Q5 when I6 is one
IS (Input setup)
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5 COMMAND DETAILS
5.1.59 I7 - I13 (Reserved)

Mnemonic
I7-I13
Function
Reserved
Function Group
Reserved
Access
Usage
Description
V2.00, 05.2016
Reserved for factory use. Attempting to use as a user variable or label will return an Error 24: Illegal data entered.
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5 COMMAND DETAILS
5.1.60 IC (Increment Variable)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
IC
LMM
Function Group
Increment variable
Instruction
Notes
Access
Usage
Program/Immediate
Description
Increments the specified variable by adding one.
Attempting to increment an unspecified or a read-only variable asserts an Error 25: variable is read-only.
Attempting to increment a mode select or configuration variable, for example MS (Microstep Resolution) asserts an
Error 26: attempting to increment or decrement an illegal variable.
IC <var>
Syntax
Code example
Related
IC R1
Increment register 1
IC V2
Increment user variable V2
DC (Decrement Variable)
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5 COMMAND DETAILS
5.1.61 IF (Variable Input Pending)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
IF
LMM
Notes
Function Group
Variable input pending
Conditional Flag
Access
Usage
RW
Program/Immediate
Description
The IF instruction is automatically set to 1 when IV command is executed. The IF flag reflects an input value from
the communications port is pending, not that one has been received. IF will be cleared to zero (0) with a carriage
return or can be reset manually by entering IF=0.
Note that IF may only be cleared, not manually set to 1.
Range
0/1
Syntax
IF=0
Units
Default
Code example
IF=0
Related
Clear the input variable pending flag
IV (Input to Variable)
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5.1.62 IN (Read Inputs as group)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
IN
Notes
LMM
Function Group
Read all inputs as a group
Access
I/O keyword
RO
Usage
Program/Immediate
Description
Reads the binary state of the inputs and returns them as a decimal value. When used thus, Input 1 is the Least
Significant Bit (LSb) and Input 4* is the Most Significant Bit (MSb). It may be used in conjunction with PR (Print),
BR (Branch) and CL (Call Subroutine) instructions.
The value is a function of the actual state of the IO where 1 = input voltage (+5 to +24 +VDC) and 0 = Ground. The
level used to define the active state is a parameter of the IS (Input setup) variable.
Digital input filtering (D1-D4) has no effect on the data read.
* Lexium MDrive NEMA 17 (42 mm) products have only three inputs. In these products input 3 will be the MSb and the total range
is IN=<0-7>
Range
0 - 15
Syntax
PR IN, BR <addr/lbl>,IN=<0-15>, CL <addr/lbl>, IN<0-15>
Units
Default
Code example
Related
PR IN
>07
Print value of IO4-IO1
BR L5,IN=07
Branch to named location L5 if IN=07
CL K3,IN=13
Call subroutine K3 if IN=13
IS (Input setup)
OS (Output setup)
OT (Set Outputs as Group)
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5.1.63 IP (Initialize Parameters)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
IP
LMM
Notes
Function Group
Initialize parameters
Instruction
Access
RW
Usage
Program/Immediate
Description
Restores all of the device variable and flag parameters to their stored values. This instruction will not delete user
variables, but it will restore the last saved value of the user value.
If IP is used while the motor is moving an Error 74: Tried to initialize parameters or clear program while moving, will
be asserted.
IP
Syntax
Code example
IP
Related
Return all saved variable values and flag states to the last saved.
S (Save)
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5.1.64 IS <1-4> (Input Setup IN1-IN4)
Compatibility
Mnemonic
LMD(O)
LMD(C)
LMM
Function
IS
Function Group
Setup Inputs 1 to 4
Clock input types (13, 14, 15) are

only available on models with
Firmware 6.00.00+
Notes
Access
I/O Instruction
Usage
RW
Program/Immediate
Description
This instruction is used to configure the input parameters. These parameters define the function and active state.
When used as a keyword (PR IS), the instruction will return the configuration of all inputs.
Input parameters
Param
Description
Values
Default
Input line number
1-4
Input function type
(see type table)
0 (General Purpose User)
Input active response
0 (LOW active), 1 (HIGH active)
0 (LOW active)
Input function types
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Type
5-66
Function
Notes/restrictions
General purpose user; (default for all inputs) typically used to trigger
events within a program
Homing; functionality is defined by the HM instruction
See HM (Home to Home)
Limit +; functionality is defined by the LM instruction
See LM (Limit Response)
Limit ; functionality is defined by the LM instruction
See LM (Limit Response)
G0; will execute a program stored at address 1 on activation.
Soft stop; stops motion with deceleration and halts program execution. If
program is paused (PS), input is ignored.
Pause; pause/resume program with motion
Jog +; jogs motor in the positive direction at VM (Maximum Velocity). JE

(Jog Enable) must be set for this to function.
Jog ; jogs motor in the minus direction at VM (Maximum Velocity). JE (Jog

Enable) must be set for this to function.
11
Reset; equivalent to a ^C entered into a terminal. Note: If setting the input to

sourcing, HIGH, ground the input first or a reset will occur.
12
Capture; operates with the Trip Capture (TC) trip to run a subroutine when
active
High speed function available on Input #1 ONLY. Not

available on NEMA 17 (42
mm) models.
13
Step (IN3) / Direction (IN 4); step clock and direction inputs
14
ENC A (IN3) / ENC B (IN 4); encoder channel A & B inputs
15
StepUp (IN3) / StepDown (IN 4); step up and step down inputs
See JE (Jog Enable) and

VM (Max. Velocity)
The clock functions may

only be assigned to inputs
3 and 4 as a pair. Setting
one of the inputs to a clock
function will automatically
change the opposite input
to the corresponding type.
5 COMMAND DETAILS
Syntax
IS=<1-4>,<type>,<active> | PR IS
Code example
IS=1,2,1
Set Set input 1 to homing function, HIGH active
IS=3,13,0
Set input 3 to step clock function type. Input 4 will automatically set to direction
type
PR IS
IS =
IS =
IS =
IS =
IS =
Related
1,
2,
3,
4,
6,
2, 1
0, 1
13, 0
13, 0
0, 1
Retun the input settings

Response: notice IN4 automatically sets to the corresponding clock type
D<1-4> (Input Filter)
I<1-4> (Read Input)
IN (Read All Inputs)
O<1-4> (Set Output)
OS (Output Setup)
OT (Set All Outputs)
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Modbus/TCP
MFG specific function

code, See MODBUS/
TCP manual, Section
4.3
5 COMMAND DETAILS
5.1.65 IS <5> (Analog Input Setup)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
IS
Notes
LMM
Function Group
Setup Analog Input
I/O Instruction
The analog input on the Lexium Motion

Module is not configurable.
Access
Usage
RW
Program/Immediate
Description
This instruction is used to configure the analog input sense and range for the Lexium MDrive products.When used
as a keyword (PR IS), the instruction will return the configuration of all inputs.
Lexium MDrive
Param
Description
Values
Default
Input line number
5 (Analog input)
Sense
Range
9 (Voltage)
9 (Voltage)
10 (Current)
0 (0 to 5V / 0 to 20 mA )
1 (0 to 10V / 4 to 20 mA)
0 (0 to 5V)

NOTE: The Lexium Motion Module analog input is fixed at voltage mode with an unbuffered range limit of 0 to
3.6V. Attempting to set the LMM analog parameters will return an Error 24: Illegal data entered. Refer to the
LMM hardware manual for example interface circuits.
Syntax
IS=<5>,<sense>,<range> | PR IS
Code example
Related
IS=5,9,1
Set the analog input to voltage mode with a 0 to 10V range.
IS=5,10,0
Set the analog input to voltage mode with a 0 to 10V range.
D5 (Analog Input Filter)
I<1-4> (Read Input)
O<1-4> (Set Output)
OS (Output Setup)
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code, See MODBUS/
TCP manual, Section
4.3
5 COMMAND DETAILS
5.1.66 IS <6> (Encoder Index Setup)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
IS
Notes
LMM
Function Group
Setup Encoder Index
I/O Instruction
Access
Usage
RW
Program/Immediate
Description
This applies strictly to the encoder index mark. The only user configurable parameter is the active state.
Param
Description
Values
Default
Input line number
6 (Index input)
6 (Index input)
Active
Syntax
0 (LOW active)
1 (HIGH active)
0 (LOW active)
IS=<5>,<sense>,<range> | PR IS
Code example
IS=6,1
Related
Set the encoder index input response to HIGH active
EE (Encoder Enable)
FS (Index Offset)
HF (Home to Index Offset)
HI (Home to Index
I6 (Read Index)
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code, See MODBUS/
TCP manual, Section
4.3
5 COMMAND DETAILS
5.1.67 IT (Read Internal Temperature)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
IT
Notes
LMM
Function Group
Read internal temperature
Status Keyword
Access
RO
Usage
Program/Immediate
Description
This keyword, when used with the PR (Print instruction) will return the internal temperature of the device
electronics, measured at two locations, in the following order.
Param
1)
Driver dual H-bridge
2)
Microcontroller
Description
<blank>
Read both sensors, bridge first, then Controller
Read the bridge sensor
Read the Controller sensor
Range
-20 to 100
Syntax
PR IT,<param>
Units
Default
Code example
Related
PR IT
34,37
Return the internal temperature

Bridge temp = 34 C, controller temp = 37 C
PR IT,1
34
Return the internal temperature of the bridge sensor

Bridge temp = 34 C,
PR IT,2
37
Return the internal temperature of the Controller sensor

Controller temp = 37 C,
WT (Warning Temperature)
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Modbus/TCP
MFG specific
function code, See
MODBUS/TCP
manual, Section
4.3
5 COMMAND DETAILS
5.1.68 IV (Input to Variable)

Compatibility
Mnemonic
LMD(O)
LMD(C)
LMM
Function
IV
Notes
Function Group
Input to Variable
Access
Program instruction
Usage
Program
Description
The IV instruction facilitates the input of numeric data into a system or user-defined variable. User variables MUST
be declared prior to issuing an IV.
When using IV, a conditional program loop using the logic state of the IF (Variable Input Pending) flag.
IV <var/reg>
Syntax
Code example
IV used with conditional loop example
IV F1
Input numeric into floating point register 1
LB X2
BR X2,IF=1
Related
Conditional loop to suspend program while the variable input is pending, once
the input is satisfied the IF flag will clear and the program will continue, with the
value input stored in variable F1
IF (Variable Input Pending)
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5.1.69 JE (Jog Enable)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
JE
Notes
LMM
Function Group
Enable jog functions
Configuration flag
Access
RW
Usage
Program/Immediate
Description
JE enables/disables input jog functions. Jogging the motor with using an input point requires the two parameters be
configured.
State
1)
The JE (Jog Enable) must be set to 1 (enabled). By default it is 0 (disabled)
2)
Jog - and/or Jog + input function must be assigned to the appropriate inputs.
Description
Jog functions disabled (default)
Jog functions enabled
Range
0/1
Syntax
JE
Units
Default
Code example
Related
JE=1
Enable jog functions
PR JE
>1
Return the enabled/disabled state of jog functions
IS (Input Setup)
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5.1.70 L (List Program Space)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
Notes
LMM
Function Group
List the contents of program memory
Access
Program instruction
Usage
Immediate
Description
Retrieves the contents of program memory beginning at the specified label or address to the end of user program
space. If no parameter is given it will list the full contents of user program space beginning at address 1.
L <label/address>
Syntax
Code example
Related
Return the contents of program memory, beginning at address 1
L G1
Return the contents of program memory, beginning at label G1
AL (List all Parameters)
CP (Clear Program Space)
FD (Factory Defaults
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5.1.71 LB (Declare User Label)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
LB
Notes
LMM
Function Group
Label Program or Subroutine
Access
Program Instruction
Usage
Program
Description
The Label Instruction allows the user to assign a 2 character name to a program, program location or subroutine.
This label is then accessed within a program using the BR (Branch) and CL (Call Subroutine) instructions.
Labels applied to a program may be executed from immediate mode using the EX (Execute Program) command,
or be label target subroutines for the various MCode trip functions.
There is a limit of 192, an amount shared with user variable names created using the VA (Create User Variable)
instruction.
1.
A label cannot be named after an Lexium MCode Instruction, Variable, Flag or Keyword.
2.
The first character must be alpha, the second character may be alpha-numeric.
3.
A label is limited to two alpha characters or 1 alpha and 2 numeric characters
4.
A program labeled SU will run on power-up
5.
Labels ARE NOT case sensitive.
Usage Tip:
Establish labeling conventions prior to beginning to write a program. For example: G1, G2, G3... for executable
programs, V1, V2, V3 ... for user variables, Q1, Q2, Q3 ... for subroutines, B1, B2, B3 ... for branch targets, T1,
T2, T3 ... for trip routines and etc.
LB <alpha><blank or alpha-num>
Syntax
Code example
LB G1
Related
Label program or location to G1
BR (Branch)
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5.1.72 LD (Lead Limit)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
LD
Notes
LMM
Function Group
Lead limit
hMT Variable
Access
RW
Usage
Program/Immediate
Description
LD sets the limit in motor steps in which the rotor may lead the stator for hMTechnology. When this limit is reached,
an Error 106: Lead limit reached, is asserted.
Conditions causing the rotor position to lead the stator position:
1)
Deceleration rate to high for load
Note that Lead Limit values are only active when AS (hMTechnology Mode) is set to 1, 2, or 3
Range
0 to 2147483647
Syntax
LD=<steps>, PR LD
motor steps
Units
Default
102400
Code example
Related
LD=51200
Set the lead limit for hMT to 51200 motor steps
PR LD
>51200
Read the value of the lead limit
LG (Lag Limit)
LL (Position Lead-Lag)
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5 COMMAND DETAILS
5.1.73 LG (Lag Limit)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
LG
Notes
LMM
Function Group
Lag limit
hMT Variable
Access
RW
Usage
Program/Immediate
Description
LG sets the limit in motor steps in which the rotor may lag the stator for hMTechnology. When this limit is reached,
an Error 107: Lag limit reached, is asserted.
Conditions causing the rotor position to lag the stator position:
1)
Acceleration rate to high for load
2)
Transient load, sudden interuption in the load due to load inertia change or mechanical changes in
the system.
Note that Lag Limit values are only active when AS (hMTechnology Mode) is set to 1, 2, or 3
Range
0 to 2147483647
Syntax
LG=<steps>, PR LG
motor steps
Units
Default
102400
Code example
Related
LG=51200
Set the lead limit for hMT to 51200 motor steps
PR LG
>51200
Read the value of the lead limit
LD (Lead Limit)
LL (Position Lead-Lag)
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5 COMMAND DETAILS
5.1.74 LL (Position Lead/Lag Count)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
LL
Notes
LMM
Function Group
Position Lead/Lag Register
Access
hMTechnology Variable
RO
Usage
Program/Immediate
Description
Read only register holding the number of counts that the rotor leads or lags the stator. A positive value indicates
position lag. A negative value indicates position lead.
hMTechnology will use this counter for position correction.
Note that LL values are only measured when AS (hMTechnology Mode) is set to 1, 2, or
Range
-2147483647 to +2147483647
Syntax
PR LL, CL <label/address>, LL<operator><steps>, BR <label/address>,

LL<operator><steps>
Units
motor steps
Default
Code example
Related
CL k5,LL>102500
Call k5 if LL is greater than 102500
PR LL
>0
Read the value of the Lead/Lag register
LD (Lead Limit)
LG (Lag Limit)
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Modbus/TCP
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5 COMMAND DETAILS
5.1.75 LK (Lock User Program)

Compatibility
LMD(O)
Mnemonic
LMD(C)
LMM
Function
LK
Function Group
Lock user program space
Notes
Access
Program Flag
RW
Usage
Program/Immediate
Description
LK may be used to prohibit user interaction with stored MCode programs by disallowing:
1)
Program upload
2)
Modification
3)
Listing
Once enabled, attempting to list or modify the stored program space will assert an Error 44: User program space
locked.
Once saved program space may only be unlocked by issuing a full CP (Clear Program Space) without parameters
or by entering an FD (Reset to Factory Defaults).
If not saved a lock may be cleared by a power cycle or software reset (CTRL+C).
State
Description
User program space unlocked (default)
User program space locked
Range
0/1
Syntax
LK=<0/1>, PR LK
Units
Default
Code example
V2.00, 05.2016
Related
5-78
LK=1
Lock user program space to prevent upload/list/modification
PR LK
>1
Print the status of the LK flag.
L (List Program Space)
5 COMMAND DETAILS
5.1.76 LM (Limit Response Mode)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
LM
Notes
LMM
Function Group
Limit Response Mode
I/O Variable
Access
Usage
RW
Program/Immediate
Description
LM defines the response taken when a limit is reached. The mode for LM applies to both hardware I/O limit
switches or position limits set in software.
Home
Switch
Plus Direction
Minus
Limit
Plus
Limit
Minus Direction
Switch Trip Point
(Switch Closed)
Actual Stop Position

Because of Decel Rate
(Switch Open)
Distance Relative
to Velocity and Decel Rate
Figure 5.11 LM Limit response

Prerequisites
1)
Limits must be configured, either hardware switch limits using the IS (Input Setup) command, or
software limits configured using the LS (Software Limits) variable.
2)
Limits only work in the defined direction of travel; i.e. +limit only works in the positive direction,
limits only work in the minus direction.
3)
If the limit is active and maintained, the software will only allow motion in the opposite direction.
4)
If homing is active HM (Home to Home Switch), motion will decelerate to a stop, then reverse direction to seek the home switch/ If the home switch is not reached on the reverse and the opposite limit
is reached, all motion will stop with a deceleration ramp.
Limit Response Modes

Mode
Operation
Normal limit function with a deceleration ramp: motion stops, unless homing. If the limit
is active and maintained, the software will only allow motion in the opposite direction.
V2.00, 05.2016
5-79
If homing is active HM (Home to Home Switch), motion will decelerate to a stop, then reverse
direction to seek the home switch/ If the home switch is not reached on the reverse and the
opposite limit is reached, all motion will stop with a deceleration ramp.
A limit stops all motion with a deceleration ramp whether or not homing is active
A limit stops all motion with a deceleration ramp and stop program execution
Functions as LM=1 but with no deceleration ramp
5 COMMAND DETAILS
Range
1 to 6
Syntax
LM=<mode>, PR LM
Mode
Units
Default
Code example
Related
LM=6
Stop motion without deceleration and program execution when a limit is reached
PR LM
6
Return the current limit stop mode
HM (Home to Home)
LS (Soft Limits)
IS (Input Setup)
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0x0042
5 COMMAND DETAILS
5.1.77 LR (Locked Rotor)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
LR
Notes
LMM
Function Group
Locked Rotor
hMT Status Flag
Access
RO
Usage
Program/Immediate
Description
A locked rotor is defined as no rotor movement while at the maximum allowed lag for a specified period of time.
When lag becomes equal to the bounds, a timer starts to count down. Upon reaching zero, a locked rotor will be
indicated by the assertion of a status flag. The timer reloads on any encoder movement. The timer timeout period is
user selectable from 2mS to 65.5 seconds.
When HMT is configured AS=1 or 2, a locked rotor will also cause an internal fault (LR) disabling the output bridge.
he flag may be cleared and the bridges re-enabled by cycling power, or via software command CF: Clear Locked
Rotor Fault. A locked rotor condition will assert an error 104 as well.
In torque mode, a locked rotor does not disable the bridges. The locked rotor flag (LR) can be used to indicate the
rotor has been stopped at the specified torque for a preset amount of time.
State
Description
Rotor unlocked (default)
Rotor locked
Range
0/1
Syntax
PR LR
Units
Default
Code example
PR LR
0
Related
Return the lock status of the rotor
AO (Attention Output)
AF (hMT Status)
AS (hMT Mode)
CF (Clear Locked Rotor)
LT (Locked Rotor Timeout)
TA (Trip on hMT Status)
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Modbus/TCP
0x009B
5 COMMAND DETAILS
5.1.78 LS (Software Limits)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
LS
Firmware 6.00.00+
Notes
LMM
Function Group
Set/Read Soft Limits
Access
Motion Variable
Usage
RW
Program/Immediate
Description
Sets the direction, position and enabled state for software limit switches. There are three parameters:
Param
Description
Limit direction
Position
Enable/disable
Values
Default
0 (minus)
1 (plus)
-2147483648 to 214748364
0 (disable)
0 (disabled)
1 (enable)
The first parameter provides the limit direction. The second parameter provides the position at which the limits
will respond, note that the limits must have a logical gap, meaning that the negative limit must be set to a value
more negative than the positive limit.
Finally the third parameter enables or disables the limit function.
When a software limit is reached, the product will respond as specified by the LM (Limit Response Mode)
variable.
minus SW Limit
plus SW Limit
minus
LOAD
plus
LS=0, -102400
LS=1, 102400
Figure 5.12 LS (Soft Limits)
Range
See table
See table
Syntax
LS=<0/1>,<position>,<0/1> | PR LS
Units
Default
See table
Code example
Related
LS=0,-102400,1
LS=1,102400,1
Set minus and plus software limits, enable
PR LS
LS=0,-102400,1
LS=1,102400,1
Return the software limit configuration
HM (Home to Home)
LM (Limit Stop Mode)
V2.00, 05.2016

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5 COMMAND DETAILS
5.1.79 LT (Locked Rotor Timeout)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
LT
Notes
LMM
Function Group
Set/Read Locked Rotor Timeout
Access
hMT Variable
RW
Usage
Program/Immediate
Description
Defines the time in milliseconds between the assertion of an LR (Locked Rotor) condition and the output H-bridges
being disabled
Note that if the Lexium MDrive is in hMTechnology Torque Mode (AS=3), the output bridges will not disable upon a
locked rotor condition
Range
2 to 65535
Syntax
LT=<time>, PR LT
milliseconds
Units
Default
2000
Code example
Related
LT=50
Set the locked rotor timeout to 50 msec
PR LT
50
Read the locked rotor timeout
AS (hMT Mode)
LR (Locked Rotor)
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Modbus/TCP
0X009C 0x009D
5 COMMAND DETAILS
5.1.80 MA (Move Absolute)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
MA
Notes
LMM
Function Group
Move to Absolute Position
Access
Motion Instruction
Usage
Program/Immediate
Description
Set mode for absolute move and move to an absolute position relative to (0) zero. MD (Motion Mode) will be set to
MA.
0
MA 102400
MA 51200
MA -51200
Figure 5.13 MA - move to an absolute position
MA moves the axis to a position in motor steps relative to zero (0). In the case of the profile shown in Figure 5:13
the end position of the first move (2) is + 51200, or 51200 motor steps from 0, a value which will be stored in the P
(Position Counter).
The second move, MA 102400 moves the axis an additional 51200 steps, ending at position 3 or 102400 steps
from 0. The third MA will index the axis 153600 steps in the negative direction from position 3, with a final position
of -51200 absolute from 0.
The time required to calculate each move is 20 Sec.
NOTES:
The MA command will not operate during a homing sequence.
An in progress MA can be stopped with an [ESC] or an SL 0 command entry.
In addition to the commanded position, there are two optional parameters to define specific functions within the
move.
Param
1
Description
Values
Default
Motor position
-2147483648 to +2147483648
V2.00, 05.2016
0 - no operation
5-84
Party Mode response
Motion
1 - send DN (Device Name) out the communications port

following move completion. The device name will be sent
regardless of the PY setting.
0 (or blank) Stop motion after reaching position
1 continue moving after position is reached
5 COMMAND DETAILS
Range
See table
Syntax
MA <position>, <param>, <param>
motor steps
Units
Default
See table
Code example
Related
MA 102400
Move to absolute position 102400
MA 1024900,0,1
Move to absolute position 102400, do not stop motion upon position
MD (Motion Mode)
MR (Move Relative)
SL (Slew)
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0x0043-0x0044
5 COMMAND DETAILS
5.1.81 MD (Motion Mode)

