UTCV2.2 - Users ManualE090925 PDF

UTC
Programmable Four Axes

Motion Control Card
Reference Manual V2.2
Micro Trend Automation Co., Ltd

3F, No.78, Cheng Kung Road, Sec. 1
Nan Kang, Taipei, Taiwan
TEL:(02)27882162 FAX:(02)27857173 2009.09.25
Micro Trend UTC Controller Manual (V2.2) Sep. 04
Contents
UTC-Series Reference Manual
UTC-Series Controller Specifications..................................................................1-1
Application Field..................................................................................................1-2
Mathematics Operation Ability ............................................................................1-3
Numerical Values .......................................................................................1-3
Operators ...................................................................................................1-3
Functions....................................................................................................1-3
Expressions................................................................................................1-5
Data............................................................................................................1-5
Comparators...............................................................................................1-6
Conditions ..................................................................................................1-6
Simple ................................................................................................1-6
Compound .........................................................................................1-6
Timers ........................................................................................................1-6
Variables ....................................................................................................1-6
I-Variable............................................................................................1-6
P-Variable ..........................................................................................1-6
Q-Variable..........................................................................................1-7
M-Variable..........................................................................................1-8
Jog the Motor ......................................................................................................1-10
Address Motors ..........................................................................................1-10
Enable Drivers............................................................................................1-10
Jog Acc/Dec ...............................................................................................1-10
Jog Speed ..................................................................................................1-10
Jog Command ............................................................................................1-10
Home Searching.........................................................................................1-11
Motion Program ..................................................................................................1-12
PLC Program ......................................................................................................1-15
Calculation Statements...............................................................................1-15
Conditional Statements ..............................................................................1-15
IF Level-Triggered Conditions............................................................1-15
IF Edge-Triggered Conditions ............................................................1-15
WHILE Loop.......................................................................................1-16
Timer ..........................................................................................................1-16
Trajectory Generation .........................................................................................1-17
Position Following.......................................................................................1-20
Time Based Following ................................................................................1-21
Commands Summary .........................................................................................1-23
On-line Command ......................................................................................1-23
Motion Program Command ........................................................................1-25
PLC Program Command ............................................................................1-27
I-Parameter Summary.........................................................................................1-28
Suggested M-Variable Definition.........................................................................1-30
I-Variables Definition .........................................................................................2-1
System I-Variables .....................................................................................2-1
I0 Card Number................................................................................2-1
Table of Contents i
I1 Coordinate System Activation Control..........................................2-1

I2 COM2 Baudrate Control...............................................................2-1
I3 COM2 Handshake Control ...........................................................2-2
I4 Wait State Controll .......................................................................2-2
I5 Motor Position and Velocity Response Control ............................2-3
I6 PLC Programs On/Off Control......................................................2-3
I7 Control Type Command Disable ..................................................2-3
I8 Backlash Hysteresis Value...........................................................2-4
I9 Maximum Digit for Floating Point Returned..................................2-4
I10 Real Time Interrupt Period............................................................2-4
I11 P/Q Variables Backup Control ......................................................2-5
I18 Extension I/O Board Enable..........................................................2-5
I19 Digital Inputs Debounce Cycle ......................................................2-5
I20 Gathered Data Selection...............................................................2-5
I21 Gathered Data Source 1 ...............................................................2-6
I25 Gather Period ...............................................................................2-7
I26 Gather Buffer Size ........................................................................2-7
I27 Gather Start and Stop Control ......................................................2-7
I28 Gather Stop Delay ........................................................................2-7
Motor I-Variables ........................................................................................2-8
Ix01 Motor x Jog / Home Acceleration Time .......................................2-8
Ix02 Motor x Jog / Home S-Curve Time..............................................2-8
Ix03 Motor x Jog Speed ......................................................................2-8
Ix04 Motor Deceleration Rate on Position Limit or Abort ....................2-8
Ix05 Motor x Master Following Enable ................................................2-9
Ix06 Motor x Master Scale Factor .......................................................2-9
Ix07 Motor x Homing Speed and Direction .........................................2-9
Ix08 Motor x Home Offset ...................................................................2-9
Ix09 Motor x Flag Control....................................................................2-10
Ix10 Motor x Positive Software Limit ...................................................2-11
Ix11 Motor x Negative Software Limit .................................................2-11
Ix12 Motor x Coordinate Position Displacement .................................2-12
Ix13 Motor x Coordinate Position Scaling ...........................................2-12
Ix14 Motor x Coordinate Unit Scaling..................................................2-12
Ix15 Motor x Backlash Size.................................................................2-13
Ix16 Motor x Backlash Takeup Rate ...................................................2-13
Ix17 Motor x Rollover Range ..............................................................2-13
Ix19 Motor x Velocity Weighting..........................................................2-13
Ix20 Motor x PID Proportional Gain ....................................................2-14
Ix21 Motor x PID Derivative Gain........................................................2-14
Ix22 Motor x Velocity Feedforward Gain .............................................2-14
Ix23 Motor x PID Integral Gain............................................................2-14
Ix24 Motor x PID Integration Mode .....................................................2-14
Ix25 Motor x Acceleration Feedforward Gain......................................2-15
Ix26 Motor x Position Feedback Address............................................2-15
Ix27 Motor x Velocity Feedback Address............................................2-15
Ix28 Motor x Velocity Feedback Scale ................................................2-15
Table of Contents ii
Ix29 Motor x DAC Bias........................................................................2-16

