# ASCII Befehlssatz

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## Power / Reset

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<table><thead><tr><th width="359.5999755859375">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Power ON, Encoderzähler wird zurückgesetzt</td><td><strong>PW – Power On</strong></td><td><code>PW</code></td><td>–</td><td>–</td><td></td></tr><tr><td>Power ON Continue, Encoderzähler bleibt erhalten</td><td><strong>PWC – Power On Continue</strong></td><td><code>PWC</code></td><td>–</td><td>–</td><td></td></tr><tr><td>Power Quit (Stop aller Aktivitäten, Endstufe aus)</td><td><strong>PQ – Power Quit</strong></td><td><code>PQ</code></td><td>–</td><td>–</td><td></td></tr><tr><td>Reset aller Applikationsdaten auf Default und Neustart</td><td><strong>RES – Reset</strong></td><td><code>RES</code></td><td>–</td><td>–</td><td></td></tr><tr><td>Speichern der Parameter in Startup-Speicher</td><td><strong>SVST – Save Settings</strong></td><td><code>SVST</code></td><td>–</td><td>–</td><td></td></tr></tbody></table>

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## Basiseinstellungen

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<table><thead><tr><th width="359.5999755859375">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td><p>Betriebsmodus</p><p>MD0: Standard</p><p>MD1: Electronic Gear</p><p>MD2: Stepper Control</p><p>MD10: BCD Program Start Standard</p><p>MD12: BCD Program Start Electronic Gear</p></td><td><strong>MD</strong> – Mode</td><td><code>MDn</code> / n = 0, 1, 2, 10, 12</td><td><code>MD?</code></td><td>0</td><td>✔</td></tr><tr><td>Node-ID / Geräteadresse(CANopen, Powerlink, Remote)</td><td><strong>CI</strong> – Card Identifier</td><td><code>CIn</code> / n = 0 … 255</td><td><code>CI?</code></td><td>0</td><td>✔</td></tr><tr><td>Gantry Slave Identifier(für synchronisierten Betrieb)</td><td><strong>GSID</strong> – Gantry Slave Identifier</td><td><code>GSIDn</code> / n = 0 … 3</td><td><code>GSID?</code></td><td>0</td><td>✔</td></tr><tr><td>Identifikationsname des Servocontrollers(Anzeige in WebMotion / Browser)</td><td><strong>SID</strong> – Servo Identification</td><td><code>SIDn</code> / n = Text (max. 32 Zeichen)</td><td><code>SID?</code></td><td>""</td><td>✔</td></tr></tbody></table>

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## Motoreinstellungen

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<table><thead><tr><th width="359.5999755859375">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Last / externe Trägheit</td><td><strong>ML</strong> – Mass Load</td><td><code>MLn</code> / n = 0 … 250 000 000</td><td><code>ML?</code></td><td>0</td><td>✔</td></tr><tr><td>Betriebsstrom (Run Current)</td><td><strong>IR</strong> – Run Current</td><td><code>IRn</code> / n = 0 … 100 000</td><td><code>IR?</code></td><td>0</td><td>✔</td></tr><tr><td>Haltestrom (Stop Current)</td><td><strong>IS</strong> – Stop Current</td><td><code>ISn</code> / n = 0 … 100 000</td><td><code>IS?</code></td><td>0</td><td>✔</td></tr><tr><td>Motortyp / Hersteller</td><td><strong>MM</strong> – Motor Manufacturer</td><td><code>MMn</code> / n = 0 … 255</td><td><code>MM?</code></td><td>0</td><td>✔</td></tr><tr><td>Motor-ID</td><td><strong>MOID</strong> – Motor ID</td><td><code>MOIDn</code> / n = 0 … 65 535</td><td><code>MOID?</code></td><td>0</td><td>✔</td></tr><tr><td>Polpaarzahl des Motors</td><td><strong>POL</strong> – Pole Pair</td><td><code>POLn</code> / n = 1 … 100</td><td><code>POL?</code></td><td>1</td><td>✔</td></tr><tr><td>Phasenwiderstand (Phase zu Phase, mΩ)</td><td><strong>RPH</strong> – Resistance Phase</td><td><code>RPHn</code> / n = 1 … 100 000</td><td><code>RPH?</code></td><td>0</td><td>✔</td></tr><tr><td>Phaseninduktivität (µH)</td><td><strong>LPH</strong> – Inductance Phase</td><td><code>LPHn</code> / n = 1 … 1 000 000</td><td><code>LPH?</code></td><td>0</td><td>✔</td></tr><tr><td>Motorkonstante (Force Constant)</td><td><strong>FCM</strong> – Force Constant Motor</td><td><code>FCMn</code> / n = 1 … 1 000 000</td><td><code>FCM?</code></td><td>0</td><td>✔</td></tr><tr><td>Drehmomentkonstante</td><td><strong>TCM</strong> – Torque Constant Motor</td><td><code>TCMn</code> / n = 1 … 1 000 000</td><td><code>TCM?</code></td><td>0</td><td>✔</td></tr><tr><td>Rotorträgheit des Motors</td><td><strong>MAMO</strong> – Motor Mass Moment</td><td><code>MAMOn</code> / n = 0 … 250 000 000</td><td><code>MAMO?</code></td><td>0</td><td>✔</td></tr></tbody></table>