Compatibility
Mnemonic
MD
LMD(O)
LMD(C)
Function
LMM
Notes
Function Group
Motion Mode
Status Variable
Access
RO
Usage
Program/Immediate
Description
Read-only status variable holds the last used motion instruction. It is used in the (invisibly to the user) with the NE
(Numeric Enable) flag to facilitate repeated move types (absolute position, relative position or slew) by entering a
numeric value instead of the full command string.
May be used as a keyword with the PR (Print) instruction to view the last move type. The device will respond with
the command mnemonic: MA (Move Absolute), MR (Move Relative) or SL (Slew).
Range
MA. MR. SL
Syntax
PR MD
Units
Default
Code example
MA 51200
PR MD
MA
Related
Move, then return the previous move type
MA (Move Absolute)
MR (Move Relative)
NE (Numeric Enable)
SL (Slew)
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5 COMMAND DETAILS
5.1.82 MF (Make-up Frequency)

Compatibility
Mnemonic
MF
LMD(O)
LMD(C)
Notes
LMM
Function
Function Group
Read/Set hMT Make-up Frequency
Access
hMT Variable
Usage
RW
Program/Immediate
Description
Defines the frequency at which missed steps are re-inserted into the move profile when MU (Make-up Mode) is set
to mode 1.
When used as a keyword with the PR (Print) command it will return the stored value for MF.
Range
92 to VM
Syntax
MF=<steps/sec>, PR MF
motor steps/sec
Units
Default
768000
Code example
Related
MF=512000
Set hMT make-up to 512000 steps/sec
PR MF
512000
Read the current value of MF
AS (hMT Mode)
MU (Make-up Mode)
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0x0B
Modbus/TCP
0x009E 0x009F
5 COMMAND DETAILS
5.1.83 MP (Moving to Position)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
MP
Notes
LMM
Function Group
Moving to a Position
Access
Status Flag
RO
Usage
Program/Immediate
Description
Read-only status flag is active (1) when the axis is indexing to a position.
Example use: wait subroutine while positional moves are in process.
Note that MP will be active for the total move, which includes the delays added to compensate for HT (Hold Current
Delay) and MT (Motor Settling Delay)
State
Description
Not moving to position
Positional move in progress
The moving to position flag may be used to give external indication via an output point specifically configured for
the Moving to Position type (Os=<output>,23,<active>).
Range
0/1
Syntax
CL <label/address>,MP=<0/1> | PR MP
Units
Default
Code example
MA 5120000
PR MP
1
Related
Make a positional move, return the MP status while axis is moving,
MA (Move Absolute)
MR (Move Relative)
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Modbus/TCP
0x0045
5 COMMAND DETAILS
5.1.84 MR (Move Relative)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
MR
Notes
LMM
Function Group
Move to Relative Position
Access
Motion Instruction
Usage
Program/Immediate
Description
Set mode for relative move and move to a position relative to the current position. MD (Motion Mode) will be set to
MR.
0
MR 51200
MR 51200
MR -153600
Figure 5.14 MR - move to a relative position
MR moves the axis to a position in motor steps relative to the current motor position, zero (0). In the case of the
profile shown in Figure 5:14 the end position of the first move (2) is + 51200, or 51200 motor steps from 0, a value
which will be stored in the P (Position Counter).
The second move, MR 51200 moves the axis an additional 51200 steps, ending at position 3 or 102400 steps from
0. The third MR will index the axis -153600 steps in the negative direction from position 3, with a final position of
-51200 relative to the starting position of 0.
The time required to calculate each move is 20 Sec.
NOTES:
The MR command will not operate during a homing sequence.
An in progress MR can be stopped with an [ESC] or an SL 0 command entry.
In addition to the commanded position, there are two optional parameters to define specific functions within the
move.
Param
1
Description
Values
Default
Motor position
-2147483648 to +2147483648
V2.00, 05.2016
0 - no operation
5-89
Party Mode response
Motion
1 - send DN (Device Name) out the communications port

following move completion. DN (Device Name) will be sent
whether or not the device is in party mode (PY=1)
0 (or blank) Stop motion after reaching position
1 continue moving after position is reached
5 COMMAND DETAILS
Range
See table
Syntax
MR <position>, <param>, <param>
motor steps
Units
Default
See table
Code example
Related
MR 102400
Move 102400 steps relative to the current motor position
MR 102400,0,1
Move 102400 steps relative to the current motor position, do not stop motion
upon position
MD (Motion Mode)
MA (Move Absolute)
SL (Slew)
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Modbus/TCP
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5 COMMAND DETAILS
5.1.85 MS (Microstep Resolution)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
MS
Notes
LMM
Function Group
Set/read Microstep Resolution
Access
Motion Variable
RW
Usage
Program/Immediate
Description
Sets the Microstep Resolution for the device. There are 20 fixed microstep resolutions that the Lexium Motion
product will accept ranging from full step (MR=1) to 256 microsteps per full step, or MR=256.
It is important to consider that when changing MS (Mcrostep Resolution), other motion variables will automatically
scale to the equivalent ratio, as shown in the table below, the settings for a particular velocity profile can change
dramatically based on the setting of MS:
MS=<param>
Default
MS=256
Change
MS=2
Steps/rev
VI (Initial V)
VM (Max V)
51200
1000
768000
1000000
1000000
400
3000
3906
3906
The table below is based upon the Lexium MDrive products with 1.8 (200 Step/Rev) motor. If using a Lexium
modular product with a different motor, the motor resolution will apply. For example a 0.9 motor has 400 steps per
revolution. The following equation applies where SA is the setting of the Step Angle variable.
Steps/Rev = (360/SA)*MS
Parameters
Binary resolution parameters
per step
8*
16
32
64
128
256
per rev,
200
400
800
1600
3200
6400
12800
25600
51200
Decimal resolution parameters

per step
5*
10
25
50
100
125
200
250
per rev,
1000
2000
5000
10000
20000
25000
40000
50000
Additional resolution parameters

per step
108
127
180
per rev,
21600 (1 Arc Minute/Step)
25400 (0.001mm/Step)
36000 (0.01/Step)
*Do not use with hMT active
V2.00, 05.2016
All shown steps per revolution values assume the 1.8 motor standard with Lexium MDrive products. If using a
custom integrated product, or a Lexium Motion Module with a motor with a step angle other than 1.8 refer to the
SA (Step Angle) command
5-91
5 COMMAND DETAILS
Range
See parameter table
Syntax
MS=<param>, PR MS
steps/full step
Units
Default
256
Code example
Related
MS=4
Set microstep resolution to 4 steps/full step
PR MS
4
Return the microstep resolution setting
A (Acceleration)
D (Deceleration)
MA (Move Absolute)
MR (Move Relative)
SA (Step Angle)
SL (Slew at Velocity)
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5 COMMAND DETAILS
5.1.86 MT (Motor Settling Delay)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
MT
Function Group
Set/Read Motor Settling Delay
Notes
LMM
Access
Motion Variable
RW
Usage
Program/Immediate
Description
Delay in milliseconds given to allow the motor to settle into position following a move., The delay time is also
impacted by the HT (Hold Current Delay) variable. The sum of MT + HT represents the total time delay between
RC and HC.
The total of MT+HT cannot add up to more than 65535, thus, the value of MT is included in the total delay.
Thus the maximum setting for MT=(65535-HT). If setting HT to 0, MT is still in effect. If both HT and MT are set to
0, the current will not reduce, but maintain the RC (Run Current) percentage.
Exceeding this maximum returns an Error 21: Illegal data value entered.
DELAY =
HT +
MT
Current
Motion Stops (MV=0)
RC% (Run Current)
HC% (HoldCurrent)
Time
Figure 5.15 MT (Motor Settling Delay) and HT (Hold Current Delay) relationship
MT should be at least 50 mS when encoder functions are enabled(EE=1)
Range
0 to (65535-HT)
Syntax
MT=<time>, PR MT
milliseconds
Units
Default
500
Code example
Related
MT=0
Disable MT, motor will still delay the set HT value
PR MT
0
Read the value of MT (Motor Settling Delay)
HC (Hold Current)
HT (Hold Current Delay)
RC (Run Current)
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Modbus/TCP
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5 COMMAND DETAILS
5.1.87 MU (Make-up Mode)

NOTE: Make-up is an advanced hMT function covered in detail in Section 8: hMTechnology, of this document
Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
MU
Notes
LMM
Function Group
Set/Read Make-Up Mode for hMT
hMT Variable
Access
Usage
RW
Program/Immediate
Description
Defines the mode for hMTechnology position make-up. Make-up only occurs when motor lag/lead is within 1.1
motor steps. Make up steps may be interleaved with motion steps and made after a move has completed.
Where make-up occurs is dependant on motor lag/lead, motion frequency and selected make up speed.
Make up mode will be cleared when bridges are disabled and hMTechnology is enabled (AS=1 or 2).
Mode
Description
Make up position without regard to time (default)
Use make up frequency (MF) as make up frequency
Use system speed , an internally defined velocity limited to 2560000 steps/sec (3000 RPM) as make
up frequency
Range
0 to 2
Syntax
MU=<mode>
Units
Default
Code example
Related
MU=1
Set make-up to make up position using MF as the reference velocity
PR MU
1
Return the set make-up mode
AS (hMTechnology Mode)
MF (Make-up Frequency)
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Modbus/TCP
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5 COMMAND DETAILS
5.1.88 MV (Moving)
Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
MV
Notes
LMM
Function Group
Axis is Moving
Access
Status Flag
RO
Usage
Program/Immediate
Description
Read-only status flag is active (1) when the axis is moving, regardless of the move type.
Note that MP will be active for the total move, which includes the delays added to compensate for HT (Hold Current
Delay) and MT (Motor Settling Delay)
State
Description
Not moving
Moving
NOTES:
The moving flag may be used to give external indication via either an output point specifically configured for
the Moving type (Os=<output>,17,<active>) or by setting the attention output mask variable (AO=16384) to
indicate on LED 2 (Lexium MDrive Motion Control models only) or an output defined as the Attention Output type
(OS=<output>,29,<active>)
Range
0/1
Syntax
CL <label/address>,MV=<0/1> | PR MVP
Units
Default
Code example
SL 51200
PR MV
1
Related
Slew the axis, return the MV status,
MA (Move Absolute)
MR (Move Relative)
OS (Output Setup)
SL (Slew)
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0x004A
5 COMMAND DETAILS
5.1.89 NE (Numeric Enable/Disable)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
NE
Notes
LMM
Function Group
Enable/disable Numeric Functions
Setup Variable
Access
RW
Usage
Program/Immediate
Description
Facilitates repeated move types (absolute position, relative position or slew) by entering a numeric value instead of
the full command string.
When a move is executed, the type of move (MA, MR or SL) is stored in the MD (Motion Mode) variable. This
stored value will be used as the move type whenever NE is in an enabled state.
If disabled, the user must enter a motion command to execute a move, i.e. MA 100000, MR -50000, SL 300000 etc.
Value
Description
Disabled (default)
Numeric functions enabled
Range
0/1
Syntax
NE=<0/1>, PR NE
Units
Default
Code example
Related
NE=1
Enable numeric functions
PR NE
1
Return the numeric enable state

numeric functions are enabled
MA (Move Absolute)
MD (Motion Mode)
MR (Move Relative)
SL (Slew)
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5 COMMAND DETAILS
5.1.90 O1, O2, O3 (Set Output)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
O1/O2/O3
Notes
LMM
Function Group
Set Output #
I/O Instruction
Outputs 1 and 2 are not available on

NEMA 17 (42 mm) models.
Access
Usage
RO
Program/Immediate
Description
Sets the state of the specified output to 1 or 0 for output type 16 (General Purpose User).
The output response is determined by the third parameter of OS (Output Setup), which defines the output as active
when HIGH (1) or LOW (0).
Setting
O<output>=0
O<output>=1
Output Config
Output State
OS=x,16,0
INACTIVE
OS=x,16, 1
ACTIVE
OS=x,16,0
ACTIVE
OS=x,16, 1
INACTIVE
NOTES:
On LMDxM42x or LMDxE42x (NEMA 17) Outputs 1 and 2 are not present. Use of this command will return an Error
37: Command, variable or flag not available.
Range
0/1
Syntax
O<1/2/3>=<0/1>
Units
Default
Code example
Related
O1=1
Set Output 1 to a value of 1
O1=0
Set Output 1 to a value of 0
OF (Output Fault)
OS (Output Setup)
OT (Write All Outputs)
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instance
attribute
0x67
0x10 (O1)
0x11 (O2)
0x12 (O3)
Modbus/TCP
0x004B (O1)
0x004C (O2)
0x004D (O3)
5 COMMAND DETAILS
5.1.91 OE (On Error Handler)

Compatibility
Mnemonic
LMD(O)
LMD(C)
LMM
Function
OE
Function Group
On Error Handler
Notes
Access
Program Instruction
Usage
RW
Program/Immediate
Description
OE declares the label or address of the subroutine which will execute when an error code ER (Error Code) is
asserted and EF (Error Flag) activated.
Attempting to target OE to a non-existent subroutine will throw an Error 30: Unknown User Label or Variable.
Standard rules for subroutines apply to subroutines called by OE: and RT must be inserted at the end of the
subroutine, After the subroutine completes, the program will return to the line following the command string that
caused the error.
NOTES:
1)
OE may be declared inside a program, between the opening and closing PG (Program Mode) tags
2)
OE may be declared in immediate mode ONLY if the target subroutine is resident in program memory
space, The program need not be running
3)
Subroutines targeted by an OE will execute when an error is encountered during immediate operations.
The target subroutine need only be resident in program memory space, it does not need to be running.
4)
OE will not execute during programming

OE=<label/address>
Syntax
Code example
OE Q1
Related
Execute subroutine Q1 when an Error is asserted
EF (Error Flag)
ER (Error Code)
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5 COMMAND DETAILS
5.1.92 OF (Output Fault)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
OF
Notes
LMM
Function Group
Output Over Current Fault
I/O Variable
Applicable to Outputs 1 & 2 only

Not applicable to LMM products
Access
RO
Usage
Program/Immediate
Description
Read-only status variable indicates an over-current fault condition on the power outputs (Outputs 1 and 2).
Though an Error code 1 or 2 will also be asserted, read the Output Fault from OF, as the ER (Error Register) will
only hold the last asserted error, indicating a single output fault condition when in fact both outputs may be faulted.
Status code
Description
No Fault (default)
Over current fault on output 1
Over current fault on output 2
Over current fault on both output 1 and 2
Range
0 to 4
Syntax
PR OF, <CL/BR> <label/address>,OF=<status>
Units
Default
Code example
Related
PR OF
0
Return the status of the outputs

no output fault conditions exist
CL Q1,OF=1
Call Q1 if an over current fault occurs on output 1
EF (Error Flag)
ER (Error Register)
OE (On Error Handler)
Os (Output Setup)
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0x004E
5 COMMAND DETAILS
5.1.93 OS <1-3> (Output Setup OUT1 - OUT3)
Compatibility
Mnemonic
LMD(O)
LMD(C)
LMM
Function
OS
Notes
Function Group
Setup Outputs 1 to 3
Lexium MDrive NEMA 17 (42 mm)

models are equipped with OUT 3
(Signal Output) only
Some output functions are hMTechn
ology specific and not available on all
products.
Access
I/O Instruction
Usage
RW
Program/Immediate
Description
This instruction is used to configure the output parameters. These parameters define the function and active state.
When used as a keyword (PR OS), the instruction will return the configuration of all outputs.
Output parameters
Param
Description
Values
Default
Output line number
1-3
Output function type
(see type table)
16 (General Purpose User)
Output active
0 (LOW active), 1 (HIGH active)
0 (LOW active)
Input function types
V2.00, 05.2016
Type
5-100
Function
Notes/restrictions
16
General purpose user: (default for all inputs) typically used to trigger
events external to the device using O1-O3 and OT
See O<1-3> (Set Output)

17
Moving: active when the axis is in motion or awaiting the expiration of HC

and MT delays.
See MV (Moving)
18
Error: active when an error condition exists, cleared by PR ER or ER=0
Se ER (Error)
20
Velocity Changing: active when the axis is changing velocity, such as acceleration and deceleration, linked to the VC (Velocity Changing) flag
See VC (Velocity Changing)
21
Locked Rotor: active when an hMT Locked Rotor condition exists
See LR (Locked Rotor)

and CF (Clear Locked Rotor) [hMT LMD ONLY]
23
Moving to a Position: active while the axis is moving to a position from and
MA (Move Absolute) or MR (Move Relative). Includes HT and MT delays,
Linked to the status of the MP (Moving to Position) flag.
See MP (Moving to Position)
24
hMTechnology Active: active whenever hMTechnology is compensating for

load variances.
See AS (hMTechnology
Mode) [hMT LMD ONLY]
25
Make-up Steps Active: active whenever hMTechlogy Make-up function is

compensating for position errors.
See MU (Make-up Mode)

[hMT LMD ONLY]
28
Trip: active when an assigned trip event occurs. Available on Output 3 (Signal Output) only. The trip function is active when LOW only.
See MCode Trip Functions
29
Attention: active with regard to the AO (Attention Output Mask) setting.
See AO (Attention Output

Mask)
5 COMMAND DETAILS
Lexium MDrive NEMA 17 (42 mm) models are equipped with OUT 3 (Signal Output)
only. Attempting to setup Outputs 1 or 2 will generate an Error 10: Illegal I/O number.
Some output functions are hMTechnology specific and not available on all products.
Such variances are noted in the type table on the previous page.
Syntax
OS=<1-3>,<type>,<active> | PR OS
Code example
OS=1,17,1
Set output 1 to moving function, HIGH active
OS=3,29
Set output 3 to trip function type.
PR OS
OS = 1, 17, 1
OS = 2, 16, 0
OS = 3, 29, 0
Related
Return the output settings

Response: settings of all output points
IS (Input Setup))
O<1-3> (Set Output)
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class
instance
attribute
0x67
0x14
Modbus/TCP

code, See MODBUS/
TCP manual, Section
4.3
5 COMMAND DETAILS
5.1.94 OT (Set Output Total)
Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
OT
Function Group
Set the state of all outputs
Lexium MDrive NEMA 17 (42

mm) models are equipped with
OUT 3 (Signal Output) only.
Notes
LMM
Access
I/O Instruction
RW
Usage
Program/Immediate
Description
Allows the user to set outputs 1-3 as one 3 bit binary value. The value is entered in decimal, with a range of 0-7 in
binary where Output 1 will be the LSb and Output 3 will be the MSb.
Range
1-7
Syntax
OT=
Units
Default
Code example
OT=7
Related
Set Output total to 7, all outputs will be active
O<1-3> (Set Output)
OS (Output Setup)
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0x015
Modbus/TCP
0x0056
5 COMMAND DETAILS
5.1.95 P (Position Counter)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
Notes
LMM
Function Group
Position Counter
Access
Instruction
RW
Usage
Program/Immediate
Description
Reads or writes the value of the position counter. The position will read in Motor Steps from C1 (Counter 1) by
default, if encoder functions are enabled on closed loop models, the position counter will read in Encoder Counts
from C2 (Counter 2).
Modifying P in essence changes the frame of reference for the axis for Move Absolute (MA) instructions. P will
likely be set once during system set up to reference or home for the system.
Range
EE=0
-2147483648 to +2147483647
EE=1
-2147483648 to +2147483647
Units
Motor steps
Encoder counts
Default
P=<counts>, PR P, <CL/BR> <label/address>, P=<value>
Syntax
Code example
Related
P=0
zero the position counter
PR P
0
Read the value of the position counter

the position counter is a 0
C1 (Counter 1)
C2 (Counter 2)
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5 COMMAND DETAILS
5.1.96 PC (Position Capture at Trip)

Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
PC
Notes
LMM
Function Group
Position Capture at Trip
Instruction
Access
RW
Usage
Program/Immediate
Description
Captures motor or encoder position during a trip event. Activation will occur upon any trip function EXCEPT a
position trip (TP or TR). Will display in either motor steps (EE=0) or encoder counts (EE=1)
PR PC
Syntax
Code example
PR PC
0
Related
Return the captured position count

the captured position count is zero
TC (Trip Capture)
TE (Trip Enable)
TI (Trip on Input)
TM (Trip on Main Power Loss)
TT (Trip on Time)
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0x04
Modbus/TCP
0x0059 - 0x005A
5 COMMAND DETAILS
5.1.97 PF (Print Format)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
PF
Notes
LMM
Function Group
Set Print Format for Floating Point

Registers
System Variable
Firmware 6.00.00+
Access
Usage
RW
Program/Immediate
Description
Sets the format for displaying the contents of the floating point registers F1 through F8. This command is used to
format floating point values for setting the width, digits following the decimal, notation and justification. Note this
setting will not truncate the floating point register values for numbers that extend beyond the PF setting.
Param
Description
Values
Default
width
0 to 16 (includes sign and decimal
10
decimal
The number of digits to the right of the decimal
notation
0 (normal notation), 1 (scientific notation)
justification
0 (right), 1 (left)
Range
See parameter table
Syntax
PF=<width>,<dec>,<0/1>,<0/1>, PR PF
Units
Default
10,6,0,0
Code example
Related
PR PF
10,6,0,0
PR F1
0.000000
Return the print format setting

default PF setting
Read the value of F1
formatted register contents
PF=8,4,1,1
PR F1
0.0000E+00
Set print format to format

Value returned showing new PF - 4 digits after the decimal and sci notation.
F<1-8>(Floating Point Register)
PR (Print)
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5 COMMAND DETAILS
5.1.98 PG (Program Mode)

Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
PG
Notes
LMM
Function Group
Enter/Leave Program Mode
Program Instruction
Access
Usage
Program/Immediate
Description
Toggles the device into or out of program mode.
PG <address>
Syntax
Code example
Related
PG 1
[MAIN PROG]
[SUBROUTINES]
Enter program mode at address 1
PG
E
Exit program mode

designated end of program
CP (Clear Program Memory)
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5 COMMAND DETAILS
5.1.99 PK (Reserved)
Compatibility
Mnemonic
PK
LMD(O)
Function
Null
LMD(C)
Notes
LMM
Function Group
Reserved
Description
V2.00, 05.2016
Reserved for factory/future use. DO not use as a user label or variable.
5-107
Access
Usage
5 COMMAND DETAILS
5.1.100
Compatibility
LMD(O)
Mnemonic
LMD(C)
Notes
LMM
Function
PM
Function Group
Position Maintenance enable/disable
Encoder Flag
Encoder required
Access
RW
Usage
Program/Immediate
Description
Enables the position maintenance functions of an Lexium MCode compatible device with encoder. The position
maintenance velocity will be at the setting for VI (Initial Velocity). If moved beyond the value of DB (DeadBand),
unit will correct.
Encoder functions must be enabled (EE=1) for position maintenance.
Param
Description
Position maintenance disabled (default)
Position maintenance disable
The method for position maintenance will depend on the setting of the SM (Stall Detect Mode) variable:
PM=
1
SM=
Position maintenance
Position maintenance occurs provided position is within the setting of SF (Stall Factor)
Position maintenance occurs regardless of SF (Stall Factor) setting
Position maintenance is not to be confused with hMTechnology MU (Position Makeup) function. While similar, the
method for correcting and maintaining position are different.
Encoder functions (EE=1) must be enable for PM to take effect.
Range
0/1
Syntax
PM=<0/1>
Units
Default
Code example
Related
PM=1
Enable position maintenance
PR PM
1
Return the status of position maintenance

position maintenance is enabled
C2 (Encoder Counter)
DB (Encoder Deadband)
SF (Stall Factor)
SM (Stall Detect Mode)
EE (Encoder Enable)
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0x06
Modbus/TCP
0x005C
5 COMMAND DETAILS
5.1.101
PN (Part Number)
Compatibility
Mnemonic
PN
LMD(O)
LMD(C)
Function
Notes
LMM
Function Group
Read Part Number
Access
Identification variable
RO
Usage
Program/Immediate
Description
Read only register holds the factory defined part number.
Syntax
PR PN
Code example
PR PN
LMDCM571
Related
Return the stored part number

Lexium MDrive Motion Control NEMA 23 (57 mm)
SN (Serial Number)
VR (Version)
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class
instance
attribute
0x65
0x05
Modbus/TCP

code, See MODBUS/TCP
manual, Section 4.1
5 COMMAND DETAILS
5.1.102
PR (Print specified data and/or text)
Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
PR
Print Text and/or Data
LMM
Notes
Function Group
System Instruction
Access
RW
Usage
Program/Immediate
Description
Outputs text and parameter value(s) to the communications host. Text strings are enclosed in quotation marks
while parameters (variables and flags) should not. Text strings and parameters which are to be output by the same
PR instruction should be separated by commas. The information being output is followed by a carriage return
unless a semicolon (;) is included at the end of the PR instruction to indicate that the cursor should remain on the
same line.
It is important to note that the receive buffer for the Lexium MCode device is 64 characters, this includes the PR
instruction itself, any spaces, text characters, etc. If the buffer length is exceeded a CR/LF occurs and Error 20:
Tried to set unknown variable or flag.
ASCII control codes
ASCII control codes may be used to enhance the performance of the PR instruction. They must be enclosed within
quotes, for example PR P, " motor steps\r" would terminate a string requesting the axis position with a carriage
return.
The table below shows the most commonly used escape codes, though most ASCIII escape codes used with
terminal emulators may be used.
Param
Description
Semicolon character suppresses the CR/LF at the end of a line.
\b
Backspace
\c
CTRL +C (software reset)
\e
ESC
\g
Bell/beep
\n
Line feed
\r
Carriage return
\t
Tab
PR <var/flg/keyword>, PR "<text> ", <var/flg/keyword>
Syntax
Code example
PR P
Read the value of the position counter

Position is 12345
PR "Position = ",P
Position = 12345
Read the value of the position counter with descriptive text

Position = 12345
12345
V2.00, 05.2016
Related
PF (Print Format)

EtherNet/IP
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Modbus/TCP
5 COMMAND DETAILS
5.1.103
PS (Pause Program)
Compatibility
LMD(O)
Mnemonic
LMD(C)
LMM
Function
PS
Pause executing program
Notes
Function Group
Access
Program Instruction
Usage
Program/Immediate
Description
Pauses an executing program with normal deceleration ramp. Immediate mode instruction may be issued and will
be executed while a program is paused.
The RS (Resume Paused Program) is used to resume the paused program.
PS
Syntax
Code example
PS
Related
Pause executing program
E (End Program)
PG (Program Mode)
RS (Resume Paused Program)
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EtherNet/IP
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Modbus/TCP
See Section 4.3.9: Pause

Program in the Modbus/
TCP Fieldbus Manual
5 COMMAND DETAILS
5.1.104
PW (PWM Mask)
Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
PW
Notes
LMM
Function Group
PWM Mask Setting
Lexium Motion Module only
Access
RW
Usage
Program/Immediate
Description
The PW variable is only used on the Lexium Motion Module product only. It is not a reserved word on the Lexium
MDrive products and may be used as a user variable or label.
This variable is used to set the PWM current control settings of the LMM ONLY! It does not apply in any function
to the Lexium MDrive and may be used as a label or user variable or flag. See Section 7: Programming and
Applications Notes of this document for parameter settings and usage.
The PW variable is defaulted to SEM NEMA 17 (42 mm) motors. Recommended settings for additional motor sizes
offered by SEM are located in Section 7 of this document. A settings dialog is also available from the View Menu
when the LMMxM drive type is selected in the terminal settings.
Range
See Section 7
Syntax
PW=<mask>,<period>,<sfreq>,<ctrl> | PR PW
Units
See Section 7
Default
Code example
See Section 7
Related
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5 COMMAND DETAILS
5.1.105
PY (Party Mode)
Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
PY
Notes
LMM
Function Group
Party Mode Enable/disable
Communications Variable
See LMM Note below
Access
RW
Usage
Program/Immediate
Description
The party flag must be set to 1 if the device is being used in a multidrop communication system.
When Party Mode is enabled, each device in the system must be addressed by the host computer by using the
device name specified by the DN instruction. This name will precede any command given to a specified unit in the
system and be terminated with a Control J (CTRL + J). One CTRL + J must be issued after power up or entering
the Party Mode to activate the Party Mode. By default the DN assigned at the factory is the exclamation character
(!) .
The global Drive Name is the asterisk character (*). Commands preceded by this character will be recognized by
every Lexium MCode compatible device in the system.
After the Party Mode is enabled, send CTRL + J (^J) to activate it. Type commands with Device Name (DN) and
use CTRL + J as the Terminator.
Note: A delay time between the command requests to the device must be considered to allow the device time to
interpret a command and answer the host before a subsequent command can be sent. The time between requests
is dependent on the command and the corresponding response from the Device.
Value
Description
Disabled (default)
Party Mode enabled
LMM Note:
The Lexium Motion Module features hardware inputs for device name (address). When ever any og these inputs is
active, the LMM will automatically enable Party Mode.
Range
0/1
Syntax
PY=<0/1>, PR PY
Units
Default
Code example
Related
PY=1[Enter][CTRL+J]
Enable party mode
!MR 512000[CTRL+J]
!PR P[CTRL+J]
512000
Device ! (default) move relative 10 revolutions

Return the position of device !
Position is 512000 steps
DG (Disable Global)
DN (Device Name)

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5 COMMAND DETAILS
5.1.106
QD (Queued)
Compatibility
Mnemonic
QD
LMD(O)
LMD(C)
Function
Function Group
Device Queued
Notes
LMM
Access
Comm Flag
Usage
RW
Program/Immediate
Description
Function is to queue drives on party lines. QD may be set outside of party mode, but will only take effect if PY
(Party Mode) is enabled (PY=1)
If a drive or drives are Queued, then, when they see the address ^, they will respond to it. All other, non-queued
drives will ignore the command
Range
o/1
Syntax
<dn>QD=<0/1>, <dn>PR QD
Units
Default
Code example
Related
!QD=1[CTRL+J]
Set device ! as queued
^MA 0[CTRL+J]
Move all queued devices to absolute position 0
DN (Device Name)
PY (Party Mode)
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5 COMMAND DETAILS
5.1.107
R1-R4 (User Register)
Compatibility
Mnemonic
R<1-4>
LMD(O)
LMD(C)
Function
Notes
LMM
Function Group
User Integer Register
Access
Mathematics Variable
Usage
RW
Program/Immediate
Description
Four 32 bit user registers to contain numerical data. These registers may contain up to 11 digits including the sign
and may be used to store and retrieve data to set variables, perform math functions, store and retrieve moves and
set conditions for branches and call subroutine.
These registers contain integer values only, to perform floating point calculations, use F<1-8> (Floating Point
Registers).
Range
-2147483647 to 2147483647
Syntax
R<1-4>=<integer>, R1=<var>, R<1-4>=R<1-4><MATH><R<1-4>, PR R1
Units
Default
Code example
Related
R1=12345
Set R1 to 12345
PR R1
12345
Read the value of R1

R1=12345
R1=R2+R3
Set R1 to the sum of R2+R3
CL Q2, R1<25
Call subroutine Q2 if R1 is less than 25
F<1-8> (User Floating Point Registers)
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R1: 0x06
R2: 0x07
R3: 0x08
R4: 0x09
Modbus/TCP
R1: 0x005F - 0x0060

R2: 0x0061 - 0x0062
R3: 0x0063 - 0x0064
R4: 0x0065 - 0x0066
5 COMMAND DETAILS
5.1.108
RA (Radians or degrees)
Compatibility
LMD(O)
Mnemonic
LMD(C)
LMM
Function
RA
Notes
Function Group
Set Radians or degrees
Firmware 6.00.00+
Access
RW
Usage
Program/Immediate
Description
Selects the Radians or Degrees as the units for trigonometric calculations. When used as a keyword with the PR
(Print) statement it will return the setting to the terminal.
Value
Description
Degrees
Radians (default - faster)
Range
0/1
Syntax
RA=<0/1> | PR RA
Units
Default
Code example
Related
RA=0
Calculate trigonometric functions in degrees
PR RA
0
Read the units for trig functions

trig functions calculate in degrees
F1-F8 (Floating Point)
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5 COMMAND DETAILS
5.1.109
RC (Run Current)
Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
RC
LMM
Notes
Function Group
Access
Motion variable
R/W
Motor Running Current
Usage
Program/Immediate
Description
Defines the motor run current as a percentage value from 1 to 100%. The transition from RC (Run Current) to HC
(Hold Current) is impacted by two other commands: HT (Hold Current Delay) and MT (Motor Settling Delay Time).
These two variables are additive, with the sum being the total time to transition from the RC (Run Current) level to
the specified standstill current.
Notes:
For Lexium MDrive products the current is only given in a percentage range as the driver is already sized and
tuned to the integrated motor.
The Lexium Motion Module is a 1.5A RMS standalone integrated driver/controller. The actual drive output current is
derived thus: RC=75 results in a run current level of 1.12 A - 1.5A * 0.75 = 1.12A.
Range
1 to 100
Syntax
HC=<percent>, PR HC
Percent (%)
Units
Default
25%
Code example
Related
RC=75
Set RC (Run Current) to 75%
PR RC
Read the value of the holding current
HT (Hold Current Delay time)
MT (Motor Settling Delay Time
RC (Run Current)
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0x0029
5 COMMAND DETAILS
5.1.110
RD (Rotation of Direction)
UNINTENDED MOTION
Use of the RD command in Lexium Motion product or Ethernet (Closed Loop models) with
firmware versions 5.007 or earlier may, under certain conditions, result in unintended motion.

Upgrade the device firmware to 5.009 or greater.
Failure to follow these instructions can result in death or serious injury.
Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
RD
Notes
LMM
Function Group
Rotation of Direction
Access
Motion Variable
RW
Usage
Program/Immediate
Description
This variable, when TRUE will reverse the default +/- motor direction reference. Cannot be issued when the axis is
in motion or error 95 will be asserted.
Value
Description
Default +/- direction (default)
Direction reversed
Range
0/1
Syntax
RD=<0/1>, PR RD
Units
Default
Code example
Related
RD=1
Reverse axis direction reference
PR RD
1
Read the value of RD

RD is true, the +/- direction is reversed
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0x66
0x13
Modbus/TCP
See 4.3 Manufacturer

specific function codes in
the Modbus/TCP Fieldbus
Manual
5 COMMAND DETAILS
5.1.111
RS (Resume Program Execution)
Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
RS
Notes
LMM
Function Group
Resume Program Execution
Program Instruction
Access
Usage
Immediate
Description
Resumes and executing program that has been paused using the PS (Pause Program Execution) command.
If the pause was issued during a move, the move will restart with the configured acceleration profile.
RS
Syntax
Code example
RS
Related
Resume paused program
E (End Program)
PG (Program Mode)
PS (Pause Program Execution)
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See 4.3 Manufacturer specific function codes in the

Modbus/TCP Fieldbus Manual
5 COMMAND DETAILS
5.1.112
RT (Return From Subroutine)
Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
RT
Notes
LMM
Function Group
Return From Subroutine
Program Instruction
Access
Usage
Program
Description
Defines the end of a subroutine. This instruction is required and will be the final instruction in the subroutine
executed by the CL or OE instruction. When used, it will return to the program address immediately following the
instruction which executed the subroutine.
RT
Syntax
Code example
RT
Related
Return from Subroutine
OE (On Error Handler)
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5 COMMAND DETAILS
5.1.113
S (Save to FLASH)
Compatibility
LMD(O)
Mnemonic
LMD(C)
LMM
Function
Notes
Function Group
Save Programs and Parameters)
System Instruction
Access
Usage
RW
Program/Immediate
Description
Saves all variables and flags currently in working memory (RAM) to nonvolatile memory (NVM). The previous
values in NVM are completely overwritten with the new values.
When the user modifies variables and flags, they are changed in working memory (RAM) only. If the S instruction is
not executed before power is removed from the control module, all modifications to variables & flags since the last
S will be lost.
Note: sending or requesting data during a save could corrupt communications. If a save is performed during the
execution of a motion command, trips may be delayed.
Use of the S command during a move (MA or MR) will generate an error 73, the save will not occur.
TIP:
Programs may be automatically saved on load by adding an S after the final PG. The line following the S should
have a comment line to guarantee the <CR/LF> after the save.
Syntax
Code example
Related
Save all variable data, flag states and programs to NVM
E
PG
S
'keep this line
Final lines of a program to save on program download
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5 COMMAND DETAILS
5.1.114
SA (Step Angle)
Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
SA
Notes
LMM
Function Group
Set/Read Step Angle
Motion Variable
LMM only
Access
RW
Usage
Program/Immediate
Description
Step angle is a floating point variable to configure the step angle of the motor for the Lexium Motion Module only.
The setting is represented by the equation: Motorcts = MS * (360/SA)
Ex:
MS = 256
SA = 0.9
MtrCts = 256 * (360 / 0.9) = 102400
Common step angles for Hybrid stepper motors are shown in the table below
Angle
Steps/rev
0.45
800
0.72
500
0.9
400
1.8
200
1.875
192
180
2.5
144
3.6
100
72
Range
See Table
Syntax
SA=<angle>, PR SA
Units
Degrees
Default
1.8
Code example
Related
SA=0.9
Set step angle for 0.9 degree motor.
PR SA
0.900000
Return the step angle setting

The step angle is 0.9 degrees.
PW (Motor PWM Settings)

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5 COMMAND DETAILS
5.1.115
SC (System Configuration Test)
Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
SC
Notes
LMM
Function Group
Start Configuration Test
System instruction
LMD Closed loop only.
Access
RW
Usage
Program/Immediate
Description
Tests the encoder direction and resolution by moving the motor shaft 1/2 revolution (180 degrees).
Ensure the shaft is disconnected from load and free to move unhindered prior to running this test.
A misconfigured encoder will return an error.
SC 1
Syntax
Code example
SC 1
Related
Start configuration test
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5 COMMAND DETAILS
5.1.116
SF (Stall Factor)
Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
SF
Notes
LMM
Function Group
Set/Read Stall Factor
Encoder Variable
LMD Closed loop

LMM with encoder
Access
RW
Usage
Program/Immediate
Description
If the encoder is enabled (EE = 1) and encoder position differs from the commanded position by more than the
specified factor, a motor stall error is asserted. If SM is set to 0, then the motor will be stopped when a stall is
detected. If SM=1, the motor will not be stopped upon detection of a stall. ST will return an Error 86 on stall.
Range
0 to 65000
Syntax
SF=<counts>, PR SF
Encoder counts
Units
Default
15
Code example
Related
SF=20
Set the stall Factor to 20 encoder counts
PR SF
20
Read the value of the Stall Factor

The stall factor is 20 counts
EE (Encoder Enable)
ST (Stall Flag)
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5.1.117
Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
SL
Notes
LMM
Function Group
Slew Axis at Velocity
Motion Instruction
Access
RW
Usage
Program/Immediate
Description
Slews the axis at the commanded velocity in steps per second. The axis will accelerate at the rate specified by the
A (Acceleration) variable.
Note that the maximum slew velocity is independent of the maximum velocity specified by the VM variable. If SL
0 is issued after a MA/MR, motion has to come to a stop before issuing another motion command. This can be
accomplished automatically with an H, <HOLD>, in user program mode.
Range
5000000 (EE=0)/200000 (EE=1)
Syntax
SL <velocity.
Motor Steps (EE=0)/Encoder Counts (EE=1)
Units
Code example
Related
SL 20000
Slew axis at 2000 steps /sec
PR V
20000
Return the axis velocity

the axis is moving at 20000 steps/sec.
MA (Move Absolute)
MR (Move Relative)
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5.1.118
Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
SM
Notes
LMM
Function Group
Set/Read Stall Detect Mode
Encoder Variable
LMD Closed loop

LMM with encoder
Access
RW
Usage
Program/Immediate
Description
Specifies the action which will be taken by the device when a stall is detected. When set to 0 (default) the motion
will be stopped upon a stall detection. When SM=1, the motor will try to continue the move. In either case ST (Stall
Flag) will be set.
The functionality of SM when used with Position Maintenance (PM) is listed below:
Param
Description
Motion stops on stall detect (default)
Motion will attempt to continue
The method for position maintenance will depend on the setting of the SM (Stall Detect Mode) variable:
PM=
1
SM=
Position maintenance
Position maintenance occurs provided position is within the setting of SF (Stall Factor)
Position maintenance occurs regardless of SF (Stall Factor) setting
Range
00/1
Syntax
SM=<0/1>, PR SM
Units
Default
Code example
Related
SM=1
Set stall detection mode to mode 1
PR SM
1
Return the stall mode setting

Stall detection is in mode 1
EE (Encoder Enable)
ST (Stall Flag)
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5.1.119
SN (Serial Number)
Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
SN
Notes
LMM
Function Group
Read Serial Number
Access
Keyword
RO
Usage
Program/Immediate
Description
Allows user to read the deviece serial number using the PR (Print) statement.
PR SN
Syntax
Code example
PR SN
Related
Return the serial number
PN (Part Number)
VR (Version)
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Modbus/TCP Fieldbus
Manual
5 COMMAND DETAILS
5.1.120
ST (Stall Flag)
Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
ST
Notes
LMM
Function Group
Stall Flag
Encoder Flag
LMD Closed loop

LMM with encoder
Access
RW
Usage
Program/Immediate
Description
The stall flag is set active (1) when the motor stalls. An Error 86 will also be asserted.
It is important to note that the Stall Flag must be manually reset to 0 (ST-0) clearing the error state will not clear the
stall flag. The product will respond to motion commands while the ST flag is active. A subroutine triggered by the
OE (One Error) instruction containing
Encoder functions must be enabled (EE=1)
Param
Description
Axis is not stalled
Axis is stalled
Range
0/1
Syntax
ST=<0/1>, PR ST
Units
Default
Code example
Related
ST=0
Clear the state of the stall flag
PR ST
0
Read the value of the stall flag

no stall condition exists
EE (Encoder Enable)
OE (On Error)
SF (Stall Factor)
SM (Stall Mode)
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5.1.121
SU (Execute Program on Startup)
! DANGER
UNINTENDED CONSEQUENCES OF EQUIPMENT OPERATION

Programs labeled with the SU label will execute on sytem power application or software reset. Depending on the program structure this could result in immediate motion on power application or system restart.
Only use the SU label in instances or applications where operation does not represent a hazard to
personnel or equipment.
Failure to follow these instructions will result in death or serious injury.
Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
SU
LMM
Notes
Function Group
Execute on Startup
Factory Label
Access
RW
Usage
Program/Immediate
Description
The Start up label will cause any program labeled SU to automatically execute on power-up.
LB SU
Syntax
Code example
LB SU
Related
Label program to execute on startup
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5.1.122
LMD(O)
Compatibility
Mnemonic
LMD(C)
LMM
Function
TA
Function Group
Trip on hMT Status
LMD Closed Loop only
Notes
Access
Trip Variable
RW
Usage
Program/Immediate
Description
Executes a subroutine address or label on the trip. The trip can be set to occurs on any or all of three conditions:
calibration done, hybrid active, locked rotor or lead/lag limit reached conditions.
Param
Description
Off
Calibration done
hMTechnology active
Locked roto
Lag limit reached
16
Lead limit reached
The conditions are additive, eg. TA=3 will trip on calibration complete and hybrid active status.
There is no error generation when enabling trip on locked rotor, lag limit or lead limit.
Range
0-7
Syntax
TA=<label/address>,<0-7>
Units
Default
Code example
TA=4, k6
Related
execute subroutine k6 when there is a locked rotor condition
TE (Trip Enable)
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See Section 4.3 in the Modbus/

TCP Fieldbus Manual
5 COMMAND DETAILS
5.1.123
TC (Trip on Capture)
Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
TC
Notes
LMM
Function Group
Trip Capture
Trip Variable
Access
RW
Usage
Program/Immediate
Description
Sets the Capture input trip for input 1. Sets one parameter for trip address. The TE command (Trip Enable/
Disable TC) is reset when trip occurs. TE must be re-enabled in the main program prior to the next trip if it is to be
repeated. The Trip subroutine must use a RETURN (RT) to exit the subroutine, use of a BRANCH will cause stack
errors..
TC=<label/address>
Syntax
Code example
TC=K1
Related
Run subroutine K1 on capture
IS (Input Setup)
TE (Trip Enable)
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5.1.124
TD (Torque Direction)
LMD(O)
Compatibility
Mnemonic
LMD(C)
LMM
Function
TD
Notes
Function Group
Read/Set Torque Direction
hMT Variable

Access
Usage
RW
Program/Immediate
Description
Sets torque direction to + or
Param
0
1
Description
Minus (CCW facing shaft)
Plus (CW facing shaft) (default)
Range
0/1
Syntax
TD=<0/1>, PR TD
Units
Default
Code example
Related
TD=0
Switch torque direction to minus
PR TD
1
Return the torque direction