Ix30 Motor x DAC Limit .......................................................................2-16
Ix31 Motor x Fatal Following Error ......................................................2-16
Ix32 Motor x Dead Band Size .............................................................2-16
Ix33 Motor x In Position Band .............................................................2-17
Ix34 Motor x Big Step Size..................................................................2-17
Ix35 Motor x Integration Limit..............................................................2-17
Coordinate System I-Variables ...................................................................2-18
Ix50 Coordinate System x Blended Move Enable Control ..................2-18
Ix51 Coordinate System x Maximum Permitted Program Acceleration2-18
Ix52 Coordinate System x Default Program Acceleration Time ..........2-18
Ix53 Coordinate System x Default Program S-Curve Time.................2-19
Ix54 Coordinate System x Default Program Feedrate ........................2-19
Ix55 Coordinate System x Time Base Slew Rate ...............................2-20
Ix56 Coordinate System x Program Rapid Move Feedrate.................2-20
Ix57 Coordinate System x Program Rapid Move Acceleration Time ..2-20
Ix58 Coordinate System x Rapid Mode...............................................2-21
Ix59 Coordinate System x Rotate Angle .............................................2-21
Ix60 Coordinate System x External Time-Base Scale ........................2-22
Ix61 Coordinate System x Time Base Source ....................................2-22
Encoder I-Variable......................................................................................2-23
Ix80 Encoder Decode Control.............................................................2-23
Ix81 Encoder Capture Control ............................................................2-23
Ix82 Encoder Capture Flag Select ......................................................2-24
Ix85 Master x Source Address............................................................2-24
Ix86 Master x Moving Average Buffer Size .........................................2-24
On-line Commands .............................................................................................3-1
Global Online Command ............................................................................3-1
Coordinate System Online Command ........................................................3-3
Motor Control Online Command .................................................................3-4
Program Pointer Control Online Command ................................................3-5
<CONTROL-A> ..........................................................................................3-5
<CONTROL-D> ..........................................................................................3-5
<CONTROL-K> ..........................................................................................3-5
<CONTROL-O>..........................................................................................3-6
<CONTROL-P> ..........................................................................................3-6
<CONTROL-Q>..........................................................................................3-6
<CONTROL-R> ..........................................................................................3-7
<CONTROL-S> ..........................................................................................3-7
<CONTROL-V> ..........................................................................................3-7
<CONTROL-X> ..........................................................................................3-7
@{command}..............................................................................................3-8
# .................................................................................................................3-8
#{constant} .................................................................................................3-8
#{constant}-> ..............................................................................................3-9
#{constant}->{axis definition} ......................................................................3-9
$$$ .............................................................................................................3-10
$$$*** .........................................................................................................3-10
% ................................................................................................................3-10
%{constant} ................................................................................................3-11
Table of Contents iii