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## Reglereinstellungen

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<table><thead><tr><th width="359.5999755859375">Beschreibung</th><th width="280">Kürzel</th><th width="270.60009765625">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Gewicht / Last (Payload, Trägheitsmoment)</td><td><strong>ML</strong> - Mass Load</td><td><code>MLn</code> / n = 0 … 250 000 000</td><td><code>ML?</code></td><td>0</td><td>✔</td></tr><tr><td>Bandbreite Positionsregler („Gain POS“)</td><td><strong>BWP</strong> - Bandwidth Position</td><td><code>BWPn</code> / n = 1 … 5 000</td><td><code>BWP?</code></td><td>50</td><td>✔</td></tr><tr><td>Bandbreite Stromregler („Gain CUR“)</td><td><strong>BWC</strong> - Bandwidth Current</td><td><code>BWCn</code> / n = 5 … 5 000</td><td><code>BWC?</code></td><td>1 500</td><td>✔</td></tr><tr><td>Frequenz Notch-Stromfilter („Avoid Vibration“)</td><td><strong>FFC</strong> - Filter Frequency Current</td><td><code>FFCn</code> / n = 0 … 2 000</td><td><code>FFC?</code></td><td>160</td><td>✔</td></tr><tr><td>Güte Notch-Stromfilter</td><td><strong>FQC</strong> - Filter Quality Current</td><td><code>FQCn</code> / n = 500 … 100 000</td><td><code>FQC?</code></td><td>5 000</td><td>✔</td></tr><tr><td>Frequenz Aktiv-Stromfilter („Avoid Vibration Active“)</td><td><strong>AVF</strong> - Avoid Vibration Frequency</td><td><code>AVFn</code> / n = 0 … 2 000</td><td><code>AVF?</code></td><td>200</td><td>✔</td></tr><tr><td>Dämpfungsfaktor Aktiv-Stromfilter</td><td><strong>AVD</strong> - Avoid Vibration Damping</td><td><code>AVDn</code> / n = 1 … 50</td><td><code>AVD?</code></td><td>1</td><td>✔</td></tr><tr><td>Maximale Positionsabweichung (Increment)</td><td><strong>DP</strong> - Deviation Position</td><td><code>DPn</code> / n = 1 … 1 000 000</td><td><code>DP?</code></td><td>2 000</td><td>✔</td></tr><tr><td>Zulässige Abweichung Zielposition</td><td><strong>DTP</strong> - Deviation Target Position</td><td><code>DTPn</code> / n = 1 … 10 000</td><td><code>DTP?</code></td><td>100</td><td>✔</td></tr><tr><td>Verweilzeit im Zielabweichungsfenster (ms)</td><td><strong>PWT</strong> - Position Window Time</td><td><code>PWTn</code> / n = 0 … 1 000</td><td><code>PWT?</code></td><td>0</td><td>✔</td></tr><tr><td>Frequenz Speed-Notch-Filter</td><td><strong>FFS</strong> - Filter Frequency Speed</td><td><code>FFSn</code> / n = 0 … 2 000</td><td><code>FFS?</code></td><td>160</td><td>✔</td></tr><tr><td>Güte Speed-Notch-Filter</td><td><strong>FQS</strong> - Filter Quality Speed</td><td><code>FQSn</code> / n = 500 … 100 000</td><td><code>FQS?</code></td><td>5 000</td><td>✔</td></tr><tr><td>Enhanced Bandwidth Mode deaktivieren</td><td><strong>EBMD</strong> - Enhanced Bandwidth Disable</td><td><code>EBMDn</code> / n = 0 … 1</td><td><code>EBMD?</code></td><td>0</td><td>✔</td></tr><tr><td>Stabilität / Dynamik (Pole-Placement)</td><td><strong>PPSD</strong> - Pole Placement Stability</td><td><code>PPSDn</code> / n = -50 … 50</td><td><code>PPSD?</code></td><td>3</td><td>✔</td></tr><tr><td>Swing-Out-Reduktion – Dämpfung</td><td><strong>SORD</strong> - Swing Out Damping</td><td><code>SORDn</code> / n = 0 … 50</td><td><code>SORD?</code></td><td>0</td><td>✔</td></tr><tr><td>Swing-Out-Reduktion – Frequenz</td><td><strong>SORF</strong> - Swing Out Frequency</td><td><code>SORFn</code> / n = 0 … 2 000</td><td><code>SORF?</code></td><td>20</td><td>✔</td></tr></tbody></table>

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## Fahrbefehle

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<table><thead><tr><th width="359.5999755859375">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Position direkt anfahren</td><td><strong>G</strong> – Go Position Direct</td><td><code>Gn</code></td><td>–</td><td>–</td><td></td></tr><tr><td>Position anfahren mit aktuellem Positionswert (PO)</td><td><strong>GP</strong> – Go Position Absolute</td><td><code>GP</code></td><td>–</td><td>–</td><td></td></tr><tr><td>Position setzen / vorgeben (absolut)</td><td><strong>PO</strong> – Position</td><td><code>POn</code> / n = −2 000 000 000 … 2 000 000 000</td><td><code>PO?</code></td><td>0</td><td></td></tr><tr><td>Relativen Weg fahren (WA)</td><td><strong>GW</strong> – Go Way</td><td><code>GW</code></td><td>–</td><td>–</td><td></td></tr><tr><td>Relativen Weg setzen</td><td><strong>WA</strong> – Way</td><td><code>WAn</code> / n = −2 000 000 000 … 2 000 000 000</td><td><code>WA?</code></td><td>20 000</td><td></td></tr><tr><td>Jog-Betrieb positiv (Geschwindigkeit = SP)</td><td><strong>JP</strong> – Jog Positive</td><td><code>JP</code></td><td>–</td><td>–</td><td></td></tr><tr><td>Jog-Betrieb negativ (Geschwindigkeit = SP)</td><td><strong>JN</strong> – Jog Negative</td><td><code>JN</code></td><td>–</td><td>–</td><td></td></tr><tr><td>Bewegung stoppen (Endstufe bleibt aktiv)</td><td><strong>SM</strong> – Stop Motion</td><td><code>SM</code></td><td>–</td><td>–</td><td></td></tr><tr><td>Power Quit (Stop aller Bewegungen, Endstufe aus)</td><td><strong>PQ</strong> – Power Quit</td><td><code>PQ</code></td><td>–</td><td>–</td><td></td></tr></tbody></table>

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## Bewegungseinstellungen

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<table><thead><tr><th width="359.60009765625">Beschreibung</th><th width="280">Kürzel</th><th width="270.60009765625">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Geschwindigkeit</td><td><strong>SP</strong> – Speed</td><td><code>SPn</code> / n = 10 … 9 000 000</td><td><code>SP?</code></td><td>100 000</td><td></td></tr><tr><td>Beschleunigung</td><td><strong>AC</strong> – Acceleration</td><td><code>ACn</code> / n = 2 000 … 2 000 000 000</td><td><code>AC?</code></td><td>1 000 000</td><td></td></tr><tr><td>S-Kurve in %</td><td><strong>SCRV</strong> – S-Curve</td><td><code>SCRVn</code> / n = 1 … 100</td><td><code>SCRV?</code></td><td>20</td><td></td></tr><tr><td>Override, Reduktion in %</td><td><strong>OVRD</strong> – Override</td><td><code>OVRDn</code> / n = 1 … 100</td><td><code>OVRD?</code></td><td>100</td><td></td></tr><tr><td>Beschleunigungsänderung (Jerk), berechneter Wert</td><td><strong>ACV</strong> – Acceleration Variation</td><td></td><td><code>ACV?</code></td><td></td><td></td></tr><tr><td>Notfallverzögerung</td><td><strong>ED</strong> – Emergency Deceleration</td><td><code>EDn</code> / n = 10 000 … 2 000 000 000</td><td><code>ED?</code></td><td>10 000 000</td><td></td></tr><tr><td>Softlimit negativ</td><td><strong>SLPN</strong> – Soft Limit Position Negative</td><td><code>SLPNn</code> / n = −2 147 483 648 … 2 147 483 647</td><td><code>SLPN?</code></td><td>0</td><td></td></tr><tr><td>Softlimit positiv</td><td><strong>SLPP</strong> – Soft Limit Position Positive</td><td><code>SLPPn</code> / n = −2 147 483 648 … 2 147 483 647</td><td><code>SLPP?</code></td><td>0</td><td></td></tr><tr><td>Abweichung Position</td><td><strong>DP</strong> – Deviation Position</td><td><code>DPn</code> / n = 1 … 1 000 000</td><td><code>DP?</code></td><td>2 000</td><td></td></tr><tr><td>Abweichung Zielposition</td><td><strong>DTP</strong> – Deviation Target Position</td><td><code>DTPn</code> / n = 1 … 10 000</td><td><code>DTP?</code></td><td>100</td><td></td></tr><tr><td>Position Window Time</td><td><strong>PWT</strong> – Position Window Time</td><td><code>PWTn</code> / n = 0 … 1 000</td><td><code>PWT?</code></td><td>0</td><td></td></tr></tbody></table>