Torque direction is minus
AS (hMT Mode)
TQ (Torque)
TS (Torque Speed)
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5.1.125
TE (Trip Enable)
Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
TE
Not all trip functions are available

with all products
Notes
LMM
Function Group
Set/Read Trip Enable
Access
Variable
Usage
RW
Program/Immediate
Description
The trip functions may be combined by adding trip numbers. For example TE=3 will trip on input or on position,
TE=127 enables all trips. When multiple trips are used only the activated trip function needs to be re-enabled, the
other trips will still be enabled.
Param
Description
Compatibility
Disabled (default)
All
Trip on input enabled
All
Trip on position enabled
All
Trip on capture enabled
All NEMA 23 and 34
Trip on time enabled
All
16
Trip on relative position
All
32
Trip on hMTechnology status
64
Trip on main power loss
All
NOTES: A trip must be defined prior to being enabled. Enabling an undefined trip will throw an Error 27: Trip not
defined
Range
0 - 127
Syntax
TE=<param> | PR TE
Units
Default
0 (disabled)
Code example
Related
TE=127
Enable all trip functions
PR TE
127
Return enabled trips

All trips are enabled
I1-I4 (Read Inputs 1 - 4)
IS (Input Setup)
TC (Trip Capture)
TI (Trip on Input)
TM )Trip on Main Power)
TP (Trip on Position)
TR (Trip on Relative Position)
TT (Trip on Time)
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5.1.126
TI (Trip on Input)
Compatibility
Mnemonic
TI
LMD(O)
LMD(C)
Function
LMM
Notes
Function Group
Trip on Input
Trip Variable
Access
RW
Usage
Program/Immediate
Description
Sets up an input event (Trip) for the specified input. There are two parameters for the TI variable. The first specifies
which input line to monitor. The second specifies the subroutine that should be executed when the input goes
to true. The Trip subroutine must use a RETURN (RT) to exit the subroutine, use of a BRANCH will cause stack
errors
The TE is reset when a Trip occurs. TE must be re-enabled prior to the next Trip if it is to be repeated.
Syntax
TI <input>,<label/address>
Code example
TI 1,Q1
TE=1
Related
Set trip to execute Q1 when input 1 is active

Enable trip on input
I1-I4 (Read Inputs 1 - 4)
IS (Input Setup)
TC (Trip Capture)
TI (Trip on Input)
TM )Trip on Main Power)
TT (Trip on Time)
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Fieldbus Manual
5 COMMAND DETAILS
5.1.127
TM (Trip on Main Power Loss)
Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
TM
Notes
LMM
Function Group
Trip on Main Power Loss
Trip Variable
Access
RW
Usage
Program/Immediate
Description
Sets up an event (trip) to run a subroutine if main power is lost. In order for this to be used the auxiliary power
supply must be powered and connected.
The TE (Trip Enable which Enables/Disables TP) is reset when a Trip occurs. TE must be re-enabled in the main
program prior to the next Trip if it is to be repeated. The Trip subroutine must use a RETURN (RT) to exit the
subroutine, use of a BRANCH will cause stack errors.
Trips should be set BEFORE motion commands in the program.
TM=<label/address>
Syntax
Code example
TM=Q1
TE=64
Related
Execute Q1 on loss of main power

(Re)enable trip
TE (Trip Enable)
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5.1.128
Compatibility
Mnemonic
TP
LMD(O)
LMD(C)
Notes
LMM
Function
Function Group
Trip on Position
Trip Variable
Access
RW
Usage
Program/Immediate
Description
Sets up an event (trip) for the specified position. There are two parameters for the TP variable. The first specifies
the position which will cause the event. The second specifies the subroutine that should be executed when the
position is detected.
The TE (Trip Enable which Enables/Disables TP) is reset when a Trip occurs. TE must be re-enabled in the main
program prior to the next Trip if it is to be repeated. The Trip subroutine must use a RETURN (RT) to exit the
subroutine, use of a BRANCH will cause stack errors.
Syntax
TP=<position>,<label/address>
Code example
TP=51200, Q1
TE=2
Related
Set trip to trigger Q1 at 51200 steps

(Re)enable trip
TE (Trip Enable)
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Modbus/TCP Fieldbus Manual
5 COMMAND DETAILS
5.1.129
TQ (Torque Percent)
Compatibility
Mnemonic
LMD(O)
LMD(C)
Notes
LMM
Function
TQ
Function Group
Read/Set Torque
hMT Variable
Access
RW
Usage
Program/Immediate
Description
Sets the maximum out put torque of the motor to a percentage.
Range
1 100
Syntax
TQ=<percent> | PR TQ
% (percent)
Units
Default
25
Code example
Related
TQ=50
Set the Torque to 50
PR TQ
50
Read the value of TQ

The torque is set to 50%
AS (hMT Setting)
TS (Torque Speed)
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5.1.130
Compatibility
Mnemonic
TR
LMD(O)
LMD(C)
Function
Notes
LMM
Function Group
Trip on Relative Position
Access
Trip Variables
Usage
RW
Program/Immediate
Description
Sets up an event (trip) for the specified relative position. There are three parameters for the TR variable.
The first specifies the position which will cause the event.
The second specifies the subroutine that should be executed when the position is detected, if no subroutine
address or label is specified then the High Speed Trip Output will activate. The Trip subroutine must use a
RETURN (RT) to exit the subroutine, use of a BRANCH will cause stack errors
The third parameter specifies the number of times the trip will repeat. If 0 (default) the trip will repeat infinite times,
other wise the range is 1- 65000
The TE (Trip Enable which Enables/Disables TR) is reset after repeating the number of relative trips specified.
TE must be re-enabled in the main program prior to the next series of Trip on Relative if it is to be repeated. For
exampl, if TR=10000,0,25, Output 3 will trip 25 times in succession at 100,000 counts relative to the last position.
Following these 25 trips the trip must be re-enabled (TE=16).
Note: Output 1 must be configured as a trip output (Os=3,28,0)
Note that TR will always use motor counts unless the encoder is enabled (EE=1).
Note: The maximum rate of trip is 20 kHz. Exceeding this may cause communications errors
Note that only a single position trip type may be used at a time. TR cannot be used simultaneously with TP
Syntax
TR=<postition>,<label/address>, <repeat>
Code example
TR=512000,Q1,15
TE=16
Related
TE (Trip Enable)
Set TR to Trip every revolution for 15 revolution

(Re)enable Trip
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5 COMMAND DETAILS
5.1.131
TS (Torque Speed)
Compatibility
Mnemonic
TS
LMD(O)
LMD(C)
Notes
LMM
Function
Function Group
Set/Read Torque Speed
hMT Variable
Access
RW
Usage
Program/Immediate
Description
Defines the system speed for Torque mode (AS=3). This configuration variable will only take effect if hMT is in
torque mode.
Note that the value for TS may be changed while the axis is in motion, though changing velocity during a torque
move may throw an Error 106: Reached Lead Limit count.
Range
46,512 2560000
Syntax
TS=<steps/sec>
steps/sec
Units
Default
Code example
Related
TS=51200
Set torque speed to 51200 steps per second
PR TS
51200
Read the value of TS

TS is 51200 steps/sec
AS (hMTechnology Mode)
TQ (Torque Percent)
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5.1.132
TT (Trip on Time)
Compatibility
Mnemonic
TT
LMD(O)
LMD(C)
LMM
Function
Notes
Function Group
Trip on time
Access
Trip Variable
RW
Usage
Program/Immediate
Description
Sets up a trip based on time. The first parameter is time in mSec. The second parameter specifies the subroutine
that should be executed when the time is expired. The Trip subroutine must use a RETURN (RT) to exit the
subroutine, use of a BRANCH will cause stack errors
Range
1 to 65535
Syntax
TT=<time>,<label/address>
Units
milliseconds
Default
Code example
TT=10000,Q1
TE=8
Related
Execute subroutine Q1 every 10 seconds

Enable trip
TE (Trip Enable)
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Manual
5 COMMAND DETAILS
5.1.133
UG (Firmware Upgrade)
Compatibility
Mnemonic
UG
LMD(O)
LMD(C)
Notes
LMM
Function
Function Group
Process Firmware Upgrade
Upgrade Firmware
Access
RW
Usage
Program/Immediate
Description
The upgrade command and code will be automatically entered by the Upgrader Utility in the Motion Control
Interface or SEM Terminal software programs.
Once initiated, the firmware Upgrade MUST be completed.
Syntax
UG 2656102
Code example
UG 2956102
Related
Enter upgrade mode
VR (Version)
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5.1.134
UV (Read User Variable)
Compatibility
Mnemonic
UV
LMD(O)
LMD(C)
Function
Function Group
Read User Variable
Notes
LMM
Access
Keyword
RO
Usage
Program/Immediate
Description
Keyword used with the PR (Print) command to read the value of all user defined variables. The keyword will return
the user variables, the scope, either global or local, and the value.
The response will come in the form of [var] = [Global/Local] [value] or example Q1 = G 25
Syntax
PR UV
Code example
VA Q1=25
PR UV
Q1 = G 25
Related
PR (Print)
Create user variable Q1 and set to 25

Read user variables, scope and values
Q1 is a global variable with a value of 25
VA (Create User Variable)
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5.1.135
V (Read Axis Velocity)
Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
Notes
LMM
Function Group
Read Axis Velocity
Keyword
Access
Usage
RO
Program/Immediate
Description
Keyword used with the PR (Print) command to read the current velocity of the axis velocity. The value of V is
signed based on the direction of motion.
NOTE: V will not return an accurate value if hMTechnology is active. In Torque Mode, (AS=3), V will return a zero
value.
Syntax
PR V | BR <label/address>,V=<value> | CL <label/address>, V=<value>
Code example
VA Q1=25
PR UV
Q1 = G 25
Related

Read user variables, scope and values
MA (Move Absolute)
MR (Move Relative)
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5.1.136
VA (Define User Variable)
Compatibility
Mnemonic
VA
LMD(O)
LMD(C)
Function
Function Group
Define User Variable
Notes
LMM
Access
Keyword
Usage
RO
Program/Immediate
Description
The VA instruction creates a user variable with a 1 or 2 character name. Can optionally set value assigned to that
variable.
1.
A variable cannot be named after a Lexium MCode Instruction, Variable or Flag or Keyword
2.
The first character must be alpha, the second character may be alpha-numeric.
3.
A variable is limited to two characters.
4.
Limited to 192 variables and labels.
Syntax
VA<char><char>=<value>
Code example
VA Q1=25
PR Q1
25
Related

Read user variable Q1
UV (Read User Variables)
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5.1.137
VC (Velocity Changing)
Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
VC
Notes
LMM
Function Group
Read Velocity Changing
Status Flag
Access
RW
Usage
Program/Immediate
Description
The read-only motion flag will be at an active state (1) when the velocity of the motor is changing, either
accelerating or decelerating.
Param
0
1
Description
Minus (CCW facing shaft)
Plus (CW facing shaft) (default)
An output may be set to be ON when VC is active using OS=<output>,20,<active>.
Range
0/1
Syntax
PR VC | {BR/CL} <label/address>,VC=<state>
Units
Default
Code example
Related
PR VC
0
Read the state of the velocity changing flag

velocity is constant
CL Q1, VC=1
Call subroutine Q1 when the axis velocity is changing
OS (Output Setup)
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5.1.138
VF (hMT Velocity Filter)
Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
VF
Notes
LMM
Function Group
Read/Set hMT Velocity Filter
hMT Variable
LMD Closed Loop
Access
RW
Usage
Program/Immediate
Description
VF takes a value of 0 to 1000. It can be defined as 0 = no filtering and 1000 = most filtering.
Because the Torque Velocity is computed and the encoder is sampled every mSec there can be fluctuation in the
result. The filtering compensates for this fluctuation.
Range
0 to 1000
Syntax
VF=<counts> | PR VF
counts
Units
Default
Code example
Related
VF=500
Set the torque velocity filter to 500 counts
PR VF
500
Read the torque velocity filter

the torque velocity filter is 500 counts
AS (hMTecnology Mode)
TQ (Torque Percent)
TS (Torque Speed)
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5.1.139
Compatibility
Mnemonic
VI
LMD(O)
LMD(C)
Function
Notes
LMM
Function Group
Set/Read Initial Velocity
Motion Variable
Access
RW
Usage
Program/Immediate
Description
Initial velocity for all motion commands. The factory default value is 1000 clock pulses (steps) per second.
The initial velocity for a stepper should be set to avoid the low speed resonance frequency and must be set lower
than the pull in torque of the motor. It must also be set to a value lower than VM (Max. Velocity).
Range
1 to (VM 1)
Syntax
VI=<velocity> | PR VI
Units
steps/sec (EE=0)
counts/sec (EE-1)
Default
1000 (EE=0)
40 (EE-1)
Code example
Related
VI=5000
Set the initial velocity to 5000
PR VI
5000
Read the value of the initial velocity

The initial velocity is 5000 steps/sec
A (Acceleration)
D (Deceleration)
VM (Max Velocity)
V2.00, 05.2016
EtherNet/IP
5-147
class
instance
attribute
0x66
0x11
Modbus/TCP
0x0089 - 0x008A
5 COMMAND DETAILS
5.1.140
Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
VM
Notes
LMM
Function Group
Read/Set Maximum Velocity
Access
Motion Variable
RW
Usage
Program/Immediate
Description
The VM variable specifies the maximum velocity in steps/counts per second that the axis will reach during a move
command.
The maximum setting of VM is dependant on the setting of the Microstep Resolution and is equal to MS*10000.
VM must be greater than VI.
Changes to VM made during motion will not take effect until the current move completes.
Range
(VI + 1) to (MS*10000)
Syntax
VM=<velocity> | PR VM
Units
steps/sec (EE=0)
Default
counts/sec (EE-1)
786000 (EE=0)
307200 (EE-1)
Code example
Related
VM=500000
Set maximum velocity to 5000000 steps sec.
PR VM
5000000
Read the value of VM

VM is set to 500k steps/sec
A (Acceleration)
D (Deceleration)
V2.00, 05.2016
EtherNet/IP
5-148
class
instance
attribute
0x66
0x12
Modbus/TCP
0x008B
5 COMMAND DETAILS
5.1.141
VR (Version)
Compatibility
Mnemonic
VR
LMD(O)
LMD(C)
Notes
LMM
Function
Function Group
Read Firmware/Hardware Version
Identification Keyword
Access
RO
Usage
Program/Immediate
Description
Keyword used with PR (Print) to read the firmware and hardware versions of the core code.
The keyword will return two values, the first is the device Controller firmware (field upgradable), the second is the
FPGA hardware version (factory upgrade only).
Syntax
PR VR
Code example
PR VR
LMMCM 6.002, Hw: 3.2
Related
Read the device version

Firmware version and hardware version
UG (Upgrade)
V2.00, 05.2016
EtherNet/IP
5-149
class
instance
attribute
0x65
0x0B
Modbus/TCP
See Modbus/TCP Fieldbus

Manual Section 4.1: Device ID
5 COMMAND DETAILS
5.1.142
VT (Read Voltage)
Compatibility
LMD(O)
Mnemonic
LMD(C)
Function
VT
Notes
LMM
Function Group
Read Voltage
Status Keyword
Access
RO
Usage
Program/Immediate
Description
The VT keyword is used in conjunction with the PR (Print) instruction to read the status and voltage of the device.
Status
Aux V
+VDC
Notes
In range
In range
Normal for LMD with Auxiliary voltage connected
Out of range/
Unused
In range
Normal for LMM or LMD without Auxiliary voltage connected
In range
Out of range
Abnormal condition, Error 78 asserted
Out of range
Out of range
Abnormal condition, Error 79 asserted
An optional parameter may be used to read the voltage and status of a specific voltage:
Param
1)
Auxiliary Voltage (LMD products only)
2)
+VDC
Description
<blank>
Read both sensors, bridge first, then Controller
Read the Aux V level
Read the +V level
PR VT, <param>
Syntax
Code example
LMM
PR VT
1, 23
Read the status and voltage

+V in range, 23 VDC
LMD
PR VT
0, 23,36
Related
Read the status and voltage

Aux V and +V in range. Aux V: 23 VDC, +V: 36 VDC
IT (Internal Temperature)
V2.00, 05.2016
EtherNet/IP
5-150
class
instance
attribute
0x65
0x0C
Modbus/TCP
See Modbus/TCP Fieldbus

Manual Section 4.3: Mfg
Specific Function Codes
5 COMMAND DETAILS
5.1.143
WT (Warning Temperature)
Compatibility
Mnemonic
LMD(O)
LMD(C)
Function
WT
Notes
LMM
Function Group
Set/Read Warning Temperature
System Variable
Access
RW
Usage
Program/Immediate
Description
The Warning Temperature variable allows the user to set a threshold temperature at which the device will assert an
error 71 to the terminal screen if the set temperature is exceeded.
Note that this is a single setting that will set the warning level for bother temperature sensors. If either reaches the
set threshold the error code will be asserted
Range
0-84
Syntax
WT=<temperature> | PR WT
Units
Default
80
Code example
Related
WT=75
Set warning temperature threshold to 75 C
PR WT
75
Read the warning temperature setting

WT is set to 75 C
IT (Internal Temperature)
V2.00, 05.2016
EtherNet/IP
5-151
class
instance
attribute
0x64
0x05
Modbus/TCP
5 COMMAND DETAILS
5.2
Math, logic and trigonometric operators

NOTE: Firmware versions prior to Firmware 6.00.00+ do not support
advanced floating point math and trigonometric functions.
5.2.1 Addition (+)

Compatibility
LMD(O)
Symbol
LMD(C)
Function
Notes
LMM
Function Group
Addition
Basic Math
Description
Adds the contents of variables
<sum target>=<augend>+<addend>+...
Syntax
Code example
VA Q1=25
VA Q2=30
VA Q3=40
Setup sample user variables and assign value
R1=Q1+Q2+Q3
PR R1
95
Add Q1, Q2 and Q3 together, store sum in Register 1

Read the Value of R1
R1 is 95
5.2.2 Subtraction (-)

Compatibility
Symbol
LMD(O)
LMD(C)
Function
LMM
Notes
Function Group
Subtraction
Basic Math
Description
Subtracts the contents of two variables
Syntax
<difference target>=<menuend>-<subtrahend>
V2.00, 05.2016
Code example
5-152
VA Q1=25
VA Q2=30
R1=Q2-Q1
PR R1
5
Subtract Q1 from Q2, store difference in Register 1

R1 is 5
5 COMMAND DETAILS
5.2.3 Multiplication (*)

Compatibility
Symbol
LMD(O)
LMD(C)
Notes
LMM
Function
Function Group
Multiplication
Basic Math
Description
Multiplies the contents of two variables
Syntax
<product target>=<multiplicand>*<multiplier>
Code example
VA Q1=25
VA Q2=30
R1=Q1*Q2
PR R1
750
Multiply Q1 and Q2, store product in Register 1

R1 is 750
5.2.4 Division (/)

Compatibility
Symbol
LMD(O)
LMD(C)
Notes
LMM
Function
Function Group
Division
Basic Math
Description
Divides the contents of one variable with another variables
Note that if you are dividing integer values and require a more precise quotient, the quotient may be
stored in F1-F8 (Floating Point Registers).
Syntax
<quotient target>=<dividend>/<divisor>
V2.00, 05.2016
Code example
5-153
VA Q1=25
VA Q2=30
F1=Q2/Q1
PR F1
1.200000
Divide Q2 by Q1, store quotient in Floating Point Register 1

Read the Value of F1
F1 is 1.200000
5 COMMAND DETAILS
5.2.5 Equal (=)

Compatibility
LMD(O)
Symbol
LMD(C)
LMM
Function
Notes
Function Group
Equal
Comparison operator
Description
Set a variable equal to another variable or number, comparison operator for BR (Branch) and CL (Call Subroutine)
program operations
<target var>=<source var>| [BR/CL] <label/address>,<var/flg/io>=<var/flg/num >
Syntax
Code example
VA Q1=25
A=Q1
Set acceleration equal to user variable Q1
CL X1,I1=1
Call subroutine X1 when input is active
5.2.6 Not Equal (<>)

Compatibility
Symbol
<>
LMD(O)
Function
Not Equal
LMD(C)
LMM
Notes
Function Group
Comparison operator
Description
Test if two variables are not equal.
Syntax
[BR/CL] <label/address>,<var/flg/io><><var/flg/num>
Code example
V2.00, 05.2016
CL X1,Q1<>25
5-154
Call subroutine when user variable Q1 is not equal 25
5 COMMAND DETAILS
5.2.7 Less Than (<)

Compatibility
Symbol
<=
LMD(O)
LMD(C)
LMM
Function
Notes
Function Group
Less Than
Comparison operator
Description
Tests if Variable is less than a second variable
Syntax
[BR/CL] <label/address>,<var/flg/io><<var/flg/num>
Code example
CL X1,Q1<=25
Call subroutine when user variable Q1 is less than 25
5.2.8 Less Than or Equal (<=)

Compatibility
Symbol
<=
LMD(O)
LMD(C)
LMM
Function
Notes
Function Group
Less Than or Equal to
Comparison operator
Description
Tests if Variable is less than or equal to a second variable
Syntax
[BR/CL] <label/address>,<var/flg/io><=<var/flg/num>
Code example
V2.00, 05.2016
CL X1,Q1<=25
5-155
Call subroutine when user variable Q1 is less than or equal 25
5 COMMAND DETAILS
5.2.9 Greater Than (>)

Compatibility
Symbol
>
LMD(O)
LMD(C)
Notes
LMM
Function
Function Group
Greater than
Comparison operator
Description
Tests if Variable is greater than to a second variable
Syntax
[BR/CL] <label/address>,<var/flg/io>><var/flg/num>
Code example
CL X1,Q1>25
Call subroutine when user variable Q1 is greater than 25
5.2.10 Greater Than or Equal (>)

Compatibility
Symbol
>=
LMD(O)
LMD(C)
Function
Notes
LMM
Function Group
Greater than or Equal
Comparison operator
Description
Tests if Variable is greater than or equal to a second variable.
Syntax
[BR/CL] <label/address>,<var/flg/io>>=<var/flg/num>
Code example
V2.00, 05.2016
CL X1,Q1>=25
5-156
Call subroutine when user variable Q1 is greater than or equal 25
5 COMMAND DETAILS
5.2.11 AND ( & )

Compatibility
Symbol
LMD(O)
LMD(C)
Function
&
Notes
LMM
Function Group
AND
Logic operator
Description
Performs a Logic AND operation on two variables.
<target var>=<var/flg>&<var/flg/num>
Syntax
Code example
R1=25
R2=30
Assign value to user registers
R3=R1&R2
AND R1 and R2 together, store in R3
PR R3
30

R3 is 30
5.2.12 OR ( | )
Compatibility
Symbol
LMD(O)
LMD(C)
Function
Notes
LMM
Function Group
OR
Logic operator
Description
Logic OR operation between two variables.
<target var>=<var/flg>I<var/flg/num>
Syntax
V2.00, 05.2016
Code example
5-157
R1=25
R2=30
R3=R1|R2
OR R1 and R2 together, store in R3
PR R3
25