& .................................................................................................................3-11
&{constant} .................................................................................................3-12
{axis}={constant}.........................................................................................3-12
A .................................................................................................................3-12
B{constant} .................................................................................................3-13
CLEAR .......................................................................................................3-13
CLOSE .......................................................................................................3-14
CS ..............................................................................................................3-14
DATE..........................................................................................................3-14
DEF ROT....................................................................................................3-15
DEL ROT....................................................................................................3-15
DIS PLC .....................................................................................................3-15
ENA PLC ....................................................................................................3-16
ENA CAM ...................................................................................................3-16
ENDG .........................................................................................................3-16
GAT ............................................................................................................3-16
H.................................................................................................................3-17
HM..............................................................................................................3-17
HMZ............................................................................................................3-17
I{constant} ..................................................................................................3-18
I{constant}={expression}.............................................................................3-18
INIT.............................................................................................................3-19
J+ ...............................................................................................................3-19
J- ................................................................................................................3-20
J/ ................................................................................................................3-20
J: ................................................................................................................3-20
J:{constant}.................................................................................................3-21
J= ...............................................................................................................3-22
J={constant}................................................................................................3-22
J* ................................................................................................................3-23
K .................................................................................................................3-23
LIST............................................................................................................3-23
LIST BUF{address}[,{length}] .....................................................................3-24
LISTGAT ....................................................................................................3-24
LISTPE{constant}[,{length}] ........................................................................3-25
LIST PLC....................................................................................................3-25
LIST PROG ................................................................................................3-25
M{constant} ................................................................................................3-26
M{constant}={expression}...........................................................................3-27
M{constant}-> .............................................................................................3-27
M{constant}->*............................................................................................3-28
M{constant}->addr[,start][,width][,s] ............................................................3-28
M{constant}->L:addr ...................................................................................3-29
M{constant}->I:addr[,start][,width][,s] ..........................................................3-29
O{constant} For Pulse Command (UTCx00P) ............................................3-30
OUT{constant} For Voltage Command (UTCx00V) ....................................3-30
OPENBUF{address} ...................................................................................3-31
OPEN CAM ................................................................................................3-31
OPEN PLC .................................................................................................3-32
OPEN PROG..............................................................................................3-32
Table of Contents iv
OPEN ROT.................................................................................................3-33
P .................................................................................................................3-33
P{constant} .................................................................................................3-34
P{constant}={expression} ...........................................................................3-34
PC ..............................................................................................................3-35
PE...............................................................................................................3-35
PR ..............................................................................................................3-35
PWD ...........................................................................................................3-36
Q{constant}.................................................................................................3-36
Q{constant}={expression} ...........................................................................3-37
R.................................................................................................................3-37
RD{address}[,{length}] ................................................................................3-37
S .................................................................................................................3-38
SAVE..........................................................................................................3-38
SIZE ...........................................................................................................3-39
V .................................................................................................................3-39
VER ............................................................................................................3-39
Motion Commands..............................................................................................4-1
Summary of Buffer Command ........................................................................4-1
{axis}{data}[{axis}{data}…]..........................................................................4-3
{axis}{data}[{axis}{data}…]{vector}{data}[{vector}{data}…] .........................4-3
ABS ............................................................................................................4-4
ADIS ...........................................................................................................4-4
AND............................................................................................................4-5
AROT .........................................................................................................4-5
ASCL ..........................................................................................................4-6
BSTART .....................................................................................................4-6
BSTOP .......................................................................................................4-7
CALL ..........................................................................................................4-7
CIR1 ...........................................................................................................4-8
CIR2 ...........................................................................................................4-8
CMD ...........................................................................................................4-9
DELAY........................................................................................................4-10
DISP ...........................................................................................................4-10
DISPLC ......................................................................................................4-11
DWELL .......................................................................................................4-11
ELSE ..........................................................................................................4-11
ENAPLC .....................................................................................................4-12
ENDIF.........................................................................................................4-12
ENDWHILE ................................................................................................4-13
F .................................................................................................................4-13
FRAX..........................................................................................................4-14
G ................................................................................................................4-14
GOSUB ......................................................................................................4-15
GOTO.........................................................................................................4-15
HM..............................................................................................................4-16
I ..................................................................................................................4-16
I{constant}={data} .......................................................................................4-17
IDIS ............................................................................................................4-17
IF ................................................................................................................4-18
Table of Contents v
INC .............................................................................................................4-18
INIT.............................................................................................................4-19
IROT...........................................................................................................4-19
ISCL ...........................................................................................................4-20
J .................................................................................................................4-20
K .................................................................................................................4-21
LIN..............................................................................................................4-21
M{constant}={data} .....................................................................................4-21
M ................................................................................................................4-22
N.................................................................................................................4-22
NORMAL ....................................................................................................4-23
OR ..............................................................................................................4-23
P{constant}={data}......................................................................................4-24
POSTLUDE ................................................................................................4-24
PSET ..........................................................................................................4-25
Q{constant}={data} .....................................................................................4-25
R.................................................................................................................4-26
READ .........................................................................................................4-27
RET ............................................................................................................4-28
RPD............................................................................................................4-28
S .................................................................................................................4-29
SEND .........................................................................................................4-29
SPLINE.......................................................................................................4-30
STOP..........................................................................................................4-30
T .................................................................................................................4-31
TA...............................................................................................................4-31
TM ..............................................................................................................4-33
TS...............................................................................................................4-34
UNIT ...........................................................................................................4-34
WHILE ........................................................................................................4-35
Program Pointer Control Commands ..................................................................4-36
CLEAR .......................................................................................................4-36
DEL ............................................................................................................4-36
END............................................................................................................4-37
INS .............................................................................................................4-37
JP ...............................................................................................................4-38
LEARN .......................................................................................................4-39
LIST............................................................................................................4-39
NEXT..........................................................................................................4-40
OVR............................................................................................................4-40
UPPER .......................................................................................................4-41
Table of Contents vi
Micro Trend UTC-SERIES User’s Guide (V2.2) Sep. 04
UTC-Series Specifications
z Two serial RS232 communication ports; maximum baud rate 115200 bps.
z On board photo coupling isolated inputs and open collector outputs; I/O expansion
available.
z Hardware & software positive and negative limits; home flag inputs.
z Total memory 4M Bits. (can be expanded to 16M Bits)
z 4M Bits flash and battery backup SRAM for double security.
z Two +/- 10v analog output/input.
z ASCII command set.
z 8 timers and 4096 variables.
z Buffer available for 256 motion programs and 16 PLC.
z The most advanced servo control algorithm to effectively minimize the number of
errors and increase the product stability.
z System working frequency: 32MHz, one wait state.
z Servo update rate:1ms.
z The highest output pulse speed: 2M pps.
z Capable of electronic gear and electronic cam applications.
z Hardware capture registers for position searching.
z Definable coordinate system. ( independent or dependent )
z S-Curve acceleration, rapid move, linear interpolation, circular interpolation, spline
move and blended move.
z “Look Ahead” function.
z Back lash compensation.
z Encoder inputs which allows dual feedback.
z Complete online command set and DNC. (direct numerical control)
z Password protection to make your design secured and private.
1-1
Application Field
z Sealing Machine
z Lathe Machine
z Brush Maker
z Bar Feeder
z Fly Cutter / Fly Shear
z Printing Machine
z Gilding Machine
z PC Board Maker
z Packing Machine
z Rotary Table
z Drilling Machine
z Electronic Machine
z Spring Coiling Machine
z Glue Dispensing Machine
z Milling Machine / Engraving Machine
z Laser Cutter
z Wood Cutting Machine
z Stamping Machine
z Grinding Machine
z Press Feeder
z Folding and Gluing Machine
z Steel Cutting Machine
z Winding Machine
z Foam Cutting Machine
z Injection Molding Machine
1-2
Mathematics Operation Ability

The DSP provides various mathematics operations with very high execution speed
in its instruction set. That allows us to prevent suffering the communication delay by
running the on board calculations. Following are the variables and operations that
UTC-Series accepted.
Numerical values:
All the numerical values are presented in the 32-bit floating-point format.
Acceptable numerical entry as follows:
1234
3
03 (Started with 0 is acceptable)
-27.656
0.001
.001 (The 0 previous to the decimal point could be omitted)
$ff00 (All the hexadecimal value prompted with '$' sign)
Operators:
z Arithmetic +, −, ∗, /
z Modulo %
z Bit-by-bit Boolean &, |, ^
Functions:
z Trigonometric SIN, COS, TAN
z Inverse Trig. ASIN, ACOS, ATAN, ATAN2
z Logarithmic LN, EXP
z Others SQRT, FABS, INT, ROUND
SIN Function Standard trigonometric sine function