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## Referenz

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<table><thead><tr><th width="359.599853515625">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Referenzfahrt starten</td><td><strong>REF</strong> – Referencing</td><td><code>REF</code></td><td>–</td><td>–</td><td></td></tr><tr><td><p>Referenzmodus / Startverhalten Referenzfahrt</p><p>n = 0: Referenzieren deaktiviert</p><p>n = 1: Referenzfahrt positiv</p><p>n = 2: Referenzfahrt negativ</p><p>n = 3: Referenzfahrt positiv mit Z-Suche</p><p>n = 4: Referenzfahrt negativ mit Z-Suche</p></td><td><strong>DRHR</strong> – Direction Reference Home</td><td><code>DRHRn</code> / n = 0 … 4</td><td><code>DRHR?</code></td><td></td><td></td></tr><tr><td>Referenzieren gegen mechanischen Anschlag</td><td><strong>RSTO</strong> – Reference Stop</td><td><code>RSTO</code></td><td>–</td><td>–</td><td></td></tr><tr><td>Automatische Referenzfahrt</td><td><strong>AREF</strong> – Auto Reference</td><td><code>AREFn</code> / n = 0, 1</td><td><code>AREF?</code></td><td></td><td></td></tr></tbody></table>

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## Referenz Gantry

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<table><thead><tr><th width="359.5999755859375">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Referenzfahrt starten (Gantry-Verbund)</td><td><strong>REF</strong> – Referencing</td><td><code>REF</code></td><td>–</td><td>–</td><td></td></tr><tr><td><p>Referenzmodus / Startverhalten Referenzfahrt</p><p>n = 0: Referenzieren deaktiviert</p><p>n = 1: Referenzfahrt positiv</p><p>n = 2: Referenzfahrt negativ</p><p>n = 3: Referenzfahrt positiv mit Z-Suche</p><p>n = 4: Referenzfahrt negativ mit Z-Suche</p></td><td><strong>DRHR</strong> – Direction Reference Home</td><td><code>DRHRn</code> / n = 0 … 4</td><td><code>DRHR?</code></td><td></td><td></td></tr><tr><td>Gantry Main/Sub Offset (gemessen)</td><td><strong>DGMSO</strong> – Detected Gantry Main/Sub Slave Offset</td><td></td><td><code>DGMSO?</code></td><td></td><td></td></tr><tr><td>Gantry Offset aktivieren/deaktivieren</td><td><strong>EGMSO</strong> – Enable Gantry Main/Sub Offset</td><td><code>EGMSOn</code> / n = 0, 1</td><td><code>EGMSO?</code></td><td></td><td></td></tr><tr><td>Gantry Offset vorgeben (Preset)</td><td><strong>PGMSO</strong> – Preset Gantry Main/Sub Offset</td><td><code>PGMSOn</code> / n =</td><td><code>PGMSO?</code></td><td></td><td></td></tr></tbody></table>

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## Referenz Rotativ

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<table><thead><tr><th width="359.5999755859375">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Referenzfahrt starten</td><td><strong>REF</strong> – Referencing</td><td><code>REF</code></td><td>–</td><td>–</td><td></td></tr><tr><td><p>Referenzmodus / Startverhalten Referenzfahrt</p><p>n = 0: Referenzieren deaktiviert</p><p>n = 1: Referenzfahrt positiv</p><p>n = 2: Referenzfahrt negativ</p><p>n = 3: Referenzfahrt positiv mit Z-Suche</p><p>n = 4: Referenzfahrt negativ mit Z-Suche</p></td><td><strong>DRHR</strong> – Direction Reference Home</td><td><code>DRHRn</code> / n = 0 … 4</td><td><code>DRHR?</code></td><td></td><td></td></tr><tr><td>Suchrichtung Referenzpunkt</td><td><strong>DRH</strong> – Direction Home</td><td><code>DRHn</code> / n = 1, 2</td><td><code>DRH?</code></td><td></td><td></td></tr><tr><td>Suchrichtung Z-Marke</td><td><strong>DRZ</strong> – Direction Z</td><td><code>DRZn</code> / n = 1, 2</td><td><code>DRZ?</code></td><td></td><td></td></tr><tr><td>Drehen zur Z-Marke</td><td><strong>GZ</strong> – Go Z Mark</td><td><code>GZ</code></td><td>–</td><td>–</td><td></td></tr><tr><td>Geschwindigkeit Z-Marke</td><td><strong>SPZ</strong> – Speed Z Mark</td><td><code>SPZn</code> / n =</td><td><code>SPZ?</code></td><td></td><td></td></tr><tr><td>Automatische Referenzfahrt</td><td><strong>AREF</strong> – Auto Reference</td><td><code>AREFn</code> / n = 0, 1</td><td><code>AREF?</code></td><td></td><td></td></tr></tbody></table>

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## INDEX

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<table><thead><tr><th width="359.5999755859375">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Index Nr. abfahren</td><td><strong>IX</strong> – Index</td><td><code>IXn</code> / n = 1 … 50</td><td></td><td></td><td></td></tr><tr><td>Nummer Index vorladen für Änderung der Indexparameter</td><td><strong>NIX</strong> – Number Index</td><td><code>NIXn</code> / n = 1 … 50</td><td><code>NIX?</code></td><td></td><td></td></tr><tr><td>Acceleration speichern im Index (permanent)</td><td><strong>AIX</strong> – Acceleration Index</td><td><code>AIXn</code> / n = 2 … 1 000 000 (×1000) Inc/s²</td><td><code>AIX?</code></td><td></td><td></td></tr><tr><td>Speed speichern im Index (permanent)</td><td><strong>SIX</strong> – Speed Index</td><td><code>SIXn</code> / n = 10 … 10 000 000 Inc/s</td><td><code>SIX?</code></td><td></td><td></td></tr><tr><td>Distanz speichern im Index (permanent)</td><td><strong>DIX</strong> – Distance Index</td><td><code>DIXn</code> / n = −2 000 000 000 … 2 000 000 000</td><td><code>DIX?</code></td><td></td><td></td></tr><tr><td>Index Typ speichern (1 = absolut, 2 = relativ)</td><td><strong>TYIX</strong> – Type Index</td><td><code>TYIXn</code> / n = 1, 2</td><td><code>TYIX?</code></td><td></td><td></td></tr></tbody></table>

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## Programm / Applikation

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<table><thead><tr><th width="359.5999755859375">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Programm starten</td><td><strong>PG</strong> – Program</td><td><code>PGn[s]</code> / n =</td><td></td><td></td><td></td></tr><tr><td>Automatisch zu startendes Programm festlegen</td><td><strong>APSN</strong> – Auto Program Number</td><td><code>APSNn</code> / n =</td><td><code>APSN?</code></td><td></td><td></td></tr><tr><td>Startverzögerung für Autostart (ms)</td><td><strong>APSD</strong> – Auto Program Start Delay</td><td><code>APSDn</code> / n =</td><td><code>APSD?</code></td><td></td><td></td></tr><tr><td>Profil aktivieren</td><td><strong>PRF</strong> – Profile</td><td><code>PRFn</code> / n =</td><td></td><td></td><td></td></tr></tbody></table>