R3 is 25
5 COMMAND DETAILS
5.2.13 XOR ( ^ )
Compatibility
LMD(O)
Symbol
LMD(C)
Function
Notes
LMM
Function Group
XOR
Logic operator
Description
Logic XOR operation between two variables.
<target var>=<var/flg>^<var/flg/num>
Syntax
Code example
R1=25
R2=30
R3=R1^R2
PR R3
25

R3 is 25
5.2.14 NOT ( ! )
Compatibility
LMD(O)
Symbol
LMD(C)
Function
Notes
LMM
Function Group
NOT
Logic operator
Description
Logic NOT operation.
<target var>=<var/flg>!<var/flg/num>
Syntax
V2.00, 05.2016
Code example
5-158
R1=25
R2=30
R3=!R1
PR R3
-26

R3 is -26
5 COMMAND DETAILS
The advanced math and trigonometric calculation should be performed

using the double-precision floating point registers F1-F8 (Floating Point
Registers).
5.2.15 AB ( Absolute Value )

Compatibility
Symbol
AB
LMD(O)
LMD(C)
Notes
LMM
Function
Firmware 6.00.00+
Function Group
Absolute Value
Advanced Math/Trigonometry
Description
Preforms an Absolute on the specified register.
Syntax
<target fpreg>=AB <var/flg/num>
Code example
MA -51200
PR P
Move negative 51200 steps (1 Rev)

Read the position counter
Position counter is at -51000 steps
F1=AB P
Perform absolute on position counter, store in F1
PR F1
51200.00000

F1 is 51200.00000
-51200
5.2.16 CS (Cosine)
Compatibility
Symbol
CS
LMD(O)
LMD(C)
Notes
LMM
Function
Firmware 6.00.00+
Function Group
Cosine
Description
Preforms an cosine on the specified register.
Syntax
<target fpreg>=CS <var/flg/num>
V2.00, 05.2016
Code example
5-159
VA Q1=51200
Create and ssign value to user register Q1
F1=CS Q1
Store cosine of Q1 in F1
PR F1
-0.106072

F1 is -0.106072
5 COMMAND DETAILS
5.2.17 C_ (Arc Cosine)

Compatibility
Symbol
C_
LMD(O)
LMD(C)
Notes
LMM
Function
Firmware 6.00.00+
Function Group
Arc Cosine
Description
Preforms an arc cosine on the specified register.
Syntax
<target fpreg>=C_ <var/flg/num>
Code example
Continues example from 5.2.4.2 CS (Cosine)
VA Q1=51200
Create and assign value to user register Q1
F1=CS Q1
Store cosine of Q1 in F1
PR F1
-0.106072

F1 is -0.106072
PR F2
1.677068
Return the value of F2

F2 is 1.677068
F2=C_ F1
Store Arc Cosine of F1 in F2
5.2.18 LO (Logarithm Base 2)

Compatibility
Symbol
LO
LMD(O)
LMD(C)
Notes
LMM
Function
Firmware 6.00.00+
Function Group
Logarithm Base 2
Description
Preforms an logarithm (base 2) on the specified register.
Syntax
<target fpreg>=LO <var/flg/num>
V2.00, 05.2016
Code example
5-160
VA Q1=51200
F1=LO Q1
Store log (base 10) of Q1 in F1
PR F1
10.843495

F1 is 10.843495
5 COMMAND DETAILS
5.2.19 L_ (Logarithm Base 10)

Compatibility
LMD(O)
Symbol
LMD(C)
Function
L_
Notes
LMM
Firmware 6.00.00+
Function Group
Logarithm Base 10
Description
Preforms an logarithm (base 10) on the specified register.
<target fpreg>=L_ <var/flg/num>
Syntax
Code example
VA Q1=51200
F1=L_ Q1
Store log (base 10) of Q1 in F1
PR F1
4.709270

F1 is 4.7092705
5.2.20 PI (3.141592654)
Compatibility
LMD(O)
Symbol
LMD(C)
Function
PI
Notes
LMM
Firmware 6.00.00+
Function Group
PI (3.141592654)
Description
Holds the value of PI.
Syntax
<target fpreg>=<reg/var><math>PI
V2.00, 05.2016
Code example
5-161
VA Q1=51200
F1=Q1*PI
Multiply User var Q1 times PI
PR F1
160849.543885

F1 is 160849.543885
Calculates the sine of the specified register.
5 COMMAND DETAILS
<target fpreg>=SI <var/flg/num>
Syntax
Code example
VA Q1=51200
F1=SI Q1
Store Sine of Q1 in F1
PR F1
-0.994358

F1 is -0.994358
5.2.22 S_ (Arc Sine)

Compatibility
Symbol
LMD(O)
LMD(C)
Function
S_
Notes
LMM
Firmware 6.00.00+
Function Group
Arc Sine
Description
Calculates the arc sine of the specified register.
<target fpreg>=S_ <var/flg/num>
Syntax
Code example
VA Q1=51200
F1=SI Q1
Store Sine of Q1 in F1
PR F1
-0.994358

F1 is -0.994358
F2=S_ F1
PR F2
V2.00, 05.2016
-1.464524
5-162
Store Arc Sine of F1 in F2

Return the value of F2
F2 is -1.464524
5 COMMAND DETAILS
5.2.23 SQ (Square Root)

Compatibility
LMD(O)
Symbol
LMD(C)
Function
SQ
Notes
LMM
Firmware 6.00.00+
Function Group
Square Root
Description
Calculates the square root of the specified register.
<target fpreg>=SQ <var/flg/num>
Syntax
Code example
VA Q1=51200
F1=SQ Q1
Store Square Root of Q1 in F1
PR F1
226.274170

F1 is 226.274170
5.2.24 TG (Tangent)
Compatibility
Symbol
TG
LMD(O)
LMD(C)
Notes
LMM
Function
Firmware 6.00.00+
Function Group
Tangent
Description
Calculates the tangent of the specified register.
Syntax
<target fpreg>=TG <var/flg/num>
V2.00, 05.2016
Code example
5-163
VA Q1=51200
F1=TG Q1
Store Tangent of Q1 in F1
PR F1
9.374376

F1 is 9.374376
5 COMMAND DETAILS
5.2.25 T_ (Arc Tangent)

Compatibility
Symbol
T_
LMD(O)
LMD(C)
Notes
LMM
Function
Firmware 6.00.00+
Function Group
Arc Tangent
Description
Calculates the arc tangent of the specified register.
Syntax
<target fpreg>=T_ <var/flg/num>
V2.00, 05.2016
Code example
5-164
VA Q1=51200
F1=T_ Q1
Store Tangent of Q1 in F1
PR F1
1.570777

F1 is 1.570777
6 Supporting Software
SUPPORTING SOFTWARE
The software associated withLexium Motion product products is contained within the Lexium Software Suite. This software package is available for download at the Schneider Electric Motion USA web site at
http://motion.schneider-electric.com.
The modules applicable are:
1. Motion Control Interface:

Graphic User Interface (GUI) for developing and simulating

Lexium MCode programs.
ANSI Terminal emulation with the ability for multiple terminal

tabs to be open on different COM ports.
Program editor tabs with color coding.
Programmable function keys
Program simulator allows for quick test and debugging of

Lexium MCode programs.
For RS-422/485 and EthernetLexium Motion product products
Motion Control Firmware upgrade utility.
2. Ethernet Configuration Utility:

For Lexium Motion product Ethernet products
Configure basic TCP/IP parameters such as:
IP address
Subnet mask
Gateway address
Firmware upgrades to Ethernet controller firmware
These modules are documented in separate manuals. The Manual for

the module be used may be down loaded at:
V2.00, 05.2016
http://motion.schneider-electric.com
6-1
6 Supporting Software
V2.00, 05.2016
This page intentionally left blank
6-2
7 PROGRAMING NOTES
PROGRAMMING AND APPLICATION NOTES
This section will cover the following areas of Lexium MCode programming and applications in detail.
7.1
Party mode communications
Programming the I/O
Factors impacting motion commands
Party mode communications

The following communication formats, used by Lexium MCode compatible devices.
{}
.............. The contents between the {} symbols are transmitted.
{0D} .............................Hex equivalent for a CR (Carriage Return).

{0A} ........................................ Hex equivalent for a LF (Line Feed).
{DN} ............................... Represents the Device Name being sent.
{CS} .............................. Check Sum; {ACK} 06 Hex; {NAK} 15 Hex
EM = Echo Mode; PY = PartY Mode; CK= ChecK sum
The word {command} represents the immediate command sent to the
device.
Command execution time (CET) is the time the device takes to execute
a command. This varies from command to command and usually is in
the 1-5 millisecond range.
V2.00, 05.2016
7.1.1
7-1
Response to Echo Mode
7 PROGRAMING NOTES
Dependent on how the echo mode (EM) is set in conjunction with party
mode (PY) and check sum (CK), the device will respond differently. The
following tables illustrate the various responses based on how the EM,
PY and CK parameters are set.
Parameter Setting
Transmission
EM=0 & PY=0 CK=0 (command) (D)
Initial Response
Final Response Notes
(command)
The last
Echoed back one
CET (0D) (0A)> character sent is
character at a time as
the prompt >
the character is entered.
EM=1 & PY=0 CK=0 (command) (0D)
CET (0D) (0A)
The last
character sent
is LF
No response
except to PR and
L commands
CET command
(0D) (0A)
Queued
response. The
last character
sent is the LF
V2.00, 05.2016
Table 7.1 Response to echo mode - party and check sum are zero (0)
7-2
Final
Response
Notes
(command)
Echoed back one
character at a time
as the character is
entered.
CET (0D) (0A)>
The last
character
sent is the
prompt >
CET (0D) (0A)
The last
character
sent is LF
Parameter Setting
Transmission
Initial Response
EM=0 & PY=1

CK=0
(DN) (command)
(0A)
EM=1 & PY=1

CK=0
(DN) (command)
(0A)
7 PROGRAMING NOTES
EM=2 & PY=1

CK=0
EM=3 & PY=1

CK=0
(DN) (command)
(0A)
(DN) (command)
(0A)
No response
except to
PR and L
commands
CET command
(0D) (0A)
Queued
response.
The last
character
sent is the LF
Table 7.2 Response to echo mode - party is one (1) and check sum is zero (0)
Parameter Setting
Transmission
Initial Response
EM=0 & PY=0

CK=1
(DN) (command)
(0A)
EM=1 & PY=0

CK=1
(DN) (command)
(0A)
EM=2 & PY=0

CK=1
(DN) (command)
(0A)
EM=3 & PY=0

CK=1
(DN) (command)
(0A)
Final Response
Notes
(command)
Echoed back one
character at a time
as the character is
entered.
CET (0D) (0A)>
The last
character
sent is the
prompt >
CET (0D) (0A)
The last
character
sent is LF
No response
except to
PR and L
commands
CET command
(0D) (0A)
Queued
response.
The last
character
sent is the
LF
Table 7.3 Response to echo mode - party is zero (0) and check sum is one (1)
Transmission
Initial Response
Final
Response
Notes
EM=0 & PY=1

CK=1
(DN) (command)
(CS) (0A)
(command)
Echoed back one
character at a time
as the character is
entered.
CET (ACK) or
(NAK)>
The last
character
sent is the
prompt >
EM=1 & PY=1

CK=1
(DN) (command)
(CS) (0A)
CET (ACK) or
(NAK)>
The last
character
sent is ACK
or NAK
EM=2 & PY=1

CK=1
(DN) (command)
(CS) (0A)
No response
except to
PR and L
commands
V2.00, 05.2016
Parameter Setting
7-3
7 PROGRAMING NOTES
EM=3 & PY=1

CK=1
(DN) (command)
(CS) (0A)
CET
command
(CS) (ACK)
(NAK)
Queued
response.
The last
character
sent is ACK
or NAK
Table 7.4: Response to echo mode - party and check sum are one (1)
7.1.2
Using Check Sum

For communication using check sum, the following 2 commands demonstrate sending and receiving.
1)
Check sum set to zero before first character is sent.
2)
All characters (ascii values) are added to check sum, including the
device name DN (if PY=1), to the end of the command, but not
including terminator.
3)
Check sum is 2s complement, then or ed with hex 80 (prevents

check sum from being seen as command terminator).
4)
Terminator sent.
Note: Any combination of upper/lower case may be used. In this example, if a lower case <mr> were to be used, the decimal values will
change to 109 and 114. Subsequently the result check s u m v a l u e w i l l
ch a n g e . (Po ssi b l e e n tri e s: MR , mr, Mr, mR .) (M = 77, R
=8 2 , m = 109, r = 114) (See ASCII table in Section 9 of this document.)
77 82 32 49
Decimal value of M, R, <space> and 1
4D 52 20 31
Hex
77+82+32+49 = 240

Add decimal values together
1111 0000 = 240 Change 240 decimal to binary
0000 1111 1s complement (invert binary)
0001 0000 Add 1 [2s complement]
1000 0000 OR result with 128 (Hex 80)
1001 0000 144
Result Check Sum value
Once the result is reached, add the check sum value (144 in this example) to your string by typing: MRr 1(alt key + 0144) (use the symbol
of 0144 in your string by holding down the alt key and typing 0144).
You must type the numbers from the numlock key pad to the right of the
keyboard. The numbers at the top of the keyboard will not work.
1) Check sum set to zero.
2) All characters are added to check sum.
V2.00, 05.2016
3) When receiving a command terminator, the lower 7 bits of the

check sum should be equal to zero.

A) if not zero, the command is ignored and NAK echoed.
B) if zero, ACK is sent instead of CR/LF pair.
4) Responses to PR commands will be check summed as above, but
7-4
7 PROGRAMING NOTES
the receiving device should not respond with ACK or NAK.
7.1.3
Immediate party mode sample codes

Once party mode has been defined and set up as previously described
under the heading multiple devices (party mode), you may enter
commands in the immediate mode in the ims terminal window. Some
examples follow.
Move device A, B or C 10000 steps
Assuming there are three devices set up in party mode as shown in the
sample codes above.

To move mdrive unit a, press CTRL+J and then type:

aMR^10000 and press CTRL+J. device a will move 10000
steps.
To print the position type: aPR p and press CTRL+J. The position of device a will be printed.
To move device b type: bMR 10000 and press CTRL+J. Device b will move 10000 steps.
To move all three devices at the same time type: *MR 10000
and press CTRL+J. All devices will move 10000 steps.
To change a variable in the c unit type: c<variable

name><number> and press CTRL+J. The variable will be
changed. To verify the change type: cPR <variable name> and
press CTRL+J. The new value will be displayed.
All commands and variables may be programmed in this manner.
To take a device out of party mode type: <device name>PY=0

and press CTRL+J. That unit will be taken out of party mode. To
take all units out of party mode type: *PY=0 and press CTRL+J.
All units will be taken out of party mode.
7.2
Programming the I/O
7.2.1
I/O availability per device type

The product families using the Lexium MCode language may have different sets of I/O points and functions. These are
V2.00, 05.2016
NEMA size 17
7-5
3 +5 to +24 VDC isolated input points. Programmable to

multiple functions. Sink or source.
1 analog input.
1 high speed isolated output. Programmable to multiple functions including Trip.
7 PROGRAMING NOTES
7.2.2
Active states defined

The active state determines at what voltage level the input will be active.
Active HIGH: the input will be active when +5 to +24 VDC is applied to
the input.
Active LOW: The input will be active when it is grounded (0 VDC).
Examples
Input 1 is to be configured as a Jog input which will activate when a

switch is toggled to ground:
IS=1,8,0
set input 1 to jog, active low
Input 4 is to be configured as a home input which will activate when

instructed by a PLC (+24VDC sourcing input):
IS=4,1,1
7.2.3
set input 4 to home, active high
Digital input functions

The inputs may be interfaced to a variety of sinking or sourcing devices.
An input may be programmed to be a general purpose user input, or to
one of 11 dedicated input functions. These may then be programmed to
have an active state of either high or low.
The inputs are configured using the IS variable (see Section 5: Command details). The command is entered into the ims terminal or program
file as:
IS=<line number>,<type>,<active low/high>
Example:
IS=3,3,0 set input 3 = limit-, active low

IS=2,0,1 set input 2 = gen. purpose, active high
NOTE: The Sink/Source Function is defined by the bias of the Input

Reference input.
Connecting the input to a +5 to +24 VDC supply will provide for sinking
inputs.
Connecting the input to Ground will provide for sourcing inputs.
V2.00, 05.2016
Refer to Section 6 of theLexium Motion product Hardware Manual for

examples.
7-6
7 PROGRAMING NOTES
NEMA Size 23 and 34
Input Functions
4 +5 to +24 VDC isolated input points. Programmable to

multiple functions. Sink or source.
1 analog input.
2 +5 to +24 VDC isolated outputs, dry contact configuration.

Programmable to multiple functions
1 high speed isolated output. Programmable to multiple functions including Trip.
The following table lists the programmable input functions.
Function
Description
Line
Type
Active
General
Purpose
General purpose input function used to control program

branches, subroutine calls or bcd functions when input bank
is used as a group
14
0/1
Home
Homing input. Will function as specified by the home (hm)

command.
14
0/1
Limit +
Positive limit input. Will function as specified by the limit (lm)

command.
14
0/1
Limit
Negative limit input. Will function as specified by the limit

(lm) command.
14
0/1
G0
G0 input. Will run program located at address 1 on

activation.
14
0/1
Soft Stop
Soft stop input. Stops motion with deceleration and stops

program execution.
14
0/1
Pause
Pause/resume program with motion.
14
0/1
Jog +
Will jog motor in the positive direction at max. Velocity (vm).

The jog enable (je) flag must be set for this to function.
14
0/1
Jog
Will jog motor in the negative direction at max. velocity (VM).

The jog enable (JE) flag must be set for this to function.
14
0/1
Reset
When set as reset input, then the action is equivalent to a ^c

entered into a terminal.
14
11
0/1
Capture
Capture input will operate with the Trip Capture (TC) trip to
run a subroutine when active. Only applicable to input 1.
Capture function not available on the NEMA 17 (42 mm)
Lexium Motion product models.
12
0/1
V2.00, 05.2016
Table 7.5 Digital input functions
7-7
7 PROGRAMING NOTES
7.2.4
Digital output functions

The outputs may be configured as general purpose or set to dedicated
functions, such as fault or moving. These outputs will sink up to 600 mA
(one channel of two banks) and may be connected to an external VDC
source.
The outputs are set using the Os command (see Section 5 of this document for precise details on this command). The command is entered
into the terminal or program file as:
OS=<line>,<type><active low/high>
OS=1,17,0 set output 3 to moving, active high
OS=3,0,0 set output 3 to be error, active low
Examples
Output Functions
Output functions may be programmed to be a general purpose user output with the following functions. Shaded areas apply only to units with
an internal encoder installed.
Function
Description
Line
Type
Active
General Purpose
User
A general purpose output can be set in a program or

in immediate mode to trigger external events. When
used as a group they can be a BCD output.
13
16
0/1
Moving
Will be in the active state when the motor is moving.
13
17
0/1
Software error
Will be in the Active State when a error occurs. .
13
18
0/1
Stall
Will be in the active state when a stall is detected.

Encoder required, stall detect mode (SM) must be
enabled.
13
19
0/1
Velocity Changing
Will be in the active state when the velocity is

changing. Example: during acceleration and
deceleration.
13
20
0/1
Locked Rotor
Will be in an active state when the rotor is locked on

MDrive Hybrid products
13
21
0/1
Moving to
Position
Will be active when the motor is indexing to a

commanded position.
13
23
0/1
Hybrid Active
Will be active when the Hybrid control circuitry is

engaged.
13
24
0/1
Make Up Active
Will be active when the Hybrid is correcting lead/lag

conditions.
13
25
0/1
Trip
Trip output applies to output 3 only, active low only
28
Attention
When active, indicates a status or statuses as

configured by the AO variable.
13
29
0/1
V2.00, 05.2016
Table 7.6 Digital output functions
7-8
7 PROGRAMING NOTES
7.2.5
Programmable input usage examples

The code examples below illustrate possible interface examples for using the digital I/O.
Reference the hardware manual of your device for connection and wiring information
Input Interface Example - Switch Input
The following example shows a switch connected between an I/O point

and power ground.
Code Sample
For the code sample, this switch will be set up as a G0 sinking input,
active when low. When pressed, the switch will launch the program
beginning at address 1 in device memory:
***Setup Variables***
IS=4,4,0
set input 4 to be a G0 input, active
LOW
****Program***
PG1
MR
20000
Move
pos.
H

Hold
completes
MR -20000
Move
H
Hold
completes
E
PG
Input interface example - switch input
+20000 steps relative to current

program execution until motion
-20000 steps
program execution until motion
End program, exit program mode
The following circuit example shows a switch connected between an

I/O point and a voltage supply which will source the input to perform a
function.
Code Sample
For the code sample, the switch will be set up as a soft stop sourcing
input, active when high. When pressed, the switches will stop the motor.
IS=1,5,1
set input 1 to Soft Stop, active when
HIGH
SL 200000
slew the motor at 200000 steps/sec
When the switch is depressed the motor will decelerate to a stop.
Output interface example
The following circuit example shows a load connected to an I/O point

that will be configured as a sinking output.
Code Sample
V2.00, 05.2016
For the code sample, the load will be an LED. The motor is configured
such that the LED will be lit while the motor is at constant velocity. Set
input 1 up to be a soft stop input using a switch in a sinking configuration this will soft stop the motor.
IS=1,5,1
set input 1 to Soft Stop, active when
HIGH
OS=1,20,0
set output 1 as a Velocity Changing
activeLOW
SL 2000000 slew the motor at 200000 steps/sec
7-9
While the motor is accelerating the LED will be dark, but will light up
when the motor reaches a constant velocity. When the Soft Stop switch
is depressed the motor will begin to decelerate, the LED will go dark
again while velocity is changing.
7 PROGRAMING NOTES
Output interface example
The following circuit example shows a load connected to an I/O point

that will be configured as a sourcing output.
Code Sample
For the code sample, the load will be a relay. The output will be configured to be a general purpose user output that will be set active when a
range of motion completes.
******Setup Variables******
OS=1,16,1
set IO 1 = user output, active HIGH
******Program******
PG 100 Enter program at address 100
MR 2000000
Move x in the positive direction
Hold execution until motion completes
MR -1000000 Move x distance negative direction