Syntax SIN({expression})
Domain All real numbers
Domain units Degrees
Range -1.0 – 1.0
Range units None
Possible errors None
COS Function Standard trigonometric cosine function
Syntax COS({expression})
Range -1.0 – 1.0
Range units None
TAN Function Standard trigonometric tangent function
Syntax TAN({expression})
Domain All real numbers except ± 90, 270, …
Range All real numbers
1-3
Range units None

Possible errors Divide by zero on illegal domain
ASIN Function Inverse sine (arc-sine) function
Syntax ASIN({expression})
Domain -1.0 –1.0
Domain units None
Range -90 – 90
Range units Degrees
Possible errors Illegal domain
ACOS Function Inverse cosine (arc-cosine) function
Syntax ACOS({expression})
Domain -1.0 –1.0
Domain units None
Range 0 – 180
Range units Degrees
ATAN Function Inverse tangent (arc-tangent) function
Syntax ATAN({expression})
Domain units None
Range -90 – 90
Range units Degrees
ATAN2 Function Expanded arc-tangent function, the cosine value
is stored in Q0, and the sine value in
parenthesis.
It is distinguished from the standard ATAN
function by the use of two arguments. The
advantage of this function is that it has a full 360
degree range.
Syntax ATAN2({expression})
Domain units None
Range -180 – 180
Range units Degrees
LN Function Natural logarithm function (base e)
Syntax LN({expression})
Domain All positive real numbers
Domain units None
Range All real numbers
Range units None
EXP Function Exponentiation function (ex)
Note: To implement the yx function, use ex ln(y)
instead. A sample expression would be
EXP(P2*LN(P1)) to implement the function P1P2
Syntax EXP({expression})
1-4

Domain units None
Range All positive real numbers
Range units None
SQRT Function Square root function
Syntax SQRT({expression})
Domain All non-negative real numbers
Domain units None
Range All non-negative real numbers
Range units None
FABS Function Absolute value function
Syntax FABS({expression})
Domain units None
Range All non-negative real numbers
Range units None
INT Function Truncation function, which returns the greatest
integer less than or equal to the argument.
(INT(3.6) = 3, INT(-3.2) = -4)
Syntax INT({expression})
Domain units None
Range All integer numbers
Range units None
ROUND Function Round off function, which returns the nearest
integer to the argument.
(ROUND(3.6) = 4, ROUND(-3.2) = -3)
Syntax ROUND({expression})
Domain units None
Range All integer numbers
Range units None
Expressions: An operation command string that consists of constants, variables,

functions and operators. Such as:
512
P1
P1-Q18
1000*COS(Q25*180/3.14159)
I101*FABS(M347)/ATAN(P(Q3+1)/6.28)+5
Data: The Data could be a constant without bracketing or an expression

parenthesized. Such as:
1-5
X100
X(P1+250*P2)
X(100) (Also acceptable)
Comparators: Used for the comparison of two numerical values or expressions.

Such as:
= (Equal To)
!= (Not Equal To)
< (Less Than)
<= or !> (Equal To or Less Than)
> (Greater Than)
>= or !< (Equal To or Greater Than)
Conditions :
z Simple Conditions - : Consist of 2 expressions and one comparator. Such as:
WHILE (1 < 2)
IF (P1 > 5000)
WHILE (SIN(P2-P1) <= P300/1000)
z Complex Conditions - Two or more conditions linked with AND, OR, Such as :
IF (P1 > -20 AND P1 < 20)
WHILE (P80 = 0 OR I102 > 300 AND I102 < 500)
IF (Q16 !< Q17 AND Q16 !> Q18 OR M136 < 256 AND M137 < 256)
Timers : M0 : increase 1 per millisecond.
M71..M78 : decrease 1 per millisecond.
Variables:
There are 4 kinds of variables in UTC-Series. The characteristic of each
variable will be discussed below. The value of each variable could be modified
by an online command or by a command in a motion program.
{variable} = {data}
Such as:
I[constant]..[constant]=** ;Set I variable to default value
I102 = 45
I101 = I102+P25*3
P200 = SQRT(Q200/10)
Q400..500 = 0
z I-Variables I0 – I499, Each I-variable has specified definition.
Initialization and set-up:
I0 – I50: General card setup
I101 – I135: Motor #1 setup
I150 – I170: Coordinate System #1 setup
z P-Variables P0 - P1023
Global user variable for all coordination.
32-bits floating-point data format.
1-6
Matrix Read: Using P({expression}) instead of P{constant} could program a

matrix reading process.
Example: The positioning data is pre-stored in P101 to P200. The
sample program is to setup to read and execute those positioning
data.
P1 = 101
WHILE (P1 < 201)
X(P(P1))
DWELL100
P1 = P1 + 1
ENDW
Matrix Write: Matrix write should follow a procedure described below.