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## Forceteq® basic

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<table><thead><tr><th width="359.5999755859375">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Force Calibration starten / löschen</td><td><strong>FC</strong> – Force Calibration</td><td><code>FCn</code> / n = 0 … (Hub / Weg)</td><td></td><td></td><td></td></tr><tr><td>Testfunktion Force Calibration</td><td><strong>FCT</strong> – Force Calibration Test</td><td><code>FCTn</code> / n = 0, 1, 2</td><td><code>FCT?</code></td><td></td><td></td></tr><tr><td>Status Force Calibration gültig</td><td><strong>FCV</strong> – Force Calibration Valid</td><td></td><td><code>FCV?</code></td><td></td><td></td></tr><tr><td>I_Force Drift Compensation starten (Richtung über Parameter)</td><td><strong>IFDC</strong> – I_Force Drift Compensation</td><td><code>IFDCx</code> / x = P, N</td><td></td><td></td><td></td></tr><tr><td>I_Force Drift Compensation Einstellungen</td><td><strong>IFDCS</strong> – I_Force Drift Compensation Settings</td><td><code>IFDCSn</code> / n = 0 … 7</td><td><code>IFDCS?</code></td><td></td><td></td></tr><tr><td>Limit I_Force</td><td><strong>LIF</strong> – Limit I Force</td><td><code>LIFn</code> / n = 0 … (I Run)</td><td><code>LIF?</code></td><td></td><td></td></tr><tr><td>Limit I_Force während Bewegung ändern</td><td><strong>CLIF</strong> – Change Limit I Force</td><td><code>CLIFn</code> / n =</td><td></td><td></td><td></td></tr><tr><td>Drive I_Force starten</td><td><strong>DIF</strong> – Drive I Force</td><td><code>DIFn</code> / n = 1 … 10</td><td></td><td></td><td></td></tr><tr><td>I_Force Istwert</td><td><strong>IFA</strong> – I Force Actual</td><td></td><td></td><td></td><td></td></tr><tr><td>Motorstrom anzeigen</td><td><strong>TMC</strong> – Tell Motor Current</td><td></td><td></td><td></td><td></td></tr><tr><td>Sektoren auswählen</td><td><strong>SSEC</strong> – Select Sectors</td><td><code>SSECn</code> / n =</td><td><code>SSEC?</code></td><td></td><td></td></tr><tr><td>I_Force Peak anzeigen</td><td><strong>IFPK</strong> – I Force Peak</td><td><code>IFPKn</code> / n =</td><td><code>IFPK?</code></td><td></td><td></td></tr><tr><td>Fehlerhafte Sektoren anzeigen</td><td><strong>SIFF</strong> – Sector I Force Failed</td><td></td><td><code>SIFF?</code></td><td></td><td></td></tr><tr><td>Aktuelle Position als Sektor Offset übernehmen</td><td><strong>TPSO</strong> – Take Position as Sector Offset</td><td><code>TPSO</code></td><td></td><td></td><td></td></tr><tr><td>Sektor Offset setzen</td><td><strong>SSO</strong> – Set Sector Offset</td><td><code>SSOn</code> / n =</td><td><code>SSO?</code></td><td></td><td></td></tr><tr><td>Sektor auswählen</td><td><strong>NSEC</strong> – Number Sector</td><td><code>NSECn</code> / n = 1 … 10</td><td><code>NSEC?</code></td><td></td><td></td></tr><tr><td>Sektor Startposition</td><td><strong>SIFS</strong> – Sector I Force Start</td><td><code>SIFSn</code> / n =</td><td><code>SIFS?</code></td><td></td><td></td></tr><tr><td>Sektor Endposition</td><td><strong>SIFE</strong> – Sector I Force End</td><td><code>SIFEn</code> / n =</td><td><code>SIFE?</code></td><td></td><td></td></tr><tr><td>I_Force High im Sektor</td><td><strong>IFH</strong> – I Force High</td><td><code>IFHn</code> / n =</td><td><code>IFH?</code></td><td></td><td></td></tr><tr><td>I_Force Low im Sektor</td><td><strong>IFL</strong> – I Force Low</td><td><code>IFLn</code> / n =</td><td><code>IFL?</code></td><td></td><td></td></tr><tr><td>Sektor Übergang Konfiguration (dezimal)</td><td><strong>STC</strong> – Sector Transition Config</td><td><code>STCn</code> / n =</td><td><code>STC?</code></td><td></td><td></td></tr><tr><td>Sektor Übergang Konfiguration (hex)</td><td><strong>STCX</strong> – Sector Transition Config Hex</td><td><code>STCXn</code> / n =</td><td><code>STCX?</code></td><td></td><td></td></tr><tr><td>Drive I_Force auswählen</td><td><strong>NDIF</strong> – Number Drive I Force</td><td><code>NDIFn</code> / n = 1 … 10</td><td><code>NDIF?</code></td><td></td><td></td></tr><tr><td>Beschleunigung Drive I_Force</td><td><strong>ADIF</strong> – Acceleration Drive I Force</td><td><code>ADIFn</code> / n =</td><td><code>ADIF?</code></td><td></td><td></td></tr><tr><td>Geschwindigkeit Drive I_Force</td><td><strong>SDIF</strong> – Speed Drive I Force</td><td><code>SDIFn</code> / n = 10 … 10 000 000</td><td><code>SDIF?</code></td><td></td><td></td></tr><tr><td>Stromlimit Drive I_Force</td><td><strong>IDIF</strong> – I Force Limit Drive</td><td><code>IDIFn</code> / n = 0 … 2 000</td><td><code>IDIF?</code></td><td></td><td></td></tr><tr><td>Richtung Drive I_Force</td><td><strong>DDIF</strong> – Direction Drive I Force</td><td><code>DDIFn</code> / n = 0, 1</td><td><code>DDIF?</code></td><td></td><td></td></tr></tbody></table>

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## Forceteq® pro

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<table><thead><tr><th width="359.60009765625">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Tara / Force Offset setzen oder löschen</td><td><strong>CLFO</strong> – Clear Force Offset</td><td><code>CLFOn</code> / n = 0, 1</td><td><code>CLFO?</code></td><td></td><td></td></tr><tr><td>Forceteq Modus wählen</td><td><strong>FTM</strong> – Forceteq Mode</td><td><code>FTMn</code> / n = 0 … 2</td><td><code>FTM?</code></td><td></td><td></td></tr><tr><td>Bandbreite Kraftregler</td><td><strong>BWFP</strong> – Bandwidth Forceteq Pro</td><td><code>BWFPn</code> / n = 1 … 1 000</td><td><code>BWFP?</code></td><td></td><td></td></tr><tr><td>Federkonstante (Elastic Mode)</td><td><strong>FTPES</strong> – Forceteq Pro Elastic Spring Constant</td><td><code>FTPESn</code> / n = 1 … 10 000 000</td><td><code>FTPES?</code></td><td></td><td></td></tr><tr><td>Force Calibration starten / löschen</td><td><strong>FC</strong> – Force Calibration</td><td><code>FCn</code> / n = 0 … (Hub / Weg)</td><td></td><td></td><td></td></tr><tr><td>Testfunktion Force Calibration</td><td><strong>FCT</strong> – Force Calibration Test</td><td><code>FCTn</code> / n = 0, 1, 2</td><td><code>FCT?</code></td><td></td><td></td></tr><tr><td>Status Force Calibration gültig</td><td><strong>FCV</strong> – Force Calibration Valid</td><td></td><td><code>FCV?</code></td><td></td><td></td></tr><tr><td>Maximale Kraft</td><td><strong>LF</strong> – Limit Force</td><td><code>LFn</code> / n = 0 … 200 000</td><td><code>LF?</code></td><td></td><td></td></tr><tr><td>Limit Force während Bewegung ändern</td><td><strong>CLF</strong> – Change Limit Force</td><td><code>CLFn</code> / n =</td><td></td><td></td><td></td></tr><tr><td>Drive Force starten</td><td><strong>DF</strong> – Drive Force</td><td><code>DFn</code> / n = 1 … 10</td><td></td><td></td><td></td></tr><tr><td>Aktuelle Kraft anzeigen</td><td><strong>TF</strong> – Tell Force</td><td></td><td></td><td></td><td></td></tr><tr><td>Sektoren auswählen</td><td><strong>SSEC</strong> – Select Sectors</td><td><code>SSECn</code> / n =</td><td><code>SSEC?</code></td><td></td><td></td></tr><tr><td>Force Peak anzeigen</td><td><strong>FPK</strong> – Force Peak</td><td><code>FPKn</code> / n =</td><td><code>FPK?</code></td><td></td><td></td></tr><tr><td>Fehlerhafte Sektoren anzeigen</td><td><strong>SFF</strong> – Sector Force Failed</td><td></td><td><code>SFF?</code></td><td></td><td></td></tr><tr><td>Aktuelle Position als Sektor Offset übernehmen</td><td><strong>TPSO</strong> – Take Position as Sector Offset</td><td><code>TPSO</code></td><td></td><td></td><td></td></tr><tr><td>Sektor Offset setzen</td><td><strong>SSO</strong> – Set Sector Offset</td><td><code>SSOn</code> / n =</td><td><code>SSO?</code></td><td></td><td></td></tr><tr><td>Sektor auswählen</td><td><strong>NSEC</strong> – Number Sector</td><td><code>NSECn</code> / n = 1 … 10</td><td><code>NSEC?</code></td><td></td><td></td></tr><tr><td>Sektor Startposition</td><td><strong>SFS</strong> – Sector Force Start</td><td><code>SFSn</code> / n =</td><td><code>SFS?</code></td><td></td><td></td></tr><tr><td>Sektor Endposition</td><td><strong>SFE</strong> – Sector Force End</td><td><code>SFEn</code> / n =</td><td><code>SFE?</code></td><td></td><td></td></tr><tr><td>Force High im Sektor</td><td><strong>FH</strong> – Force High</td><td></td><td></td><td></td><td></td></tr></tbody></table>