H
Hold execution until motion completes
O1=1
Set output 1 HIGH
Enter EX 100 to execute the program, the motion will occur and the
output will set high.
Reading inputs as a group example
The inputs may read as a group using the IN keyword. This will display
as a decimal between 0 to 15 representing the 4 bit binary number ( The
IN keyword will function on the 42mm (NEMA 17) devices but will only
read inputs 1 - 3. Inputs should be configured as user inputs
(IS = <line>,0).
PR IN
Interfacing outputs as a group example
Outputs may be written to as a group using the OT keywords\ . This will

set the outputs as a binary number representing the decimal between 0
to 7 representing the 3 bit binary number on 57 mm (NEMA 23) and 85
mm (NEMA 34) devices but will have no practical use on 42 mm (NEMA
17) devices. The outputs should be configured to the general purpose
user type (S=<line>,16).
V2.00, 05.2016
OT=5
101
7-10
Reads Inputs 4(MSB) 1(LSB)
set the binary state of the combined I/O to
7 PROGRAMING NOTES
7.2.6
Analog input usage

The analog input is configured from the factory as a 0 to 5V, 12 bit resolution input (IS = 5,9,0). This offers the user the ability to receive input
from temperature, pressure, or other forms of sensors, and then control
events based upon the input.
The value of this input will be read using the I5 instruction, which has a
range of 0 to 4095, where 0 = 0 volts and 4095 = 5.0 volts. The anlog
input may also be configured as 0 to 10 vols (IS = 5,9,1) for a 4 to 20
mA (IS = 5,10,0) or 0 to 20 mA Analog Input (IS = 5,10,1). If used as a 4
to 20mA input the range is 0 to 3200 units.
Sample Usage
***********Main Program**************
IS=5,9,0
set analog to read voltage (0 to
+5VDC)
PG 100
start prog. address 100
LB A1
label program A1
CL A2, I5<500
Call Sub A2, If I5 is less than
500
CL A3, I5>524
Call Sub A3, If I5 is greater
than 524
BR A1
loop to A1
***********Subroutines**************
LB A2
MA 2000
Move
H
ceases
RT
label subroutine A2
Absolute 2000 steps
Hold program execution until motion
return from subroutine
LB A3
label subroutine A3
MA -2000
Move Absolute -2000 steps
H
Hold program execution until motion
ceases
RT
return from subroutine
E End
V2.00, 05.2016
PG
7-11
Exit program
7 PROGRAMING NOTES
7.3
Factors impacting motion commands
7.3.1
Motor steps
All Lexium MCode examples assume 200 step motors. They rotate at
1.8 per clock pulse. 200 steps would equal 1 revolution.
Microsteps divide the 200 motor steps into smaller steps to improve
smoothness and resolution of the Lexium MCode compatible device.
Using the default setting of 256 for MS, the 200 motor steps are increased to 51200 microsteps. One motor revolution requires 51200
microsteps with the ms set at 256. If you were to set MS to 128, one
revolution of the motor would now require 25600 microsteps.
7.3.3
Move Command
The move absolute (MA) and the move relative (MR) commands are
programmed in microsteps or if the encoder is enabled, encoder
counts. If the ms was set at 256 and you were to program a move of
51200 microsteps, the motor would turn one full revolution. If the ms
was set to 128, one full revolution of the motor would be 25600 microsteps (128 x 200). If you programmed a move of 51200, the motor
would turn 2 full revolutions.
7.3.4
Closed loop control with an encoder

If the encoder is enabled the move commands use different values. The
encoder has 1000 lines and yields 4000 counts or counts per revolution. Therefore, the MR and MA command values are programmed in
encoder counts. One full revolution would be programmed as mr or ma
4000.
When the encoder is enabled, the MS value is defaulted to 256. It cannot be changed.
Knowing these factors you can program a multitude of different movements, speeds, and time intervals.
7.3.5
Linear movement
You have a rack and pinion or a ball screw to move a linear axis. The
rack and pinion or ball screw moves the linear axis 0.1 inches for each
revolution. You need to move 7.5 inches.
V2.00, 05.2016
7-12
7.5 inches divided by 0.1 inches = 75 motor revolutions.
7 PROGRAMING NOTES
Assuming an MS of 256 (51200 Microsteps) is programmed, 51200 Microsteps x 75 revolutions requires a move of 3840000 microsteps.
Knowing the values of the variables as well as the required move, you
can calculate the actual time it takes to move the axis the required distance. This is done with a trapezoidal profile as shown below.
VM=768000
VI=1000
t1= .767
294528
Microsteps
t2= 4.233
3250944
Microsteps
t3= .767
294528
Microsteps
Ttotal = 5.767
Figure 7.2 Trapezoidal move profile
Calculating axis speed (velocity)
There are several steps required to determine the actual axis speed.
They are all based on the Trapezoidal Profile above.
Known Values and Parameters:
VM...........................768000 Steps/Sec.
VI.................................1000 Steps/Sec.
A..........................1000000 Steps/Sec2.
D.........................1000000 Steps/Sec2.
MA/MR..................3840000 Microsteps
Determine the Acceleration (A) and Deceleration (D) times (t1 and t3).
Since the Deceleration (D) value is also 1000000 Steps/Sec. the Deceleration time (t3) will be the same as the Acceleration time (t1).

(t1 and t3)=
VM - VI
A
OR
768000 - 1000
1000000
= 0.767 Seconds
Determine the distance (Steps) traveled in t1 or t3.

Distance=
VM + VI
2
x t1
= 294911 steps
V2.00, 05.2016
Determine the t2 time.
7-13
OR
768000 + 1000
2
x 0.767
7 PROGRAMING NOTES
The t2 time is calculated by dividing the remainder of MA/MR by VM.

The remainder of MA/MR = MA/MR - (t1 steps + t3 steps) or 3840000
- 589056 = 3250944.
t2 =
3250944
768000
= 4.233 Seconds
Determine the total time. (t1 + t2 + t3) or (0.767 + 4.233 + 0.767) =

5.767 Seconds
The linear axis took 5.767 seconds to move 7.5 inches or an average
speed of 78 inches/minute.
Note that the average speed includes the Acceleration and Deceleration. The maximum axis speed attained is approximately 90 inches/
minute.
768000
V2.00, 05.2016
51200
7-14
x 0.1 x 60 = 90 IPM
7 PROGRAMING NOTES
7.3.6
Calculating rotary movement

Assume that MS is set to 256. You are using the motor to drive a shaft
with a timing belt and pulley arrangement. As shown below, the pulley is
1 in diameter and the shaft pulley is 2.5 in diameter. You must turn the
shaft 270.

The shaft will rotate 1 full revolution for every 2.5 revolutions of
the motor.
270 is 0.75 of a revolution.
0.75 x 2.5 = 1.875 motor revolutions to turn the shaft 270.
If 51200 Microsteps is 1 motor revolution, then the device must

be programmed to move 96000 Microsteps (51200 x 1.875).
You may also do many of the calculations in reverse to calculate motor

moves to meet a required move of your device. A linear or rotational
move as well as speed may be translated into an Lexium MCode command.
270
2.5"
1.0"
Motor pulley
1.875 Revolutions
Shaft pulley
0.75 Revolution
Rotary drive example 1
110
1.5"
4"
Motor pulley
V2.00, 05.2016
Rotary table
Rotary drive example 2

Figure 7.3 Rotary examples
7-15
7 PROGRAMING NOTES
In the example above, the belt driven rotary table must be turned 110
at 3 RPM. How should the device be set up?
Bear in mind that all the numbers are approximate due to rounding.
Mechanical ratio between the motor and the rotary table is 2.666:1. That
is, the motor must rotate 2.666 revolutions for the table to rotate 1 revolution and the table will rotate 2.666 times slower than the motor.
In order to move the table 110 the motor must move 293.3.
110 x 2.66 = 293.3
If 51200 steps = 1 revolution then 1 = 142.222 steps.

51200
360
= 142.222 steps
The Lexium MCode device must be programmed to move 41713 steps

to rotate 293.3.
142.222 steps x 293.3 = 41713 steps
In order to rotate the table at 3 RPM the motor must turn at 8 RPM.
3 RPM x 2.666 = 8 RPM
If you were to set VM at 51200 and MS set at 256 the motor will rotate 1
full revolution (51200 steps) in 1 second or 1 RPS. In order to rotate at
8 RPM, the motor must rotate at 0.13333 RPS.
8
60
= 0.133333 RPS
In order to rotate at 0.13333 RPS the VM must be set at 6827 steps/

sec.
51200 x 0.133333 = 6827
VM = 6827
V2.00, 05.2016
Note: These numbers will vary slightly depending on Acceleration and

Deceleration rates.
7-16
7 PROGRAMING NOTES
7.3.7
Programming with the optional encoder enabled

An optional 1000 line magnetic encoder is available. When the Encoder
is enabled (EE=1) the programming also changes. All motion must now
be programmed by the encoder counts. The Encoder operates in the
Quadrature format. That is, there are four Encoder counts for each Encoder line or 4000 counts per revolution (1000 4 = 4000). (See Figure
below.) If you were to program motion using the MR (Move Relative) or
MA (Move Absolute) commands the motor would rotate a distance equal
to the encoder counts.
1 Encoder
Line
90
Electrical
3
1
Channel A
Channel B
(4 Encoder Pulses per Encoder Line)

Figure 7.4 Encoder waveform
Example:
A programmed move of 14000 counts would result in the motor rotating

3.5 revolutions at a velocity controlled by VM.
14000 4000 = 3.5 revolutions
If you were to program motion using the SL (Slew) command the motor
would rotate at a counts per second rate based on the programmed
value.
Example:
An SL (Slew) rate of 14000 counts was programed. The motor will rotate
at 14000 counts/sec., 3.5 RPS, or 210 RPM.
14000 4000 = 3.5 RPS 60 = 210 RPM
V2.00, 05.2016
When the Encoder is enabled, the parameters are also changed to be

compatible with the 4000 counts.
7-17
7 PROGRAMING NOTES
The Encoder Enabled defaults are:

VM............................................. 60000 Counts/Sec.
VI..................................................... 78 Counts/Sec.
A................................................. 78125 Counts/Sec
D................................................ 78125 Counts/Sec.
MS......................... 256 (default for encoder mode.)
To enable the encoder the program syntax is <EE=n> where n is a zero
(0) or a one (1). The default is zero (0) which is encoder disabled. To
enable the encoder, program EE=1.
Any motion will now be programmed in encoder counts. You can calculate the distance or velocity you need in a similar manner as done
previously only with different factors.
Note: The microstep select is defaulted and locked at 256 in the encoder mode to ensure stable, high resolution.
Several Variables work in conjunction with Encoder Enable (EE). They
are:
DB ............................................Encoder Deadband
SF..................................... The Stall Factor Variable
SM................................... The Stall Detection Mode
ST..............................................................Stall Flag
PM......................................... Position Maintenance
EE................................................ Encoder Enabled
When the encoder is enabled, all motion is closed loop. That is, motion steps are delivered from the Lexium MCode device to the motor
which turns the encoder. The encoder sends counts back to the drive
to complete the motion. If you programmed a move of 2048 counts, the
device would output an appropriate number of microsteps provided the
stall factor (SF) value or other fault is not encountered. If no faults were
encountered, the device would output the full amount of microsteps. Depending on which variables were set, the driver would then wait until the
position (plus or minus the encoder deadband) was read and confirmed.
V2.00, 05.2016
DB - Encoder Deadband
7-18
The Encoder Deadband is a Variable that is set in Encoder Counts.

Motion will be deemed complete when the Encoder Counts are within
the Deadband variable. With DB=5 the motion of 2048 counts would be
complete between 2043 and 2053 counts.
7 PROGRAMING NOTES
SF - Stall Factor
The Stall Factor is a Variable which is entered in Encoder Counts. The

Stall Factor is active only in the EE=1 mode. The Stall Factor might be
compared to the following error or lag error of a servo drive. The Stall
Factor is triggered by the number of steps output from the device to the
motor as compared to the number of counts returned by the encoder.
The comparison should always be within the value of the Stall Factor,
otherwise a fault will occur and the Stall Flag (ST) will be set. If the Stall
Detection Mode is active (SM=0), the motion will be stopped.
Example:
A Stall Factor of 30 counts (SF=30) is programmed. A motion command
of 2048 counts is programmed. The device reaches a mechanical bind
at 2000 counts. The device will keep outputting steps equivalent to 2030
counts (present position plus the SF value) and then the Stall Flag (ST)
will be set. The motor will be stopped if the Stall Detection Mode (SM=0)
is active.
SM - Stall Detection Mode
ST - Stall Flag
PM - Position Maintenance
The Stall Detection Mode can be programmed to stop the device

(SM=0) or to allow the device to continue (SM=1) when the Stall Factor
(SF) is reached. Whether SM is active or not, the Stall Flag will always
be set when the SF is encountered.
The Stall Flag will be set any time the SF is reached regardless of the
state of the Stall Detection Mode (SM). If the Stall Flag is set, the user
must reset it to zero (0).
Position maintenance (PM) is active only after the motion has completed. Position maintenance is used to maintain position when there might
be an external force on the drive. If position maintenance is enabled
(PM=1) and the stall detection mode is enabled (SM=0), the motor will
be driven back to its final position if it was forced out of position provided
the stall factor (SF) was not reached.
If position maintenance is enabled (PM=1) and the stall detection mode
is disabled (SM=1), the motor will be driven back to its final position if it
was forced out of position regardless of whether the stall factor (SF) was
reached or not.
There are three other variables, although not directly conned to EE, that
do affect the overall operation when in encoder mode, they are:
HC............................................... Motor Hold Current
HT............................ Motor Hold Current Delay Time
MT.....................................Motor Settling Delay Time
HC..........................................................Hold Current
V2.00, 05.2016
When motion is complete, the device will switch from motor run current (RC) to motor hold current (HC). The hold current is set at a lower
percentage than the run current (rc). However, the hold current must be
sufficient to overcome an outside force such as driving a vertical slide
which maintains a load on the motor at all times. Actual hold current
7-19
7 PROGRAMING NOTES
values will vary depending on the application and the load on the motor
when it is at rest.
HT - Motor Hold Current Delay Time
MT - Motor Settling Delay Time
The motor hold current delay time (HT) is a variable that delays the
change from run current (RC) to hold current (HC) at the end of a move.
The end of the move is triggered by the device when it has completed
outputting the correct number of steps. Depending on the application,
including velocity, deceleration, load and inertia, the device may lag behind a few counts. The ht will allow the device to finish its move before
applying the lower HC.
A stepping motor may ring or oscillate in minuscule amounts at the
completion of a move until it satisfies the target position. The amount of
this ringing is dependent on the application including velocity, deceleration, inertia, friction and load. The motor settling delay time (MT)
allows the motor to stop ringing before checking the position count. If
the device tried to check the position count during this ringing, it would
assume a position error and try to correct an already moving motor and
possibly cause ringing of a larger magnitude and longevity. Typically,
the MT is set between 50 and 100 milliseconds. It is recommended that
there is always a Motor Settling Time programmed any time you are in
EE=1 mode.
V2.00, 05.2016
Note: If MT has no value, the motor may hunt and never satisfy the position check.
7-20
Figure 8.3 Lexium MCode Reference Manual
Figure 8.4 8 hMTechnology
8 HMTECHNOLOGY
NOTICE
This section only applies to Lexium MDrive Motion Control
and Lexium MDrive Ethernet Closed Loop products.
8.1
hmTechnology overview
hMTechnology is a proprietary closed loop control technology that,
when applied to step motors, prevents the loss of synchronization due to
transient or continued overload, extreme acceleration or deceleration, or
excessive slew speed.
8.1.1
Glossary of Terms
Because hMT is a unique technology, some of the terms used to describe its operation are defined:
8.1.1.1 hMTechnology (hMT)
A motor control technology representing a new paradigm in brushless

motor control. By bridging the gap between stepper and servo performance, hMT offers system integrators a third choice in motion system
design.
8.1.1.2 Control bounds
Control bounds establish the rotor/stator lead and lag relationship. Control bounds may be set to one of 4 parameters ranging from 1.1 to 1.7
motor full steps. When hMT is active, the technology will maintain the
relationship within those boundaries, eliminating motor stalls.
8.1.1.3 Lag
The amount (in full motor steps) that the rotor lags the stator. Lag conditions are caused by loading on the motor shaft, as during transient loading or rapid acceleration.
V2.00, 05.2016
8.1.1.4 Lead
The amount (in full motor steps) that the rotor leads the stator. Lead
conditions are caused by an overhauling load, as during periods of rapid
deceleration.
8-1
8.1.1.5 Loss of synchronization
In traditional stepper systems, when the lead/lag relationship of the

rotor and stator reaches two full motor steps, the alignment of the magnetic fields is broken and the motor will stall in a freewheeling state.
hMTechnology eliminates this.8.1.1.6
Locked rotor
When the lag/lead limit is reached, a timer starts a countdown that is
determined by the user. The locked rotor will assert itself by triggering
a flag and, depending on the selected mode, by disabling the output
bridge.
8.1.1.7 Position lead/lag
hMT continually tracks the position lead or lag error, and may use it to
correct position.
8.1.1.8 Position make-up
When active, the position make-up can correct for position errors occurring due to transient loads. The lost steps may be interleaved with
incoming steps, or reinserted into the profile at the end of a move.
8.1.1.9 Variable current control
When active, variable current control will control the motor current as
such to maintain the torque and speed on the load to what is required
by the profile. This leads to reduced motor heating and greater system
efficiency.
8.1.2
hMTechnology Basics
hMTechnology is the core control technology that enables the multimode functionality of the Lexium MDrive by overcoming many of the
limitations inherent in stepper systems. Two major limitations addressed by this technology are:

Loss of motor synchronization and subsequent stalling.
Excessive motor heated due to limited current control options
8.1.2.1 Loss of synchronization
Synchronized motion in a stepper motor requires that the lead/lag relationship between the rotor and stator be within +/- 2 motor full steps.
As this relationship drifts toward the 2 step point the torque available to
the load is reduced, with maximum constant torque available at the <=
1 full step point.
Conditions that can cause the stepper motor to lose synchronization
and stall are:
V2.00, 05.2016
Rotor lags stator:

Acceleration is too rapid to apply enough torque to overcome

the inertia of the load.
Transient load condition at velocity; i.e. load being increased

on a conveyor.
Rotor leads stator:
8-2
Deceleration is too rapid to hold the load within the +/- 2 full step
range.
Overhauling load condition where the momentum of the load is

greater than the torque supplied to maintain constant velocity.
hMT maintains the rotor/stator relationship
within the set control bounds
LAG
1.1
Stall zone
1.3
> 2 full steps
1.5
1.7
LEAD
Best torque performance 1.1

Best overall performance
Best speed performance
Stall zone
1.3
> 2 full steps
1.5
1.7
Figure 8.1 Motion block, hMTechnology disabled
8.1.2.2 Variable current control
Historically stepper motor drivers operate at two adjustable current

levels:
1)
Running current, the current level in use when the shaft is moving
2)
Holding or reduction current, the current level in use when the shaft
is at rest.
Variable current control uses hMT to accurately measure and track the
rotor -stator relationship and apply current as needed, such as during acceleration or deceleration, then reducing the current to the level
required to move the load when the axis is at velocity. This can lead to
greater power efficiency and cooler running motor.
8.1.2.3 Position make-up
When active, the position make-up function stores the difference between commended pulses and actual motor steps in a register. At the
completion of the move the lead or lag pulses will be reinserted into the
profile and moved to the commanded position at one of two velocity
presets.
8.1.3
Overview of motor phase current
V2.00, 05.2016
The motor phase current of the drive is influenced by the following factors:

The setting of RC (Run Current) .
The setting of HC (Hold Current).
The setting of HT (Hold Current Delay Time)
Current control defined as fixed or variable.
8-3
Fixed or variable current

AS = 0
AS = 1
AS = 2 (variable)
AS = 3 (variable)
Run current
RC=[0...100%]
Hold current
HC=[1...100%]
IACTUAL
ICTRL
RC
HC
Hold current delay time

HT=[microseconds]
V2.00, 05.2016
Figure 8.2 Overview of motor phase current
8-4
8.2
hMTechnology modes of operation

There are four operational modes for the hMTechnology, which are
configured using AS (hMTechnology Mode):
1)
2)
3)
4)
hMT Off, or bypass(AS=0)
hMT On (AS=1) fixed current
hMT On (AS=2) variable current)

Torque control (AS=3)
The selected mode will have a major effect on how the device will operate during a move.
The hMT operating mode may also be changed either programmatically
or immediately provided a move is not in progress.
8.2.1
hMT off (bypass) (AS=0)

With the hMTechnology disabled (AS=0) the motion block of the device
will operate as a standard integrated stepper controller/drive/motor.
Commands for absolute (MA) or relative (MR) positioning, or slew at
velocity (SL) are received via the communications port and processed
as commanded, bypassing the hMT logic block.
hMT Logic
RS485
Ethernet
COM
MPU
Velocity
Generator
Encoder
Motor
Bridge
Current
Control
Bridge
Figure 8.3 Motion block, hMTechnology disabled
In bypass mode, the current control will be fixed at the set run RC (Run
Current) and hold HC (Hold Current) current percent levels.
V2.00, 05.2016
Encoder functions are not available in bypass mode.
8-5
8.2.2
hMT on (fixed current) (AS=1)

In fixed current mode (AS=1) the rotor/stator relationship is maintained
within set control bounds using the integrated encoder.
Commands for absolute (MA) or relative (MR) positioning, or slew at
velocity (SL) are received via the communications port and processed
through the hMT logic block. Feedback from the encoder is compared
with commanded clock pulses from the velocity generator. The output
of this comparison is used to keep the rotor-stator relationship within
the control bounds, thus eliminating loss of synchronization.
The variance between commanded position and actual position is
stored in the lead/lag register (LL) and is used to perform a position
correction move if make-up (MU) is enabled.
The device will use the RC (Run Current) and HC (Hold Current) settings for bridge current. hMTechnology
Common encoder functions such as stall detection and position maintenance are disabled when fixed current mode is selected.
hMT Logic
Position
Lead/Lag
Register
Compare
logic
Rotor actual
position
Stator commanded
position
RS485
Ethernet
COM
MPU
Velocity
Generator
Encoder
Motor
Bridge
Current
Control
V2.00, 05.2016
Figure 8.4 Block diagram, hMTechnology enable (AS=1/2)
8-6
Bridge
8.2.3
hMT on (variable current) (AS=2)

With hMT enabled in variable current mode (AS=2) the hMT will function as described in Sub-section 8.2.2 with the difference that current
control will be in variable mode.
In variable current mode the hMT will adjust the bridge current to the
amount required to move the load. The set run current (RC) will be used
as the maximum threshold.
Using hMTechnology Mode 2 can significantly increase the energy efficiency and reduce the motor heating. The graph in Figure 8.4 shows
the thermal performance of an LMDCM572 NEMA 23 (57 mm) running
at 25% current at a speed of 2000 motor steps per second.
The first set of measurements reflect the motor running at a constant
velocity. The second set show the motor running back and forth at a
duty cycle of 50%.
Temperature (C)
90
Thermal
Shutdown
80
70
60
50
20%
40
30
20
hMT Mode 0
10
hMT Mode 2
100% duty cycle