First set a M-variable point to P0, such as M80->L:1000, (See
M-variable section) then set another M-variable point to the lowest
12 bits of the previous M-variable definition word. Such as
M80->C50,0,12 ($C50 is the address of M80’s definition word). After
above setting, M80 will point to P(M81) address when we set a value
to M81. That means change value of M80 will make the same
change in P(M81). The following example shows how to setup a sine
table in P0 to P359 with previous M variable settings.
P1000 = 0
WHILE (P1000 < 360)
M81 = P1000
M80 = SIN(P1000)
P1000 = P1000 + 1
ENDW
The firmware date from 20040401 now can accept direct matrix
writing, such as
P(P100) = P1+123.45
P(Q1) = P(Q2)
The index can be any one of I, P, Q, M variable but can not be
expression.
Q-Variables Q0 - Q1023
Local general variable for each coordinate.
Program parameter transfer variable
32-bit floating-point data format.
The matrix reading and writing method are the same as P-variables.
Following are the actual address list for the Q variable in different
coordinate systems. Please beware not to overlap address in
multi-coordinate system.(For 2 coordinate systems, only Q0 to Q511
could be used. For 4 coordinate systems, only Q0 to Q 255 could be
used)
The firmware date from 20040401 now can also accept direct matrix
writing.
1-7
Mem. Coord. Coord. Coord. Coord.

Loc. Sys. 1 Sys. 2 Sys. 3 Sys. 4
$1400 0 512 768 256
… … … … …
$147F 127 639 895 383
$1480 128 640 896 384
… … … … …
$14FF 255 767 1023 511
$1500 256 768 0 512
… … … … …
$157F 383 895 127 639
$1580 384 896 128 640
… … … … …
$15FF 511 1023 255 767
$1600 512 0 256 768
… … … … …
$167F 639 127 383 895
$1680 640 128 384 896
… … … … …
$16FF 767 255 511 1023
$1700 768 256 512 0
… … … … …
$177F 895 383 639 127
$1780 896 384 640 128
… … … … …
$17FF 1023 511 767 255
z M-Variables M0 - M1023
Used as a pointer point to the memory address or I/O address:
Inputs, outputs, counters, A/D, D/A, RAM.
FORMAT:
3 3 2 2 2 2 2 2 2 2 2 2
1 0 9 8 7 6 5 4 3 2 1 0
Sign Width Start Bit Type Address
Address- The address which M variable point to, Range: 0000-FFFF

Type- Specify the memory type.
1-8
0: Not used as a pointer, used as a normal variable.

1: Point to (Data Segment), DP = 00
2: Point to I/O address, DP = FF
Start Bit- Point to the start bit of the pointed address, Range: 0-31
Width- Specify the bit width of the pointed address, Range: 0-31
Sign- 1: The content in the pointed address is a signed data.
0: The content in the pointed address is an unsigned data.
Bit 31- 0: The content in the pointed address is an integer data.
1: The content in the pointed address is an floating point data.
Command Specification:
Mxx->* Not point to any address, used as a normal variable with signed value.
Mxx->addr[, start][, width][,s] Point to normal data area with integer format.
Mxx->L:addr Point to normal data area, floating point format.
Mxx->I: addr[, start][, width][,s] Point to I/O address.
Mxx-> Read current Mxx definition.

Mxx Read current Mxx value
Mxx = value Set Mxx value
1-9
JOG THE MOTOR

The <Jog> function could be done under the following conditions:
1. No limit switch signals are active on the assigned axis. (The limit signals could be
disabled or change polarity by the setting of Ix09)
2. No driver error signals are active.
3. The controller is not executing a motion program. (If a motion program is under
execution, please stop the motions by an S command before jogging the motor).
Addressing Motors:
The active axis should be assigned before the jog function execution. The axis
assignment could be done by the instructions #{const}. (For example: #1 or #2…).
The assignment of axes is modal instructions.
Drivers Enable:
The default condition for all the axes are driver enabled. (Variable Ix09 could
set the enable signals polarity.) The enable conditions will be checked before each
motion program execution. An error information will be generated if any addressed
motor is disabled.
K: Disable the addressed driver.
J/: Enable the addressed driver.
Jog Acceleration and Deceleration:

The variable Ix01 could set the jog acceleration and deceleration time. Please
do not set this variables to 0.
Jog Speed:
The variable Ix03 will determine the jog speed. The unit is counts/msec. A
negative setting will change the direction of motor rotation. To prevent the
confusion, we recommend using Ix09 for direction setting instead and setting Ix03
to a positive value.
Jog Commands:
J+ Jog to positive direction.
J- Jog to negative direction.
J/ Jog motion stop.
J={const} Absolute position jog. Jog to {const} defined position (unit:
counts)
J:{const} Incremental jog. Jog distance = {const} (unit: counts)
J= Jog to variable defined position. (Suggested Mx63 as the
variable pointer)
J: Variable defined incremental jog. (Suggested Mx63 as the
variable pointer)
J* Jog back to last programming stop position.
1-10
Home Searching:
The homing acceleration and deceleration are the same setting as jog
function. (Ix01). The speed setting is Ix07. The positive value of Ix07 will run a
positive direction home searching while negative settings make negative direction
searching. The home searching functions are as following steps.
For pulse command controllers:
1. The HM Command received.

2. Start searching per Ix07 setting speed and direction.
3. Detect the home flag trigger signals during searching. (Home flag trigger
signals are defined per Ix81 settings) Decelerate to stop per Ix01 settings and
record the triggered position and trigger signals status.
4. Back to the trigger point per Ix07 setting speed.
5. Check the home flag status. If the status matches the pre-record condition,
jumps to step7. If the status unmatched, a <Home Flag Error> (bit-6 of
memory address 0008+x) will be set then run step 6.
6. Keep forward to search the trigger condition by low speed (about 2k pps)
until next trigger happens.
7. Move to the destination per Ix07 speed setting and Ix08 offset value
settings.
8. Set the current position as mechanical home position and set <Home
Complete> flag. (bit-2 of memory location 0034+x)
For voltage command controllers:
1. The HM Command received.