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## Signateq® Messverstärker

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<table><thead><tr><th width="359.5999755859375">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Tara / Force Offset setzen oder löschen</td><td><strong>CLFO</strong> – Clear Force Offset</td><td><code>CLFOn</code> / n = 0, 1</td><td><code>CLFO?</code></td><td></td><td></td></tr><tr><td>Firmware Version Signateq anzeigen</td><td><strong>SQVER</strong> – Signateq Version</td><td><code>SQVER</code></td><td></td><td></td><td></td></tr><tr><td>Nominalkraft des Sensors</td><td><strong>SQSNF</strong> – Signateq Sensor Nominal Force</td><td><code>SQSNFn</code> / n = 0 … 200 000</td><td><code>SQSNF?</code></td><td></td><td></td></tr><tr><td>Messbereich des Sensors</td><td><strong>SQMRP</strong> – Signateq Measurement Range</td><td><code>SQMRPn</code> / n = 0 … 200 000</td><td><code>SQMRP?</code></td><td></td><td></td></tr><tr><td>Sensitivität des Sensors</td><td><strong>SQSS</strong> – Signateq Sensor Sensitivity</td><td><code>SQSSn</code> / n = 0 … 25 000 000</td><td><code>SQSS?</code></td><td></td><td></td></tr><tr><td>Sensortyp / Kraftrichtung</td><td><strong>SQSFT</strong> – Signateq Sensor Force Type</td><td><code>SQSFTn</code> / n = 0 … 2</td><td><code>SQSFT?</code></td><td></td><td></td></tr><tr><td>Bandbreite Kraftregler</td><td><strong>BWFP</strong> – Bandwidth Forceteq Pro</td><td><code>BWFPn</code> / n = 1 … 1 000</td><td><code>BWFP?</code></td><td></td><td></td></tr><tr><td>Bandbreite Messverstärker</td><td><strong>SQBW</strong> – Signateq Bandwidth</td><td><code>SQBWn</code> / n = 100, 200, 300, 500, 1 000, 2 000, 3 000, 5 000</td><td><code>SQBW?</code></td><td></td><td></td></tr><tr><td>Kalibrationsmodus</td><td><strong>SQCM</strong> – Signateq Calibration Mode</td><td><code>SQCMn</code> / n = 0 … 2</td><td><code>SQCM?</code></td><td></td><td></td></tr><tr><td>Verfügbare Kalibrationen</td><td><strong>SQAC</strong> – Signateq Available Calibration</td><td></td><td><code>SQAC?</code></td><td></td><td></td></tr><tr><td>Kraftrichtung Regelung</td><td><strong>SQFD</strong> – Signateq Force Direction</td><td><code>SQFDn</code> / n = 0 … 2</td><td><code>SQFD?</code></td><td></td><td></td></tr><tr><td>Max. Geschwindigkeit bei erreichter Kraft</td><td><strong>LFRMS</strong> – Limit Force Reached Max Speed</td><td><code>LFRMSn</code> / n = 0, 10 … 9 000 000</td><td><code>LFRMS?</code></td><td></td><td></td></tr><tr><td>Sensor Modell (Text)</td><td><strong>SQSMT</strong> – Signateq Sensor Model Type</td><td><code>SQSMTs</code> / s = Text</td><td><code>SQSMT?</code></td><td></td><td></td></tr><tr><td>Sensor Seriennummer (Text)</td><td><strong>SQSSN</strong> – Signateq Sensor Serial Number</td><td><code>SQSSNs</code> / s = Text</td><td><code>SQSSN?</code></td><td></td><td></td></tr></tbody></table>