50% duty cycle
100% duty cycle
50% duty cycle
0
0
20
40
60
80
100
120
140
Time (minutes)
Figure 8.5 hMT Mode 2 - Variable current mode thermal performance
With hMT in variable current mode the device will use less power and
run cooler, depending on load and duty cycle.
V2.00, 05.2016
Common encoder functions such as stall detection and position maintenance are disabled when variable current mode is selected.
8-7
8.2.4
hMT on (torque mode) (AS=3)

With hMT in torque mode (AS=3) the hMT will maintain constant torque
on the load at the speed required to maintain that torque.
The amount of torque used is set using the torque percent (TQ) parameter. The maximum speed for torque mode is set using the torque
speed (TS) parameter. The torque direction (TQ) flag may be used to
control the direction of rotation.
Common encoder functions such as stall detection and position maintenance are disabled when torque mode is selected.
Make-up (MU) is disabled when in torque mode.
8.3
Position Make-up
Make-up mode is active when ever hMTechnology is on in fixed (AS=1) or
variable (AS=2) current mode. Make-up compensates for position errors
resultant from a disturbance during a move by reinserting missed steps into
a motion profile as conditions allow. The MU mode selected defines how
that compensation occurs.
MU=0: Make-up happens without regard to time. In this mode missed
steps are added to the motion profile to end the move at the commanded position. The speed at which the error compensation occurs
is determined by the point in which the disturbance leading to the error
occurs.
Should the disturbance occur at during acceleration or at velocity, steps
are added at the set maximum velocity (VM). Should the disturbance
occur during deceleration, the axis will creep into position at the set
initial velocity (VI).
VM
Velocity
A
B
VI
Time
Commanded position
Disturbance at velocity, error compensation occurs at VM
Disturbance during decel, error compensation occurs at VI
Figure 8.6 Make up mode MU=0
V2.00, 05.2016
MU=1: Make-up occurs as the load allows with regard to the timing of
the move. In this mode error compensation occurs by missed steps
being inserted into the profile. The hMT algorithm will interleave steps
into the move attempting to complete the motion profile on time. Missed
steps are reinserted when the lead/lag relationship of the rotor and stator is <=1.1 motor full steps.
8-8
During make-up active in mode 1, the steps will be generated at a

rate (frequency) that is a composite of the maximum velocity (VM) or
commanded slew rate (SL) and the set make-up (MU) frequency. This
frequency will be the greater of 2 X (VM or SL) or MU.
VM + MF
(Max)
up to MF
VM
Velocity
VI
Axis accelerates to max. velocity (VM)
Event (transient load,ect) stops/slows motor

shaft resulting in missed steps
hMT overcomes event, motion resumes
Missed stepes re-inserted into profile

at a composite frequency that will be
the greater of 2 times (VM or SL) or MF.
B
Time
Figure 8.7 Make up mode MU=1
MU=2: In mode 2 error compensation will occur similar to mode 1 at the

highest velocity the load will allow without regard to VM, but at a velocity not exceeding 2560000 steps/sec (3000 RPM).
Note that when the the mtor shaft is torqued out of position without any commanded motion, make up will occur at MF (MU=1) or at 3000 RPM
(MU=2).
Acceleration during make-up
8.4
Make-up acceleration occurs at 16,763,806 steps/sec2. The VI setting for

make-up is 916 steps/sec. These are fixed values that cannot be changed
by the user.
Locked Rotor
A locked rotor is defined as no rotor movement while at the maximum allowed lag for a specified period of time, after which a LR (Locked Rotor)
condition is activated and an Error code asserted. When lag becomes equal
to the bounds, a timer starts to count down. Upon reaching zero, a locked
rotor will be indicated by the assertion of a status flag. The timer reloads on
any encoder movement. The timer timeout period is user selectable from
2mS to 65.5 seconds using the LT (Locked Rotor Timeout) variable.
When configured as a step/direction drive or in speed control mode, a
locked rotor will also cause an internal fault disabling the motor bridges. The
bridges may be re-enabled by cycling power, cycling the enable input, or via
software command.
V2.00, 05.2016
In torque mode, a locked rotor does not disable the bridges. The locked rotor flag can be used to indicate the rotor has been stopped at the specified
torque for a pre-set amount of time.
8-9
V2.00, 05.2016
8.5
8-10
hMTechnology Specific Error Codes

100
Configuration test done, encoder resolution mismatch
101
Configuration test done, encoder direction incorrect
102
Configuration test done, encoder resolution and direction incorrect
103
Configuration not done, drive not enabled
104
Locked rotor. The Locked Rotor flag will also be active (LR=1). Clear by issuing a CF
(Clear Locked Rotor Fault).
105
Maximum position count reached
106
Lead limit reached
107
Lag limit reached
108
Lead/lag not zero at the end of a move
109
Calibration failed because drive not enabled.
110
Make-up disabled.
111
Factory calibration failed
9 Sample Programs
SAMPLE PROGRAMS
This section is made up of several example programs designed to aid

the user in discovering the Lexium MCode programming language.
Download sample programs
All the sample programs from this section may be downloaded from the
web site at http://motion.schneider-electric.com in *.ixt ((Motion Control
Programmer) format.
> DOWNLOAD NOW
9.1
Move on an input
[VARIABLES]
This block contains the global variable and system
configuration information.
Is=1,0,0
Ms=256
Vi=200000
Vm=2500000
A=1000000
D=A
Hc=2
Rc=75
P=0
[PROGRAMS]
The program block for this application sets the event
that triggers the subroutine call when input 1 is active
and loops when I1=inactive
PG 1
LB Ga
Program execution label
P=0
LB G1
Loop back label
CL Kb,I1=1
H 10
BR G1
E
V2.00, 05.2016
Subroutine from trigger event will execute a ten

revolution positive move, hold, then return to 0 in the
negative direction and repeat as long I1=1
LB Kb
subroutine label
MA 512000
H
MA 0
H
RT
PG
exit program
S
Keep this line to save program on load
[END]
Enter EX Ga or EX 1 in the termianl tab to run
9-1
9 Sample Programs
9.2
Change velocity during a move

This program will demonstrate ability to change speed during move.
The device does not have abiltity to change speed during point to point
move, so we use the slew command with position trips. End position
trip, decel and slew speed determine actual ending position. Program
is written to print ending position to serial port 10 times for averaging,
expected end position = 102400.
Use the file change_speed_during_a_move.ixt in the sample_programs.zip file
[VARIABLES]
This block contains the global variable and system
configuration information.
Hc=20
Rc=100
[PROGRAMS]
PG 1
Program label Ga sets local variables and register
values. These are re-initialized each time the program
is executed.
LB Ga
Vi=20000
Vm=500000
A=500000
D=800000000
R1=0
R2=0
Label Gx sets the trip response and Performs Register
Math to print final position
LB Gx
P=0
Tp=51200,Kb
Te=2
SL 101200
H
H 250
IC R1
R2=R2+P
BR Gx,R1<10
R2=R2/100
PR Average end pos = ,R2
E
[SUBROUTINES]
Subroutine Kb, when called by Tp=51200 increases the
axis velocity by 50%
LB Kb
SL 202400
Tp=102290,Kc
Te=2
RT
Subroutine Kc, when called from Kb ends the motion
sequence
LB Kc
SL 0
H
RT
V2.00, 05.2016
PG
S
[END]
Enter EX Ga or EX 1 in the terminal tab to run
9-2
9.3
9 Sample Programs
Binary mask
This program will demonstrate ability to execute various subroutines
depending on the binary value of inputs 1-3 while masking all i/o above
input 3.
Use the file binary_mask.ixt in the sample_programs.zip file
[VARIABLES]
Define I/O configuration
Is=1,0,0
Is=2,0,0
Is=3,0,0
Is=4,0,0
Os=1,16,0
Set up system variables
Vi=20000
Vm=1000000
A=500000
D=A
Hc=20
Rc=75
[PROGRAMS]
The main program block is labeled SU a keyword which
will execute the program on power up.
PG 1
LB Su
P=0
The block G1 will cally various subroutines based upon
the wieght of the inputs which is stored in register R1
LB G1
R1=In
R1=R1 & 7
O1=0
CL K0,R1 =
CL K1,R1 =
CL K2,R1 =
CL K3,R1 =
CL K4,R1 =
CL K5,R1 =
CL K6,R1 =
CL K7,R1 =
H 10
BR G1
E
0
1
2
3
4
5
6
7
[SUBROUTINES]
These 8 routines will rotate the motor
1 time for each input bit and repeat
the input wieght changes
V2.00, 05.2016
LB K0
PR Logic 000
MR R1*51200
H
O1=1
H 2000
RT
LB K1
PR Logic 001
MR R1*51200
H
H 200
RT
9-3
9 Sample Programs
LB K2
PR logic 010
MR R1*51200
H
H 200
RT
LB K3
PR Logic 011
MR R1*51200
H
H 200
RT
LB K4
PR Logic 100
MR R1*51200
H
H 200
RT
LB K5
PR Logic 101
MR R1*51200
H
H 200
RT
LB K6
PR Logic 110
MR R1*51200
H
H 200
RT
LB K7
PR Logic 111
MR R1*51200
H
H 200
RT
PG
S
[END]
V2.00, 05.2016
Program will execute on power on or software reset (CTRL+C)
9-4
9.4
9 Sample Programs
Closed Loop
This program illustrates closed loop control with an On Error (OE)
routine which will perform math functions on the counters to display the
position error.
Use the file closed_loop_on_error.ixt in the sample_programs.zip file
[VARIABLES]
Rc=80
Mt=50
HMT off and encoder functions enabled and configured
As = 0
Ee=1
Sf=15
Sm=0
motion variables are scaled to encoder counts instead of
microsteps
A=20000
D=A
Vi=2048
Vm=15000
user variable created to hold move count
VA Q1
[PROGRAMS]
program block Ga sets the on error handle routine to
call K1
PG 1
LB Ga
OE K1
P=0
program block Gb contains the motion loop which will run
100 times
LB Gb
MR 51200
H
H 500
MR -51200
H
H 500
IC Q1
BR Gb,Q1<100
CL K1
E
V2.00, 05.2016
[SUBROUTINES]
Subroutine K1 sets the response for the on-error
handler. It will perform some math to determine the
position error in encoder counts, as well as display the
error # if one occurs.
LB k1
R3=C1/25
R1=R3 - C2
PR Counts error = ,R1
PR Error = ,Er
Er=0
H 20
RT
PG
S
[END]
9-5
9 Sample Programs
9.5
User input into variables

This program demonstrates the ability to hold up program execution
while the user enters multiple variables. Uses variable K1 and K2 to
enter the amount and direction of motor rotation.
Use the file user_input_into_variables.ixt in the sample_programs.zip
file
[VARIABLES]
System configuration variables
Ms=256
Vi=200000
Vm=2500000
A=1000000
D=A
Hc=10
Rc=75
Globally defined user variables to contain
input data
VA K1=0
VA K2=0
VA K3=51200
VA K4=0
[PROGRAMS]
Program labeled Su will start on power on
or software reset. Will zero the position
counter and wait 2 sec before dropping to
program block Z1
PG 1
LB Su
P=-0
PR At Home Position
H 2000
Block will request a number of desired
revolutions and insert the number into
variable K1
LB Z1
PR Enter the number of revolutions in whole numbers
IV K1
LB X1
BR X1, If=1
H 50
Block will request a direction of
rotation and insert the number into
variable K2, then call the appropriate
subroutine with error checking for
invalid entries
V2.00, 05.2016
LB X4
PR Enter rotation direction (0) neg. (1) pos.
IV K2
LB X2
BR X2, If=1
H 50
BR Y1,K2=0
BR Y2, K2=1
PR Invalid Entry
BR X4
9-6
9 Sample Programs
X6 will orint the final position of the axis

to the terminal screen
LB X6
VA K5
K5=P/K3
PR Axis position is , K5, absolute from home
H 3000
Block X5 will initiate following the commanded
move with an option to re-run or quit
LB X5
PR Repeat program (1) or quit (0)
IV K4
LB X3
BR X3, If=1
BR Z1, K4=1
BR Z2, K4=0
PR Invalid Entry
BR X5
[SUBROUTINES]
The following branch routines will
calculate the move distance and
direction and execute the move
LB Y1
MR -K3*K1
H
BR X6
LB Y2
MR K3*K1
H
BR X6
V2.00, 05.2016
[END]
LB Z2
PR Program Ended
E
PG
S
9-7
9 Sample Programs
9.6
Closed loop with homing

This program demonstrates the use of the home to home switch instruction (HM) in closed loop, also there is a move on input routine.
The Homing method used is HM1, which will slew at VM (Max Velocity)
in the negative direction, when input 1 is activated, the axis will creep in
the plus direction at VI (Initial Velocity). See the MCode Home to home
switch command and change the homing method to experiment with
different methods of homing. Output 1 is set to activate when the axis is
moving. Stalling the motor will generate an error, activating output 2.
Use the file closed_loop_with_homing.ixt in the sample_programs.zip
file.
[VARIABLES]
Global variable declarations
Ee=1
Vm=4096
Vi=Vm/50
A=20480
D=A
Hc=50
Rc=50
Mt=50
Encoder setup
Sf=20
Sm=0
Db=5
I/O setup
Is = 1, 1, 0 Homing input
Is = 2, 0, 1 General purpose input
Os = 1, 17, 1 Moving output
Os = 2, 18, 1 Error output
D1=100
[PROGRAMS]
Main program will home in mode 1 Slew minus @ VM until
to find home switch then creep plus @ VI
PG
LB

1
G1
H 1000
PR C1 ,C1
PR C2 ,C2
Pm=1
PR Position counter: C1
PR Encoder counter: C2
H 5000
HM 1
H
P=0
V2.00, 05.2016
After homing, motor will move @ 7186 steps each move

printing position each time
LB G2
BR G2,I2=1
MR 7186
H
PR Position: P
BR G2
E
PG
S
Keep this line to save program on load on load
9-8
9.7
9 Sample Programs
Input trip
This program demonstrates the use input trips. TheLexium Motion product will perform a short 1 revolution move in each direction repeating
four times when input 1 is toggled.
When using a mechanical switch, remember to set the input filtering to
avoid erroneous trips.
IMPORTANT! Trip Rules:
1. Trip must be enabled using Te=<num> following the trip definition.
2. Only a single input trip may be defined in a program.
3. Trip must be re-enabled to re-execute trip.
Use the file trip_on_input.ixt in the sample_programs.zip file.
Lexium Motion Module DEMO PROGRAM
Last modified 12/13/12
[VARIABLES]
VA Q1
D1=255
[PROGRAMS]
Program will run a motion
profile on an input toggle
PG 1
LB G1
Ti = 1, X1
Te = 1
LB G2
Q1 = 0
BR G2
E
V2.00, 05.2016
Motion profile
LB X1
IC Q1
MR 51200
H
MR -51200
H
BR X1, Q1 < 4
Te = 1
RT
E
PG
End of Program
S
9-9
9 Sample Programs
9.8
Position teach (encoder required)

This program allows the user to teach theLexium Motion product a
+/- move profile based on manually positioning the motor shaft. The
shaft is manually moved to a position, then an input is toggled to store
that position in encoder counts to a user variable. The shaft is moved to
second position, the input is again toggled to store the second position
in a second variable.
The motor will then move between the two stored positions.
Use the file position_teach.ixt in the sample_programs.zip file.
[VARIABLES]
VA Q1 = 0
VA Q2 = 0
D1 = 255
D2 = 255
HMT off, encoder enabled
As=0
Ee=1
[PROGRAMS]
Program stores a +/- move p profile based on encoder
counts set by manually positioning the motor shaft
An input toggle stores the encoder counts to a user
variable.
V2.00, 05.2016
PG 1
LB Su
Er = 0
C2=0
Q1 = 0
O2 = 0
PR Move motor to position 1
PR Toggle switch 1 when ready
LB X1
BR X1, I1 = 0
Q1 = C2
PR Q1
LB X2
BR X2, I1 = 1
PR Move motor to position 2
PR Toggle switch 1 when ready
LB X3
BR X3, I1 = 0
Q2 = C2
PR Q2
LB X4
BR X4,I1=1
PR Toggle Sw 2 to start cycle
LB X5
BR X5, I2 = 0
LB X6
MA Q1
H
PR P
H 250
MA Q2
H
PR P
H 250
BR X5
E
PG
End of Program
S
9-10
9.9
9 Sample Programs
Analog speed control

This program demonstrates the use of the analog input in a speed control application.
The program subroutine performs calculations using the user registers
R1-R4 and slews the axis bi-directionally based upon the value seen on
the analog input.
Hardware requirement: 10k potentiometer connected to the Analog
input.
Use the file analog_speed_control.ixt in the sample_programs.zip file
[VARIABLES]
Os = 1, 20, 1 Velocity changing output
A=2000000
D=2000000
R4=80
[PROGRAMS]
The main program block calls
subroutine to calculate a slew rate
based on the value of I5
PG 1
LB G1
R1 = I5
CL Z1
SL R3
H 10
BR G1
E
Subroutine performs calculation
to vary the velocity based upon
the analog input
LB Z1
R1 = R1-2032
R2 = 1
BR Z2, R1>=0
R2 = -1
R1 = R1 * R2
LB

RT
Z2
BR Z3,R1<R4
R1 = R1 * 625
R3 = R1 * R2
LB Z3
R3=0
RT
V2.00, 05.2016
E
PG
S
9-11
9 Sample Programs
9.10
Analog slew with stall detect

This program will use the analog input reading to ram the velocity until
the motor stalls. When the stall occurs, an error is generated.
A subroutine is triggered by the error to:
Print the Error number and stalled sate of the motor,
Use the file analog_slew_with_stall_detect.ixt in the sample_programs.
zip file.
[VARIABLES]
As=0
Ee=1
Sf=30
[PROGRAMS]
Main program will assign
a register to do math on the value of the analog
input and slew the register value. An on-error event
calls a subroutine to register stall
PG 1
LB Su
OE X1
Er=0
R1=I5
R1=R1*50
SL R1
PR V
H 250
BR Su
E
V2.00, 05.2016
[SUBROUTINES]
on error routine
LB X1
PR Error! Er
LB Y1
BR Y2,Er <> 86
PR Stall
LB Y2
Er=0
E
PG
End of Program
S
9-12
9.11
9 Sample Programs
Multiple position trips

This program will use the position trip function multiple times to change
position and velocity, each time printing the position and velocity to the
terminal screen.
Use the file multiple_position_trips.ixt in the sample_programs.zip file.
Distance traveled is V * 12 sec.
33 RPM * 0.2 min = 6.6 revs. X 51200 uSteps = 337920
uStp.
uStp.
uStp.
Slew Rate is V/60 * 51200 uSteps/sec.
33 RPM /60 Sec. X 51200 uSteps = 28160 uStp./Sec.
Step
Step
Step
Step
Step
Step
Step
Step
Step
Step
1
2
3
4
5
6
7
8
9
10
V=33RPM
V=66RPM
V=100RPM
V=66RPM
V=33RPM
V=-33RPM
V=-66RPM
V=-100RPM
V=-66RPM
V=-33RPM
STEPS
1
2
3
4
5
6
7
8
9
10
____
____|
|____
___|
|___
_|______________________|____________________________
__Ds
|___
____|
|____
____|
|____|
V2.00, 05.2016
[VARIABLES]
VA Sp=33*51200/60 Step 1 speed 33 RPM * 51200 Stp/rev
/60 s/m
VA Ds=50000 Length of first step.
[PROGRAMS]
PG 1
R1=0
P=0
set position counter to 0
LB Aa
PR
PR Starting Step 1
P=,P,
V=,V
Tp Ds,X1
Te=2
Vm=Sp
Step 1 speed 33 RPM * 51200 Stp/rev /60
s/m
MA Ds*9,0,1
LB G1
BR G1,R1=0
R1=0
BR Aa
E
9-13
9 Sample Programs
[SUBROUTINES]
Each sub will move a dist at a velocity
then redefine and re-enable the trip
Step 2 speed 66 RPM * 51200 Stp/rev /60 s/m
LB X1
PR Starting Step 2
P=,P,
V=,V
Vm= Sp*2
MA Ds*9,0,1
Tp Ds*3,X2
Te=2
RT
LB X2
PR Starting Step 3
P=,P, V=,V
Vm= Sp*3
MA Ds*9,0,1
Tp Ds*6,X3
Te=2
RT
LB X3
PR
Starting Step 4
P=,P, V=,V
Vm= Sp*2
MA Ds*9,0,1
Tp Ds*8,X4
Te=2
RT
LB X4
PR
Starting Step 5
P=,P, V=,V
Vm= Sp
MA Ds*9 ,0,1
Tp Ds*9,X5
Te=2
RT
LB X5
PR
Starting Step 6
P=,P, V=,V
Vm= Sp
MA 0,0,1
Tp Ds*8,X6
Te=2
RT
LB X6
PR
Starting Step 7
P=,P, V=,V
Vm= Sp*2
MA 0,0,1
Tp Ds*6,X7
Te=2
RT
V2.00, 05.2016

LB X7
PR
Starting Step 8
P=,P, V=,V
Vm= Sp*3
MA 0,0,1
Tp Ds*3,X8
Te=2
RT

9-14
9 Sample Programs

LB X8
PR
Starting Step 9
P=,P, V=,V
Vm= Sp*2
MA 0,0,1
Tp Ds,X9
Te=2
RT
LB X9
PR
Starting Step 10 P=,P,
V=,V
Vm= Sp
MA 0
H
PR
Back at Start
P=,P,
V=,V
R1=1
RT
V2.00, 05.2016
PG
S
Keep this line.
9-15
9 Sample Programs
V2.00, 05.2016
9-16
10
10 Error Codes
ERROR CODES
A question mark <?> displayed as a cursor indicates an error. To determine what the error is, type <pr er> in the terminal window. The device
will respond with an error number displayed in the terminal window. The
error number may then be referenced to this list.
0
No Error
10.1 Lexium MDrive Error Codes