2. Start searching per Ix07 setting speed and direction.
3. Detect the home flag trigger signals during searching. (Home flag trigger
signals are defined per Ix81 settings) Memorize the position captured and
move to the destination plus Ix08 settings without stop.
4. Set the current position as mechanical home position and set <Home
Complete> flag. (bit-2 of memory location 0034+x)
1-11
Motion Program
The powerful UTC-Series instruction set is a kind of high level language. It is
similar to BASIC or C language. It also accepts the G, M Code as the motion
instructions. The general arithmetic and logical instructions are similar to most of
the computer language. Such as WHILE loop, IF… ELSE and other Jump or
sequence control instructions.
The UTC-Series allows total 256 programs in the memory. Program 0 is a
Rotary Buffer, which is used for DNC feature. Program 1000 is used for defining
G CODE. (Please refer to Motion instruction format and STDGCODE.UTC.).
Program 1001 is used for M-CODE definition, program 1002 is for defining T-Code.
The normal executed programs will be defined in program numbered between 001
to 999.
Each program will start with the instruction OPEN PROG # (#: Program
number), and ended with CLOSE. The statement after ';' mark will not be
interpreted could be used as a remark. The total program structure will be as the
following:
OPEN PROG 1 ; Open program buffer #1

CLEAR ; Clear previous program
LIN ; Linear movement
F2.36 ; Speed setting as 2.36 (user unit) / min
X5.346Y0 ; The first movement for a square loop.
X5.346Y5.346 ; The 2nd movement for a square loop.
X0Y5.346 ; The 3rd movement for a square loop.
X0Y0 ; The 4th movement for a square loop.
CLOSE ; Close the program buffer #1
OPEN PROG 1000 CLEAR ; Defining a G-Code set

RPD ; G00 – Immediate Movement
RET
N1000 LIN ; G01 – Linear interpolation.
RET
N2000 CIR1 ; G02 – Circular interpolation with CW.
RET
N3000 CIR2 ; G03 –Circular interpolation with CCW.
RET
…
N90000 ABS ; G90 – Move to Absolute Position.
RET
N90000 INC ; G91 – Make an incremental move
RET
N92000 ; G92 – Position define
READ(X,Y,Z) ; Position read
IF (Q100 & 8388608 > 0) ; Check if X variable read complete.
PSET X(Q124) ; If yes, set X value as Q124.
ENDIF
1-12
IF (Q100 & 16777216 > 0) ; Check if Y variable read complete.

PSET Y(Q125) ; If yes, set Y value as Q125.
ENDIF
IF (Q100 & 33554432 > 0) ; Check if Z variable read complete.
PSET Z(Q126) ; If yes, set Z value as Q126.
ENDIF
RET
We may use any simple editor software to edit the entire program and then
download to UTC-Series for execution. (The motion instruction format will be
described in later section.)
We should define the Coordinate System before we run a NC program. The
Coordinate System is a motor group, all the motor inside this group could operate
according to the motion instruction of the program at the same time or sequentially.
It is possible to define the motors into different Coordination System if their motion
is independent and no sequential relation. There are maximum 4 Coordinate
Systems in UTC-Series controller. Each motor should not appear in more than
one Coordinate Systems.
The instruction &n is used to define the Coordinate System n.
Multi-programs with multi-coordinate systems could be executed simultaneously.
As an example, the first of above program uses X and Y axes in the program.
We define 1st motor for X-axis And 2nd motor for Y-axis. Assume the user's unit is
mm, encoder feedback is 4000 counts/rev. Ball screw pitch is 5 mm/rev. Then we
get ratio of counts/user's unit as:
count
4000
rev = 800 count
mm mm
5
rev
Assume we have only one Coordinate System. We should define the system
as:
&1 ; Define the coordinate system 1
#1->800X ; 800counts / user's unit (mm) Define the motor to an axis and
ratio.
#2->800Y ; 800counts / user's unit (mm) Define the motor to an axis and
ratio.
The axis name could be any of the X,Y,Z,U,V,W,A,B or C. The ratio could
be any positive floating point value. The motor direction is defined per Ix09 setting.
We can not <Jog> any motor with axis defined in a program under execution. We
should first cancel the definition (ex: #4->0) before jogging the motor. Or we can
jog a motor that is defined in other axis than the executing one.
There are some instructions to do with auto-execution after we defined the
axes:
&1 ; Select the Coordinate System one.
B1 ; Select the Program 1
R ; Continuous execution.
S ; Single step execution
1-13
H ; Halt the execution