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## HW-Inputs und Outputs

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<table><thead><tr><th width="359.5999755859375">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Ausgangstyp setzen</td><td><strong>SOT</strong> – Set Output Type</td><td><code>SOTn</code> / n = 0 … 65 535</td><td></td><td></td><td></td></tr><tr><td>Ausgangsaktivität setzen</td><td><strong>SOA</strong> – Set Output Activity</td><td><code>SOAn</code> / n = 0 … 255</td><td></td><td></td><td></td></tr><tr><td>Ausgang setzen (logisch 1)</td><td><strong>SO</strong> – Set Output</td><td><code>SOn</code> / n = 1 … 8</td><td></td><td></td><td></td></tr><tr><td>Alle Ausgänge bitweise setzen</td><td><strong>SOX</strong> – Set Output Hex</td><td><code>SOXn</code> / n = 00 … FF</td><td></td><td></td><td></td></tr><tr><td>Ausgang löschen (logisch 0)</td><td><strong>CO</strong> – Clear Output</td><td><code>COn</code> / n = 1 … 8</td><td></td><td></td><td></td></tr><tr><td>Zustand aller Outputs anzeigen</td><td><strong>TO</strong> – Tell Output</td><td></td><td></td><td></td><td></td></tr><tr><td>Zustand aller Outputs (HEX)</td><td><strong>TOX</strong> – Tell Output Hex</td><td></td><td></td><td></td><td></td></tr><tr><td>Output auswählen</td><td><strong>NOF</strong> – Number Output Function</td><td><code>NOFn</code> / n = 1 … 8</td><td><code>NOF?</code></td><td></td><td></td></tr><tr><td>Output Funktion setzen</td><td><strong>TYOF</strong> – Type Output Function</td><td><code>TYOFn</code> / n = 0 … 21</td><td><code>TYOF?</code></td><td></td><td></td></tr><tr><td>Trigger aufwärts</td><td><strong>TGU</strong> – Trigger Upward</td><td><code>TGUn</code> / n = −2 000 000 000 … 2 000 000 000</td><td><code>TGU?</code></td><td></td><td></td></tr><tr><td>Trigger abwärts</td><td><strong>TGD</strong> – Trigger Downward</td><td><code>TGDn</code> / n = −2 000 000 000 … 2 000 000 000</td><td><code>TGD?</code></td><td></td><td></td></tr><tr><td>Input Aktivität global</td><td><strong>ILA</strong> – Input Low Active</td><td><code>ILAn</code> / n = 0 … 2</td><td><code>ILA?</code></td><td></td><td></td></tr><tr><td>Input Aktivität individuell</td><td><strong>ILAS</strong> – Input Low Active Single</td><td><code>ILASn</code> / n =</td><td><code>ILAS?</code></td><td></td><td></td></tr><tr><td>Zustand aller Inputs anzeigen</td><td><strong>TI</strong> – Tell Input</td><td><code>TI</code></td><td><code>TI?</code></td><td></td><td></td></tr><tr><td>Zustand einzelner Input</td><td><strong>TI</strong> – Tell Input</td><td><code>TIn</code> / n = 1 … 12</td><td></td><td></td><td></td></tr><tr><td>Zustand aller Inputs (HEX)</td><td><strong>TIX</strong> – Tell Input Hex</td><td></td><td></td><td></td><td></td></tr><tr><td>Input auswählen</td><td><strong>NIF</strong> – Number Input Function</td><td><code>NIFn</code> / n = 1 … 8</td><td><code>NIF?</code></td><td></td><td></td></tr><tr><td>Input Funktion setzen</td><td><strong>TYIF</strong> – Type Input Function</td><td><code>TYIFn</code> / n = 0 … 22</td><td><code>TYIF?</code></td><td></td><td></td></tr><tr><td>Parameter A Input Funktion</td><td><strong>PAIF</strong> – Parameter A</td><td><code>PAIFn</code> / n =</td><td></td><td></td><td></td></tr><tr><td>Parameter B Input Funktion</td><td><strong>PBIF</strong> – Parameter B</td><td><code>PBIFn</code> / n =</td><td></td><td></td><td></td></tr><tr><td>Parameter C Input Funktion</td><td><strong>PCIF</strong> – Parameter C</td><td><code>PCIFn</code> / n =</td><td></td><td></td><td></td></tr><tr><td>Capture Position anzeigen</td><td><strong>TCP</strong> – Tell Capture Position</td><td><code>TCPn</code> / n = 1 … 8</td><td></td><td></td><td></td></tr><tr><td>Capture Position Buffer anzeigen</td><td><strong>TCPB</strong> – Tell Capture Position Buffer</td><td><code>TCPBn</code> / n = 1 … 8</td><td></td><td></td><td></td></tr><tr><td>Capture Position löschen</td><td><strong>CLCP</strong> – Clear Capture Position</td><td><code>CLCP</code></td><td></td><td></td><td></td></tr><tr><td>Capture Position Input 12</td><td></td><td></td><td></td><td></td><td></td></tr></tbody></table>

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## Fast-Trigger

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<table><thead><tr><th width="359.5999755859375">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Fast Trigger aktivieren/deaktivieren</td><td><strong>FTCE</strong> – Fast Trigger Enable</td><td><code>FTCEn</code> / n = 0, 1</td><td><code>FTCE?</code></td><td></td><td></td></tr><tr><td>Trigger-Richtung (0 = beide, 1 = positiv, 2 = negativ)</td><td><strong>FTCD</strong> – Fast Trigger Direction</td><td><code>FTCDn</code> / n = 0, 1, 2</td><td><code>FTCD?</code></td><td></td><td></td></tr><tr><td>Trigger-Hysterese (Position)</td><td><strong>FTCH</strong> – Fast Trigger Hysteresis</td><td><code>FTCHn</code></td><td><code>FTCH?</code></td><td></td><td></td></tr><tr><td>Trigger-Modus (0 = Tabelle, 1 = Intervall, 2 = Intervall mit Grenzen)</td><td><strong>FTCM</strong> – Fast Trigger Mode</td><td><code>FTCMn</code> / n = 0, 1, 2</td><td><code>FTCM?</code></td><td></td><td></td></tr><tr><td>Intervallabstand</td><td><strong>FTID</strong> – Fast Trigger Interval Distance</td><td><code>FTIDn</code></td><td><code>FTID?</code></td><td></td><td></td></tr><tr><td>Untere Grenze</td><td><strong>FTILB</strong> – Fast Trigger Lower Boundary</td><td><code>FTILBn</code></td><td><code>FTILB?</code></td><td></td><td></td></tr><tr><td>Obere Grenze</td><td><strong>FTIUB</strong> – Fast Trigger Upper Boundary</td><td><code>FTIUBn</code></td><td><code>FTIUB?</code></td><td></td><td></td></tr><tr><td>Trigger Output aktivieren</td><td><strong>FTOE</strong> – Fast Trigger Output Enable</td><td><code>FTOEn</code> / n = 0, 1</td><td><code>FTOE?</code></td><td></td><td></td></tr><tr><td>Output Gate aktivieren</td><td><strong>FTOG</strong> – Fast Trigger Output Gate</td><td><code>FTOGn</code> / n = 0, 1</td><td><code>FTOG?</code></td><td></td><td></td></tr><tr><td>Output invertieren</td><td><strong>FTOI</strong> – Fast Trigger Output Invert</td><td><code>FTOI</code></td><td><code>FTOI?</code></td><td></td><td></td></tr><tr><td>Output Modus (0 = Puls, 1 = Toggle)</td><td><strong>FTOM</strong> – Fast Trigger Output Mode</td><td><code>FTOMn</code> / n = 0, 1</td><td><code>FTOM?</code></td><td></td><td></td></tr><tr><td>Pulsverzögerung</td><td><strong>FTOPD</strong> – Fast Trigger Pulse Delay</td><td><code>FTOPDn</code></td><td><code>FTOPD?</code></td><td></td><td></td></tr><tr><td>Pulsbreite</td><td><strong>FTOPW</strong> – Fast Trigger Pulse Width</td><td><code>FTOPWn</code></td><td><code>FTOPW?</code></td><td></td><td></td></tr><tr><td>Position zur Trigger-Tabelle hinzufügen</td><td><strong>FTPA</strong> – Fast Trigger Add Position</td><td><code>FTPAn</code></td><td></td><td></td><td></td></tr><tr><td>Trigger-Tabelle löschen</td><td><strong>FTPC</strong> – Fast Trigger Clear Table</td><td><code>FTPC</code></td><td></td><td></td><td></td></tr><tr><td>Trigger-Tabelle anzeigen</td><td><strong>FTPL</strong> – Fast Trigger List</td><td><code>FTPL</code></td><td><code>FTPL</code></td><td></td><td></td></tr><tr><td>Position aus Tabelle entfernen</td><td><strong>FTPR</strong> – Fast Trigger Remove Position</td><td><code>FTPRn</code></td><td></td><td></td><td></td></tr></tbody></table>

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## Kommunikation / Status / Events