0
no error
I/O Errors
1
OUT 1 fault
OUT 2 fault
An IO already set to this Type
Tried to SET an Input or Defined I/O
Tried to SET IO to an incorrect I/O type
Tried to Write to IO set as Input or is TYPED
10
Illegal I/O number
11
Incorrect CLOCK type
12
INPUT 1 not set to Capture Input type
not used
V2.00, 11.2015
Data Errors
20
Tried to SET Unknown Variable/Flag
21
Tried to SET to an incorrect value
22
VI set greater than or equal to VM
23
VM set less than or equal to VI
24
Illegal Data Entered.
25
Variable or Flag is Read Only
26
Variable or Flag not allowed to be Incremented or Decremented
27
Trip Not Defined
28
Trying to Redefine a Program Label or GLOBAL User Variable
29
Trying to Redefine an Embedded Command or Variable
30
Unknown Label or User Variable
31
Program Label/User Variable Table is Full
32
Trying to SET a Label
10-1
10 Error Codes
33
Trying to SET an Instruction
34
Trying to Exec a Variable or Flag
35
Trying to Print Illegal variable or flag
36
Illegal Motor Count to Encoder Count Ratio
37
Command/Variable/Flag Not Available in Drive
38
Missing parameter separator
39
Trip on Position and Trip on Relative distance not allowed together
Program Errors
40
Program Not Running
41
Program Running
42
Illegal Program Address
43
Tried to OverFlow Program STACK
44
Program Locked
45
Trying to Overflow Program Space
46
Not in Program Mode
47
Tried to write to illegal Flash Address
48
Program Execution Stopped by IO set as STOP
Communication Errors
60
Tried to Enter Unknown Command
61
Trying to set illegal baudrate
62
An INPUT is already pending.
63
Character Over Run
65
SPI Bus Error.
66
Transmit buffer filled while a program is running.
V2.00, 11.2015
System Errors
10-2
70
FLASH Check Sum Fault
71
Internal Temperature Warning
72
Internal OVER TEMP Fault. Disabling Drive
73
Tried to SAVE/RTFD/PG while Moving
74
Tried to IP or CP while Moving
75
ASIC STAT/FAULT = true (current/temp/other)
76
MakeUp Frequency is out of range. Must be >= 92 and <= 3000 RPM.
77
VM or VI or SL or TS too large for selected MSEL.
78
Aux V out of range (too high or too low)
79
Plus V out of range (too high or too low)
10 Error Codes
Motion Errors
80
HOME Sw. not defined
81
HOME type not defined
82
Went to both LIMITs and didnt find HOME
83
Reached Positive LIMIT Sw
84
Reached Minus LIMIT Sw
85
MOVEs not allowed while HOMING and HOME not allowed while MOVING
86
Stall Detected
87
Not allowed to change AS Mode while in motion
88
MOVEs not allowed while Calibration in progress.
89
Calibration not allowed while in Motion.
90
Motion Variables (VI and/or VM) are too low
91
Motion Stopped by IO set as STOP
92
Position Error
93
New MR or MA not allowed while correcting postion at end of previous MR or MA
94
Motion Commanded while Drive Disabled.
95
Not allowed to change Rotation Direction (Rd) while in motion.
96
Not allowed to start motion with no +V.
97
Calculated Final Velocity less than VI.
98
Move generates illegal SCurve Accel Data.
99
Move generates illegal SCurve Decel Data.
HMTechnology Errors
Config Test Done - Encoder Res Mismatch
101
Config Test Done - Encoder Dir Wrong
102
Config Test Done - Encoder Res + Dir Wrong
103
Config NOT Done - Drive not enabled
104
HMT Locked Rotor
105
HMT Reached Max P Count
106
HMT Reached Lead Limit Count
107
HMT Reached Lag Limit Count
108
HMT Lead/lag not zero at end of move
109
HMT Calibration failed because Drive Not Enabled.
110
HMT Make Up Disabled.
111
HMT Factory Calibration failed.
V2.00, 11.2015
100
10-3
10 Error Codes
10.2
Lexium Motion Module Error Codes

0
no error
I/O Errors
1
OUT 1 fault
OUT 2 fault
An IO already set to this Type
Tried to SET an Input or Defined I/O
Tried to SET IO to an incorrect I/O type
Tried to Write to IO set as Input or is TYPED
10
Illegal I/O number
11
Incorrect CLOCK type
12
INPUT 1 not set to Capture Input type
13
LMM Motor Phase Over Current Fault
14
LMM Enable Pin set to Disable
not used
Data Errors
20
Tried to SET Unknown Variable/Flag
21
Tried to SET to an incorrect value
22
VI set greater than or equal to VM
23
VM set less than or equal to VI
24
Illegal Data Entered.
25
Variable or Flag is Read Only
26
Variable or Flag not allowed to be Incremented or Decremented
27
Trip Not Defined
28
Trying to Redefine a Program Label or GLOBAL User Variable
29
Trying to Redefine an Embedded Command or Variable
30
Unknown Label or User Variable
31
Program Label/User Variable Table is Full
32
Trying to SET a Label
33
Trying to SET an Instruction
34
Trying to Exec a Variable or Flag
35
Trying to Print Illegal variable or flag
36
Illegal Motor Count to Encoder Count Ratio
37
Command/Variable/Flag Not Available in Drive
38
Missing parameter separator
39
Trip on Position and Trip on Relative distance not allowed together
V2.00, 11.2015
Program Errors
10-4
40
Program Not Running
41
Program Running
42
Illegal Program Address
43
Tried to OverFlow Program STACK
44
Program Locked
45
Trying to Overflow Program Space
46
Not in Program Mode
47
Tried to write to illegal Flash Address
48
Program Execution Stopped by IO set as STOP
10 Error Codes
Communication Errors
60
Tried to Enter Unknown Command
61
Trying to set illegal baudrate
62
An INPUT is already pending.
63
Character Over Run
65
SPI Bus Error.
66
Transmit buffer filled while a program is running.
System Errors
70
FLASH Check Sum Fault
71
Internal Temperature Warning
72
Internal OVER TEMP Fault. Disabling Drive
73
Tried to SAVE/RTFD/PG while Moving
74
Tried to IP or CP while Moving
75
ASIC STAT/FAULT = true (current/temp/other)
76
MakeUp Frequency is out of range. Must be >= 92 and <= 3000 RPM.
77
VM or VI or SL or TS too large for selected MSEL.
79
Plus V out of range (too high or too low)
Motion Errors
HOME Sw. not defined
81
HOME type not defined
82
Went to both LIMITs and didnt find HOME
83
Reached Positive LIMIT Sw
84
Reached Minus LIMIT Sw
85
MOVEs not allowed while HOMING and HOME not allowed while MOVING
86
Stall Detected
90
Motion Variables (VI and/or VM) are too low
91
Motion Stopped by IO set as STOP
92
Position Error
93
New MR or MA not allowed while correcting postion at end of previous MR or MA
94
Motion Commanded while Drive Disabled.
95
Not allowed to change Rotation Direction (Rd) while in motion.
96
Not allowed to start motion with no +V.
97
Calculated Final Velocity less than VI.
98
Move generates illegal SCurve Accel Data.
99
Move generates illegal SCurve Decel Data.
V2.00, 11.2015
80
10-5
10 Error Codes
V2.00, 11.2015
10-6
Index
INDEX
Symbols
+ (Addition) 3-4, 4-6
& (AND - Bitwise) 3-4, 4-6
* (Division) 3-4, 4-6
=(Equal to) 3-4, 4-6
> (Greater than) 3-4, 4-6
>= (Greater than/equal to) 3-4, 4-6
< (Less than) 3-4, 4-6
<= (Less than/equal to) 3-4, 4-6
* (Multiplication) 3-4, 4-6
! (NOT - Bitwise) 3-4, 4-6
<> (Not Equal) 3-4, 4-6
| (OR - Bitwise) 3-4, 4-6
- (Subtraction) 3-4, 4-6
^ (XOR - Bitwise) 3-4, 4-6
A
A (Acceleration) 3-7, 4-1, 5-1
AB (Absolute) 3-4, 5-157
Absolute Value 4-6
Addition (+) 5-150
AF (hMT Status) 4-5, 5-2
AJ (Acceleration Jerk) 4-1, 5-1, 5-3
AL (List All Parameters) 4-1, 5-4
Analog input 1-1
AND ( & ) 5-155
Ao (Attention output) 3-11
AO (Attention Output Mask) 4-1, 5-5, 5-38
AS (hMT Mode) 4-5, 5-6, 5-19
AS (hMT mode select) 3-11
AT (Acceleration Type) 4-1, 5-1, 5-7
Attention output 3-11
V2.00, 05.2016
B
Basic math functions 5-150
BD (BAUD Rate) 4-4, 5-8
BE (Backlashe Enable) 4-1, 5-9
BE (Backlash Enable) 5-11
BL (Backlash Amount) 4-1, 5-10, 5-11
BM (Backlash Mode) 4-1, 5-11
BP (Break Point) 4-1, 5-13
BR (Branch) 3-10, 3-13, 4-1, 5-14

BY (Program Busy) 4-1, 5-15
C
C1 (Step Counter) 4-1, 5-16, 5-18
C2 (Encoder Counter) 4-1, 5-18, 5-39
Capture input 3-9
C_ (Arc Cosine) 3-4, 4-6, 5-158
CB (Control Bounds) 4-5, 5-19
CE (Software Reset Enable) 4-1, 5-20
CF (Clear Locked Rotor) 4-5, 5-21
CK (Checksum Enable) 5-22
CK (Checksum Mode) 4-4
CL (Call Subroutine) 3-13, 4-1, 5-23
Comments 3-5
Comparison operators 5-152
CP (Clear program memory) 3-12
CP (Clear Program Memory) 4-1, 5-24
CS (Cosine 5-157
CS (Cosine) 3-4, 4-6
CTRL+C (Software reset) 3-9, 3-12, 4-1
CW (Clock Width) 4-1, 5-25
D
D1-D4 (Input Filter) 4-1, 5-26, 5-27
D5 (Analog Input Filter) 4-1, 5-27
DB (Encoder Deaband) 5-107
DB (Encoder Deadband) 4-1, 5-29
DC (Decrement Variable) 4-1, 5-30
D (Deceleration) 3-7, 4-1, 5-28
DE (Drive Enable/Disable) 4-2, 5-31
DG (Disable Global Response) 4-4, 5-32
Division (/) 5-151
DJ (Deceleration Jerk) 4-2, 5-28, 5-33
DN (Device Name) 4-4, 5-34
DT (Deceleration Type) 4-2, 5-28, 5-35
E
EE (Encoder Enable) 3-7, 3-11, 4-2, 5-1, 5-28, 5-37
Index
E (End Program) 3-13, 4-2, 5-36

EF (Error Flag) 4-2, 5-38, 5-41
EL (Encoder Lines) 4-5, 5-39
EM (Echo Mode) 4-2, 5-40
Encoder A output 3-11
Encoder B output 3-11
Equal (=) 5-152
ER (Error Register) 4-2, 5-38, 5-41
Error 25 5-30, 5-61
Error 26 5-30, 5-61
Error 37 4-4, 4-5
Error 83 3-9
Error 84 3-9
Error output 3-11
ESC (Stop motion and program) 3-12
ES (Escape <esc> Mode) 4-2, 5-42
EtherNet/IP 1-2
EX (Execute Program) 4-2, 5-43
F
F<1-8> (Floating Point Register) 3-4
F1-F8 (Floating Point Registers) 4-2, 5-44, 5-157
Factory defined variables 3-2
FC (Filter Capture) 5-45
FC (Filter Capture Input) 4-2
FD (Factory Defaults) 5-46
FD (Restore facory defaults) 3-12
FD (Restore Factory Defaults) 4-2, 5-24
Flags 3-3
FL (Following Mode Enable) 5-47
Floating point calculations 3-4
FM (Filter Motion) 5-48
Following Mode Enable 4-2
FS (Shaft Flat) 4-2
FS (Shaft Flat Setting) 5-49, 5-53
G
G0 input 3-9
General purpose input 3-9
General purpose output 3-11
General safety instructions 2-3
Global variables 3-3
Greater Than (>) 5-154
Greater Than or Equal (>) 5-154
V2.00, 05.2016
H
Hazard Categories 2-2
HC (Motor Hold Current) 4-2, 5-52, 5-56
HF (Home to Offset) 4-2, 5-49, 5-51, 5-53, 5-54, 5-55
H (Hold program execution) 3-8, 3-13
ii
H (Hold Program Execution) 4-2, 5-51

HI (Home to Index) 4-2, 5-51, 5-53, 5-54, 5-55
HM (Home to Home Switch) 4-2, 5-51, 5-53, 5-54,
5-55
HM (Homing to Home Switch) 3-9
hMT active output 3-11
hMTechnology 1-1, 3-7
hMT off (bypass) (AS=0) 8-5
hMT on (fixed current) (AS=1) 8-6
hMT on (torque mode) (AS=3) 8-8
hMT on (variable current) (AS=2) 8-7
Home input 3-9
HT (Hold Current Delay) 4-2, 5-52, 5-115
HT (Holding Current Delay) 5-56
I
I<1-4> (Read Input 1-4) 4-2, 5-57
I<1-4> (Read input state) 3-10
I5 (Read Analog Input) 4-2, 5-58
I6 (Read Encode Index) 4-2, 5-59
IC (Increment Variable) 4-2, 5-61
IF (Variable Input Pending) 4-2, 5-62
IN (Read all inputs as decimal) 3-10
IN (Read Inputs as BCD) 4-2, 5-63
Intended Use 2-1
I/O instructions 3-1, 3-9
IP (Initialize Parameters) 4-2, 5-64
IS<1-4> (Input 1-4 Setup) 3-9, 4-2, 5-47, 5-55
IS <1-4> (Input Setup IN1-IN4) 5-65
IS <5> (Analog Input Setup) 5-67
IS<5>(Analog Input Setup) 4-2
IS <6> (Encoder Index Setup) 5-68
IT (Internal Temperature) 4-2, 5-69
IV (Input to Variable) 4-2, 5-70
J
JE (Jog enable) 3-9
JE (Jog Enable) 4-2, 5-71
Jog minus (-) input 3-9
Jog plus (+) input 3-9
K
Keywords 3-3
L
LB (Declare user label) 3-12, 4-2, 5-73
LD (Lead Limit) 4-5, 5-74
Less Than (<) 5-153
Less Than or Equal (<=) 5-153
Lexium MDrive Ethernet TCP/IP 1-1
Ethernet TCP/IP 1-1

Lexium MDrive Motion Control 1-1
422/485 serial interface 1-1
Lexium MDrive Programmer 3-5
Lexium Motion Module 1-1
PWM tuning 1-1
Lexium Software Suite 1-2
LG (Lag Limit) 4-5, 5-75
Limit minus (-) input 3-9
Limit plus (+) input 3-9
LK (Lock Program) 4-2, 5-77
L (List Program Space) 4-2, 5-72
L_ (Logarithm Base 10) 5-159
L_ (LOG Base 10) 3-4, 4-6
LL (Position Lead/Lag) 4-5, 5-76
LM (Limit method) 3-9
LM (Limit Method) 4-2
LM (Limit Response Mode) 5-78
Local variables 3-3
Locked rotor output 3-11
Logic operators 5-155
LO (Logarithm Base 2) 5-158
LO (LOG Base 2) 3-4, 4-6
LR (Locked Rotor) 4-5, 5-80
LS (Software Limit) 4-3, 5-81
LT (Locked Rotor Timeout) 4-5, 5-82
M
Make-up active output 3-11
MA (Move Absolute) 3-8, 4-3, 5-51, 5-83, 5-85
Math functions 3-4
MD (Motion Mode) 4-3, 5-85, 5-88
MF (Makeup Frequency) 4-5, 5-86
Modbus/TCP 1-2
Motion instructions 3-7
3-1
Moving output 3-11
Moving to position output 3-11
MP (Moving to Position) 4-3, 5-87
MR (Move Relative) 3-8, 4-3, 5-51, 5-85, 5-88
MS (Microstep Resolution) 3-6, 4-3, 5-39, 5-90
MT (Motor Settling Delay) 4-3, 5-52, 5-56, 5-92, 5-115
Multiplication (*) 5-151
MU (Position Makeup) 5-107
MU (Position Makeup Mode) 4-5, 5-93
MV (Moving) 4-3, 5-94
V2.00, 05.2016
N
NE (Numeric Enable/Disable) 4-3, 5-85, 5-95
NOT ( ! ) 5-156
Not Equal (<>) 5-152
Index
O
O <1 - 3> (Write Output) 3-11, 4-3, 5-96, 5-99
OE (On Error Handler) 4-3, 5-38, 5-41, 5-97
OF (Output Fault) 4-3, 5-98
Operational modes 3-1
Immediate mode 3-1
Program mode 3-1
OR ( | ) 5-155
OS (Output Setup) 3-11, 4-3, 5-99
OT (Set Output Total) 4-3, 5-101
OT (Write all Outputs) 3-11
P
Party Mode 5-20, 5-32
Pause/resume program input 3-9
PC (Captured Position) 4-3, 5-103
PF (Print Format) 4-3, 5-44, 5-104
PG (Program Mode) 3-12, 4-3, 5-105
PI (3.141592654) 3-4, 4-6, 5-159
PM (Position Maintenance) 4-3, 5-29
PN (Part Number) 4-3, 5-108
P (Position) 3-6
P (Position Counter) 4-3, 5-88, 5-102
Profinet IO 1-2
Program instructions 3-2, 3-12
Programming aids 3-5
Program structuring 3-4
PR (Print) 3-10, 3-14, 4-3, 5-109
PS (Pause Program) 3-9, 4-3, 5-110
PW (PWM Mask) 4-5, 5-111
PY (Party Mode Enable) 4-4, 5-20, 5-32, 5-112
Q
QD (Device Queued) 4-4
QD (Queued) 5-113
Qualification of personnel 2-1
R
R<1-4> (User Registers) 3-4, 4-3, 5-44, 5-114
RC (Motor Run Current) 4-3, 5-52, 5-56, 5-115
RD (Reverse Direction) 4-3, 5-116
Reset input 3-9
RS (Resume Program) 4-3, 5-117, 5-118
RT (Return from subroutine) 3-14
RT (Return from Subroutine) 4-3
S
S_ (Arc Sine) 3-4, 4-6, 5-160
SA (Step Angle) 4-5, 5-90, 5-120
iii
Index
SC (System Configuration Test) 5-121

S-curve 5-1, 5-28
SF (Stall Factor) 4-3, 5-107, 5-122, 5-124
SI (Sine) 5-160
SI (Sine Function) 3-4, 4-6
SL (Slew at Velocity) 4-3, 5-85, 5-123
SL (Slew axis) 3-8
SM (Stall detect mode) 3-11
SM (Stall Detect Mode) 4-4, 5-107, 5-124
SN (Serial Number) 4-4, 5-125
Soft stop input 3-9
SQ (Square root) 3-4, 4-6
SQ (Square Root) 5-161
S (Save to FLASH) 4-3, 5-24, 5-119
Stall output 3-11
ST (Stall Flag) 4-4, 5-126
Subtraction (-) 5-150
SU (Execute Program on Startup) 5-127
SU (Start Up) 4-4, 5-43
System instructions 3-2, 3-12
T
T_ (Arc Tangent) 3-4, 4-6, 5-162
TA (Tangent) 3-4
TA (Trip on hMT Status) 5-128
TC (Trip on Capture) 3-9, 4-4, 5-129
TD (Torque Direction) 4-5, 5-130
TE (Trip Enable) 4-4, 5-131
TG (Tangent) 4-6, 5-161
TI (Trip on Input) 4-4, 5-132
TM (Trip on Main Power Loss) 4-4, 5-133
TP (Trip on Position) 4-4, 5-134
TQ (Torque Percent) 4-5, 5-135
trigonometric functions 5-157
Trip output 3-11
TR (Trip on Relative) 4-4, 5-136
TS (Torque Speed) 4-5, 5-137
TT (Trip on Time) 4-4, 5-138
U
UG (Upgrade Firmware) 4-4, 5-139
UG (Upgrade Mode) 5-8
User defined variables 3-2
User labels 3-5
UV (User Variables) 4-4, 5-140
V2.00, 05.2016
V
VA (Declare User Variable) 3-4, 3-14, 4-4, 5-142
V (Current Velocity) 4-4
iv
VC (Velocity Changing) 4-4, 5-143

Velocity changing output 3-11
VF (Torque Velocity Filter) 4-5, 5-144
VI (Initial velocity) 3-6
VI (Initial Velocity) 4-4, 5-53, 5-55, 5-145
VM (Maximum Velocity) 3-7, 3-9, 4-4, 5-1, 5-53, 5-55, 5-146
V (Read Axis Velocity) 5-141
VR (Version) 4-4, 5-147
VT (Read Voltage) 4-4, 5-148
W
WT (Warning Temperature) 4-4, 5-149
X
XOR ( ^ ) 5-156
WARRANTY
Reference the web site at www.motion.schneider-electric.com for the latest warranty and product information.
USA SALES OFFICES

East Region
Tel. 610-573-9655
e-mail: [email protected]
Northeast Region
Tel. 860-368-9703
Central Region
Tel. 630-267-3302
Western Region
Tel. 602-578-7201
EUROPEAN SALES MANAGEMENT
Tel. +33/4 7256 5113 Fax +33/4 7838 1537
TECHNICAL SUPPORT
Tel. +00 (1) 860-295-6102 Fax +00 (1) 860-295-6107
Schneider Electric Motion USA

370 N. Main Street

Marlborough, CT 06447 USA

www.motion.schneider-electric.com
Schneider Electric Motion USA All Rights Reserved.
Product Disclaimer and most recent product information online.
Owing to changes in standards and equipment, the characteristics given in the text and images
in this document are not binding until they have been confirmed with us.
Print: Schneider Electric Motion USA
Photos: Schneider Electric Motion USA
Date : 05 / 2016

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Lexium MCode

Programming and Software Reference

Intelligent motion systems

Lexium MCode Programming and Software Reference

Lexium MDrive Motion Control and Ethernet support release.

Support for firmware release 5.009

Support for firmware release 5.010, minor corrections and additions

Support for firmware release 5.013, minor corrections and additions

Corrected multiple Ethernet/IP cross-references.

Some products are not available in all countries.

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Lexium MCode Reference Manual

Writing conventions and symbols.................................................................1

About this manual..................................................................... 1-1

Qualification of personnel........................................................ 2-1

Intro to Lexium MCode.........................................................................3-1

Operational modes.................................................................. 3-1

4.1 Compatibility............................................................................ 4-1

5.1 Commands.............................................................................. 5-1

Lexium MCode Reference Manual

BM (Backlash Mode)............................................... 5-12

Lexium MCode Reference Manual

JE (Jog Enable)....................................................... 5-72

Lexium MCode Reference Manual

TE (Trip Enable)...................................................... 5-133

5.2 Math, logic and trigonometric operators........................................5-152

Equal (=).............................................................. 5-154

Programming and application notes..................................................7-1

Party mode communications................................................... 7-1

Lexium MCode Reference Manual

Factors impacting motion commands.................................... 7-12

hmTechnology overview.......................................................... 8-1

Move on an input..................................................................... 9-1

Lexium MCode Reference Manual

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Lexium MCode Reference Manual

Writing conventions and symbols

WRITING CONVENTIONS AND SYMBOLS

If work steps must be performed consecutively, this sequence of steps is

Special prerequisites for the following work steps

Specific response to this work step

The items in bulleted lists are sorted alphanumerical or by priority.

Item 1 of bulleted list

Item 2 of bulleted list

Making work easier

Item 3 of bulleted list

Information on making work easier is highlighted by this symbol:

Parameters are shown as follows

Motor Run Current

Measurements are given US units, metric values are given in SI units in

Writing conventions and symbols

Lexium MCode Reference Manual

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Lexium MCode Reference Manual

About this manual

Applicability - Lexium MCode compatible products

1.2.1 Lexium MCode compatible product listing

Lexium MDrive Ethernet TCP/IP

Closed loop hMTechnology functions not supported