A ; Abort the execution
<Ctrl-R> ; Continuous execution for all axes.
<Ctrl-S> ; Single step execution for all axes.
<Ctrl-O> ; Halt the execution for all axes.
<Ctrl-A> ; Abort the execution for all axes.
1-14
PLC Program
All the motion programs are executed synchronously step by step at highest
priority. UTC-Series runs up to 16 PLC programs by scanning asynchronously.
Those PLC programs accomplish all the normal PLC features. To create a PLC
program and to write an instruction are similar to writing a motion program. We
use OPEN PLC# to create a new PLC program instead of OPEN PROG# for
creating a motion program. We can not perform motion instructions in PLC
program. We can only move a motor by the <Jog> command.
The PLC program scan frequency is high enough to trace all the logic input
signals, set output signal level, set out messages, motor the motions, change
parameters or to start another program.
PLC also send out commands just like we send commands from computers.
The scan time for normal PLC is about 5 to 10 msec depends on the program
length. UTC-Series allows 16 PLC programs stored in the memory. There are
numbered from 0 to 15. The stored PLC programs could be enabled by command
ENAPLC# and disabled by DISPLC# (# is the program number). Variable I6 will
determine which programs could be enabled.
The PLC features are described as following:
Calculation Statements:
We may enable a PLC program to calculate an arithmetic operation repeatedly
until the expected result appears. EX:
P1 = P1+1
P161 = (M161+M164)/M191
Conditional Statements:
The conditional statements in PLC are the same as that in motion programs.
The follows are some common used statements.
z IF (level-triggered conditions)
To execute a certain block each time when the specified condition are met.
IF (M11 = 0) ; E-stop signal
CMD”A”
ENDIF
IF (M12 = 0) ; If a pushbutton is pressed, P1 will count up.
P1 = P1+1 ; Count frequency is the PLC scan frequency.
ENDIF
z IF (edge-triggered conditions)
To execute a certain block once when the specified condition are first met.
IF (M11 = 0 AND P11 != 0) ; Push the JOG button.
P11 = 0
CMD”#1J+”
ENDIF
IF (M11 = 1 AND P11 != 1) ; Release the JOG button.
P11 = 1
CMD”#1J/”
ENDIF
IF (M12 = 0) ; P1 count up when pushbutton pressed once.
1-15
IF (P12 = 1)
P1 = P1+1
P12 = 0
ENDIF
ELSE
P12 = 1
ENDIF
z WHILE Loop
To execute a certain block while a specified condition is met. UTC-Series will
jump out this program if an ENDWHILE instruction is executed. Next time the
scan will start at the top of this WHILE loop.
Note: The statements located after WHILE loop will not be executed if the WHILE
loop condition is met and that certain block in under execution.
IF (M11 = 0 AND P11 != 0) ; Press E-stop pushbutton

P11 = 0
CMD”A”
WHILE(M60 != 0) ; Wait for IN POSITION signal
ENDWHILE
M1 = 0 ; Motor brake ON
ENDIF
IF (M11 = 1 AND P11 != 1)
P11 = 1
ENDIF
z Precise Timer
We can get an accurate timing control using timer of the controller and a
WHILE loop. EX:
M71 = 1000 ; Set timer to 1000 msec
WHILE(M71 > 0) ; Loop until counts to zero
ENDWHILE
Where M71->532,S ; TIMER1
M81 = M0 ; Start of timer
M82 = M0-M81 ; Time elapsed so far
WHILE(M82 < 1000) ; Less than specified time ? (in msec)
M82 = M0-M81 ; Time elapsed so far
ENDWHILE
Where M0->536,S ; Interrupt counter
M81->C6C0,S ; User buffer, signed integer format
M82->C6C1,S ; User buffer, signed integer format
1-16
Trajectory Generation
UTC-Series has very powerful trajectory generation algorithms. Users can
perform variety of difficult maneuvers with simple programs.
The easiest class of moves is Blended Linear Move, without stopping between
two linear moves. We only have to set the motion feedrate (F) or move time (TM),
acceleration time (TA), S-curve acceleration time (Ts=TA*TS/2), then the linear
acceleration time TL = TA-2*Ts. The actual total acceleration will be as TA.
TM or ∆P/F
TA TA
T
V
T
TM or ∆P/F TM or ∆P/F
TA TA TA
If we set S-curve acceleration time TS = 0(Ts=TA*0=0), we will obtain a

constant slope acceleration. The motion profiles will be as Fig 1 on next page. If
TS=100, the motion profiles will become a pure S curve as Fig 2 on next page. If
0 > TS>100, the profiles will be as Fig 3 on next page.
Since UTC-Series is very flexible for the acceleration and S-curve
acceleration setting. The users can get the maximum acceleration with extremely
low jerk. The UTC-Series will handle the multi-axes velocity and acceleration
combination calculation. Users do not have to worry about this.
If more than one move is specified in succession without pause in between,
the first move will blend into the second with same type of controlled acceleration
as is done to and from a stop. We will obtain a smooth curve by calculating the
velocities at the beginning of deceleration of first move.
1-17
TS=0 TS=100 0>TS>100

Tacc=TA Tacc=2*Ts Tacc=Ts+TL+Ts
V V V
T T T
TL TS TS TS TL TS
A A A
T T T
Fig. 1 Fig. 2 Fig. 3
In circular mode, UTC-Series will automatically generate 2-dimentional or

3-dimentional circular moves. The acceleration and velocity settings are the
same as linear move. Besides assigning the destination position (endpoint), we
have to specify either the arc center or the radius. The circular move could be
blended with other circular move or linear motion.
(30,45)
NORMAL K-1 CIR2
Y CIR1 Y TM1000
F10 X25Y5I-20
(25,25) X30Y45I15J15 (25,25) (45,25)
I
J
(10,10)
I (25,5)
X X
CIR2
1 CIR2
Y TM1000 Y F20
X45Y25I-20
X0Y20R20
or 2
(45,25) I-20
(25,25) 2 CIR2
(0,20)
I F20
X0Y20R-20
1 X
(20,0)
X
1-18
Orientation of the plane