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<table><thead><tr><th width="359.5999755859375">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Process Status Register (PSR) anzeigen (hex)</td><td><strong>TPSR</strong> – Tell Process Status Register</td><td><code>TPSR</code></td><td><code>TPSR</code></td><td></td><td></td></tr><tr><td>Status des Systems anzeigen</td><td><strong>TS</strong> – Tell Status</td><td><code>TS</code></td><td><code>TS</code></td><td></td><td></td></tr><tr><td>Error Nummer anzeigen</td><td><strong>TE</strong> – Tell Error</td><td><code>TE</code></td><td><code>TE</code></td><td></td><td></td></tr><tr><td>Error Beschreibung anzeigen</td><td><strong>TES</strong> – Tell Error String</td><td><code>TES</code></td><td><code>TES</code></td><td></td><td></td></tr><tr><td>Error Buffer anzeigen (letzte Einträge)</td><td><strong>TEB</strong> – Tell Error Buffer</td><td><code>TEB</code></td><td><code>TEB</code></td><td></td><td></td></tr><tr><td>Error Buffer löschen</td><td><strong>TEBCLR</strong> – Tell Error Buffer Clear</td><td><code>TEBCLR</code></td><td></td><td></td><td></td></tr><tr><td>Error Zustand SMU anzeigen</td><td><strong>TESM</strong> – Tell Error SMU</td><td><code>TESM</code></td><td><code>TESM</code></td><td></td><td></td></tr><tr><td>Error Zustand SMU Historie anzeigen</td><td><strong>TESMH</strong> – Tell Error SMU History</td><td><code>TESMH</code></td><td><code>TESMH</code></td><td></td><td></td></tr><tr><td>Event Aktivierung global (0 = aus, 1 = ein)</td><td><strong>EVT</strong> – Event Control</td><td><code>EVTn</code> / n = 0, 1</td><td></td><td></td><td></td></tr><tr><td>Eingangsevents freigeben</td><td><strong>ETI</strong> – Event Track Input</td><td><code>ETIn</code> / n = 0 … 9, A … C</td><td></td><td></td><td></td></tr><tr><td>Eingangsevents sperren</td><td><strong>DTI</strong> – Disable Track Input</td><td><code>DTIn</code> / n = 0 … 9, A … C</td><td></td><td></td><td></td></tr><tr><td>Zeit der letzten Trajektorie [ms]</td><td><strong>TMT</strong> – Tell Motion Time</td><td><code>TMT</code></td><td><code>TMT</code></td><td></td><td></td></tr><tr><td>Programmtimer anzeigen [ms]</td><td><strong>TPT</strong> – Tell Program Timer</td><td><code>TPT</code></td><td><code>TPT</code></td><td></td><td></td></tr></tbody></table>

{% columns %}
{% column %}

{% endcolumn %}

{% column %}

## Position-Mapping

{% endcolumn %}
{% endcolumns %}

<table><thead><tr><th width="359.5999755859375">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Mapping des Programmspeichers (löscht Programmspeicher bei Änderung)</td><td><strong>PMAP</strong> – Program Mapping</td><td><code>PMAPn</code> / n = 0, 1</td><td><code>PMAP?</code></td><td></td><td></td></tr><tr><td>Mapping aktivieren/deaktivieren</td><td><strong>PME</strong> – Position Mapping Enable</td><td><code>PMEn</code> / n = 0, 1</td><td><code>PME?</code></td><td></td><td></td></tr><tr><td>Anzahl Mapping Punkte</td><td><strong>PMNP</strong> – Position Mapping Number of Points</td><td><code>PMNPn</code></td><td><code>PMNP?</code></td><td></td><td></td></tr><tr><td>Startposition Mapping</td><td><strong>PMSP</strong> – Position Mapping Start Position</td><td><code>PMSPn</code></td><td><code>PMSP?</code></td><td></td><td></td></tr><tr><td>Endposition Mapping</td><td><strong>PMEP</strong> – Position Mapping End Position</td><td><code>PMEPn</code></td><td><code>PMEP?</code></td><td></td><td></td></tr><tr><td>Fehlerindex auswählen</td><td><strong>PMEI</strong> – Position Mapping Error Index</td><td><code>PMEIn</code></td><td><code>PMEI?</code></td><td></td><td></td></tr><tr><td>Fehlerwert setzen</td><td><strong>PMEV</strong> – Position Mapping Error Value</td><td><code>PMEVn</code></td><td><code>PMEV?</code></td><td></td><td></td></tr><tr><td>Mapping Einträge löschen</td><td><strong>PMEC</strong> – Position Mapping Entries Clear</td><td><code>PMEC</code></td><td></td><td></td><td></td></tr></tbody></table>

{% columns %}
{% column %}

{% endcolumn %}

{% column %}

## ELAX® Mechanik Limit Position&#x20;

{% endcolumn %}
{% endcolumns %}

<table><thead><tr><th width="359.5999755859375">Beschreibung</th><th width="280">Kürzel</th><th width="270.60009765625">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Kalibration des internen mechanischen Anschlags positiv starten</td><td><strong>MLC</strong> – Mechanical Limit Calibration</td><td><code>MLC</code></td><td></td><td></td><td></td></tr><tr><td>Position interner mechanischer Anschlag positiv (detektiert)</td><td><strong>DMLPP</strong> – Detected Mechanical Limit Position Positive</td><td><code>DMLPPn</code> / n = 0 … &#x3C;Hublänge ELAX + 3 mm></td><td><code>DMLPP?</code></td><td></td><td></td></tr><tr><td>Position externer mechanischer Anschlag negativ</td><td><strong>MLPN</strong> – Mechanical Limit Position Negative</td><td><code>MLPNn</code> / n = −3 mm … &#x3C;Hublänge ELAX + 3 mm></td><td><code>MLPN?</code></td><td></td><td></td></tr><tr><td>Position externer mechanischer Anschlag positiv</td><td><strong>MLPP</strong> – Mechanical Limit Position Positive</td><td><code>MLPPn</code> / n = −3 mm … &#x3C;Hublänge ELAX + 3 mm></td><td><code>MLPP?</code></td><td></td><td></td></tr></tbody></table>

{% columns %}
{% column %}

{% endcolumn %}

{% column %}

## Systeminformationen

{% endcolumn %}
{% endcolumns %}

<table><thead><tr><th width="359.599853515625">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Ist-Position</td><td><strong>TP</strong> – Tell Position</td><td><code>TP</code></td><td><code>TP</code></td><td></td><td></td></tr><tr><td>Aktuelle Geschwindigkeit [inc/s]</td><td><strong>TV</strong> – Tell Velocity</td><td><code>TV</code></td><td><code>TV</code></td><td></td><td></td></tr><tr><td>Motortemperatur [°C]</td><td><strong>TT</strong> – Tell Temperature</td><td><code>TT</code></td><td><code>TT</code></td><td></td><td></td></tr><tr><td>Versorgungsspannung Motor [mV]</td><td><strong>TVPSM</strong> – Tell Voltage Power Supply Motor</td><td><code>TVPSM</code></td><td><code>TVPSM</code></td><td></td><td></td></tr><tr><td>Status (0 = OFF, 1 = ON, 2 = Motion, 9 = Error)</td><td><strong>TS</strong> – Tell Status</td><td><code>TS</code></td><td><code>TS</code></td><td></td><td></td></tr><tr><td>Motorstrom [mA]</td><td><strong>TMC</strong> – Tell Motor Current</td><td><code>TMC</code></td><td><code>TMC</code></td><td></td><td></td></tr><tr><td>Fahrzeit letzte Trajektorie [ms]</td><td><strong>TMT</strong> – Tell Motion Time</td><td><code>TMT</code></td><td><code>TMT</code></td><td></td><td></td></tr><tr><td>Prozesszeit / Programmtimer [ms]</td><td><strong>TPT</strong> – Tell Process Time</td><td><code>TPT</code></td><td><code>TPT</code></td><td></td><td></td></tr><tr><td>Firmware Version</td><td><strong>VER</strong> – Version</td><td><code>VER</code></td><td><code>VER</code></td><td></td><td></td></tr><tr><td>Firmware Versionen aller Module</td><td><strong>VERA</strong> – Version All</td><td><code>VERA</code></td><td><code>VERA</code></td><td></td><td></td></tr><tr><td>Version SMU Firmware</td><td><strong>VERS</strong> – Version SMU</td><td><code>VERS</code></td><td><code>VERS</code></td><td></td><td></td></tr><tr><td>Version Busmodul Firmware</td><td><strong>VERB</strong> – Version Busmodule</td><td><code>VERB</code></td><td><code>VERB</code></td><td></td><td></td></tr><tr><td>Version Bootloader</td><td><strong>VERL</strong> – Version Bootloader</td><td><code>VERL</code></td><td><code>VERL</code></td><td></td><td></td></tr><tr><td>Version Signateq Firmware</td><td><strong>VERSQ</strong> – Version Signateq</td><td><code>VERSQ</code></td><td><code>VERSQ</code></td><td></td><td></td></tr><tr><td>Ethernet MAC Adresse</td><td><strong>EMAC</strong> – Ethernet MAC Address</td><td><code>EMAC</code></td><td><code>EMAC</code></td><td></td><td></td></tr><tr><td>MAC Adresse Busmodul</td><td><strong>MACB</strong> – MAC Address Busmodule</td><td><code>MACB</code></td><td><code>MACB</code></td><td></td><td></td></tr><tr><td>Temperaturüberwachung aktuell</td><td><strong>I2T</strong> – I2T Value</td><td><code>I2T</code></td><td><code>I2T</code></td><td></td><td></td></tr><tr><td>Temperaturüberwachung maximal</td><td><strong>I2TM</strong> – I2T Max Value</td><td><code>I2TM</code></td><td><code>I2TM</code></td><td></td><td></td></tr><tr><td>CRC Safety Parameter</td><td><strong>SPC</strong> – Safety Parameter CRC</td><td><code>SPC</code></td><td><code>SPC?</code></td><td></td><td></td></tr><tr><td>CRC Safety + MAC</td><td><strong>SPMAC</strong> – Safety Param &#x26; MAC CRC</td><td><code>SPMAC</code></td><td><code>SPMAC?</code></td><td></td><td></td></tr><tr><td>DS402 Mode of Operation anzeigen</td><td><strong>TMO</strong> – Tell Mode Of Operation</td><td><code>TMO</code></td><td><code>TMO</code></td><td></td><td></td></tr></tbody></table>

{% columns %}
{% column %}

{% endcolumn %}

{% column %}

## Systemüberwachung

{% endcolumn %}
{% endcolumns %}

<table><thead><tr><th width="359.60009765625">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Encoder Plausibilitätsprüfung (0 = aktiv, 1 = deaktiviert)</td><td><strong>ENCPD</strong> – Encoder Plausibility Checking Disable</td><td><code>ENCPDn</code> / n = 0, 1</td><td><code>ENCPD?</code></td><td></td><td></td></tr><tr><td>Watchdog für serielle/Ethernet Kommunikation [ms] (0 = aus, 1 … 60 000 ms)</td><td><strong>WD</strong> – Watchdog</td><td><code>WDn</code> / n = 0 … 60 000</td><td><code>WD?</code></td><td></td><td></td></tr><tr><td>Echo für serielle/Ethernet Schnittstelle (0 = aus, 1 = ein)</td><td><strong>ECH</strong> – Echo</td><td><code>ECHn</code> / n = 0, 1</td><td><code>ECH?</code></td><td>1</td><td></td></tr></tbody></table>

{% columns %}
{% column %}

{% endcolumn %}

{% column %}

## Ethernet TCP/IP

{% endcolumn %}
{% endcolumns %}

<table><thead><tr><th width="359.60009765625">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>Ethernet TCP/IP Adresse</td><td><strong>EIP</strong> – Ethernet IP Address</td><td><code>EIPa.b.c.d</code> / a.b.c.d = IP-Adresse</td><td><code>EIP?</code></td><td>192.168.2.100</td><td></td></tr><tr><td>Ethernet Net Mask</td><td><strong>ENM</strong> – Ethernet Net Mask</td><td><code>ENMa.b.c.d</code> / a.b.c.d = Netmask</td><td><code>ENM?</code></td><td>255.255.252.0</td><td></td></tr><tr><td>Ethernet Gateway</td><td><strong>EGW</strong> – Ethernet Gateway</td><td><code>EGWa.b.c.d</code> / a.b.c.d = Gateway</td><td><code>EGW?</code></td><td>192.168.2.1</td><td></td></tr><tr><td>Ethernet Port</td><td><strong>EPRT</strong> – Ethernet Port</td><td><code>EPRTn</code> / n = 1 … 65 535</td><td><code>EPRT?</code></td><td>10 001</td><td></td></tr><tr><td>Ethernet MAC Adresse</td><td><strong>EMAC</strong> – Ethernet MAC Address</td><td><code>EMAC</code></td><td><code>EMAC</code></td><td></td><td></td></tr></tbody></table>

{% columns %}
{% column %}

{% endcolumn %}

{% column %}

## Feldbus / Busmodul / DS402

{% endcolumn %}
{% endcolumns %}

<table><thead><tr><th width="359.5999755859375">Beschreibung</th><th width="280">Kürzel</th><th width="270.5999755859375">ASCII-Befehl / Parameter schreiben</th><th>Parameter lesen</th><th>Default</th><th>Persistent</th></tr></thead><tbody><tr><td>CAN Baudrate</td><td><strong>CAB</strong> – CAN Baudrate</td><td><code>CABn</code> / n = 1 000 … 1 000 000</td><td><code>CAB?</code></td><td></td><td></td></tr><tr><td>PDO Zykluszeit [µs]</td><td><strong>PCT</strong> – PDO Cycle Time</td><td><code>PCTn</code> / n = 100 … 10 000</td><td><code>PCT?</code></td><td></td><td></td></tr><tr><td>Version Busmodul Firmware</td><td><strong>VERB</strong> – Version Busmodule</td><td><code>VERB</code></td><td><code>VERB</code></td><td></td><td></td></tr><tr><td>IP Adresse Busmodul anzeigen</td><td><strong>EIPB</strong> – IP Address Busmodule</td><td><code>EIPB</code></td><td><code>EIPB</code></td><td></td><td></td></tr><tr><td>Busmodul zurücksetzen</td><td><strong>RESB</strong> – Reset Busmodule</td><td><code>RESB</code></td><td></td><td></td><td></td></tr><tr><td>MAC Adresse Busmodul</td><td><strong>MACB</strong> – MAC Address Busmodule</td><td><code>MACB</code></td><td><code>MACB</code></td><td></td><td></td></tr></tbody></table>


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