+Z +Z +Z
+X +Y +X +Y +X +Y
NORMAL K-1 NORMAL J-1 NORMAL I-1
The users might need to generate some very complicated trajectory to perform
some difficult work. UTC-Series provide an additional type of motion that allows
user to create a smoother and more accurate trajectory. That is called Spline
Move. In this mode, user has to specify the move time (TM) or feedrate (F) in each
segment. Then enter the position or distance step by step. The three dimensional
trajectory will be created automatically with no discontinuity of acceleration and
velocity.
When the UTC-Series need to follow external signals (normally encoder
signals), there are two methods to archive this feature.
1-19
z Position Following – electrical gearing

When the master signal specified by Ix85 come in, it would pass by a buffer
area specified by Ix86 (The higher Ix86 settings the lower change rate of the speed).
If Ix05 set to 1, the x motor will follow the master signal from I185 with the gear ratio
of Ix06 setting. If Ix05 set to 2, the x motor will follow the master signal from I285
with the gear ratio of Ix06 setting.
Source selector
Master source
I185 I105
Memory
I285 I205
HW
I385 I305
Encoder
I485 I405
No
Ix05<>0
Yes
Scale factor
Ix06
Trajectory position Command position
Flow chart of position following
1-20
z Time Based Following – electrical cams

Besides the position following, there is a special follow method that the master
signal will control the time base to archive following purpose. In this mode
(Ix61!=0), user only have to pre-define a motion profile. The incoming master signal
will act as time base. For example, if Ix60=100, 100 counts of the master signal will
be interpreted as 1 msec. The motion profile will be performed according to the time
base of master signal.
If Ix61 bit4 = 1 also, the following action will start at C signal of 4th axis. Before
the trigger signal comes, the control will halt and wait.
Source selector
Master source
I185 I161
Memory
I285 I261
HW
I385 I361
Encoder
I485 I461
No
Ix61 bit4=1
Yes
No
Triggered?
Yes
Scale factor
Ix60
Time base
Flow chart of time base following
1-21
<Example>:
There is a Master encoder with 400 counts/rev, The control should jog 100
mm for each revolution of master encoder. The program will be as:
INC ; Incremental Mode
I150=1 ; Blended Move mode
I185=$0848 ; Master from HW Port
I161=1 ; Start the Time Base Following
TM(400-I152/2) ; Take acceleration time into account.
X100 ; X-axis move 100 mm first time
TM400 ; TM=400 ms (Per encoder revolution) after 1st count.
P0 = 0
WHILE(P0 = 0)
X100 ; X-axis move 100 mm each revolution
ENDW
1-22
Command Summary
On-line Command (The commands will be executed upon reception)
A. On-line Commands For All Axes

1. Control Type Command:
<Ctrl-A> Abort all programs execution and motor move.
<Ctrl-D> Disable all PLC programs.
<Ctrl-G> Report the status word of this control card.
<Ctrl-K> Disable all motor driver.

<Ctrl-O> Hold all the coordination system that is under
execution.
<Ctrl-P> Report the position for all axes(Unit: count)
<Ctrl-Q> Report the absolute position for all motors. (Unit:
count)
<Ctrl-R> Start to execute all motion programs for all
coordinate system.
<Ctrl-S> Step execution for all motion program in all
coordinate system.
<Ctrl-V> Report velocity of all motors.
2. Addressing Mode Commands

#n Address the motor (n is a number 1-4)
# Report the currently addressed motor.
&n Address a coordinate system(n is a number 1-4)
& report the currently addressed coordinate system.
3. PLC Control Commands

ENAPLC{const}[,{const}...] Enable the {const} specified PLC(s)
DISPLC{const}[,{const}...] Disable the {const} specified PLC(s)
4. Global Variable Commands:

I{data}={expression} Assign the value {expression} to I{data}
P{data}={expression} Assign the value {expression} to P{data}
Q{data}={expression} Assign the value {expression} to Q{data}
M{data}={expression} Assign the value {expression} to M{data}
M{data}->{definition} Point the M{data} to the address {definition}
M{data}->* Assign M{data} as a normal variable.
I{data} Report I variable value
P{data} Report P variable value
Q{data} Report Q variable value
M{data} Report M variable value
M{data}-> Report M variable definition
1-23
5. Buffer Control Commands

OPEN PROG {data} Open a motion program buffer no. {data}
OPEN ROT Open the Rotary Buffer
OPEN PLC {data} Open a specified PLC buffer.
CLOSE Close the currently opened buffer
CLEAR Erase the currently opened buffer
SIZE Report the available unused buffer memory
LIST [{buffer}] List the contents of specified buffer.
B. Coordinate System On-line Commands

1. Axis Definition Command
#n->{constant}{axis} Assign the motor n to axis {axis} with {constant} ratio
#n-> Report the axis definition of motor n.
2. Normal Axis Command

%{constant} Set the Feedrate Override
% Report Feedrate Override
3. Program Control Command

R Run the motion program
S Step execute the motion program
B{constant} Reset the program pointer
H Pause the motion programs under execution
A Abort all the programs under execution.
5. Coordinate Attribute Commands

{axis}={expression} Re-define the specified axis position
INIT Axis position shift or rotation
6. Buffer Control Command

PC Report the current program number
LIST Report the current program content
PE Report the program line under execution
LIST PE Report the program content under execution
DEFROT{constant} Define a rotary buffer size
DELROT Delete the rotary buffer
PR Report the program lines yet to execution
C. Motor On-line Command

1. Normal Command
HM Motor return to home position
HMZ Do a zero move homing
O{data} Manual controlled pulse output
OUT{data} Manual controlled voltage output
2. Jog Command
J+ Jog to plus direction
1-24
J- Jog to minus direction

J/ Jog stop
J= Jog to a variable specified position
J={expression} Jog to {expression} specified position
J:{expression} Jog an {expression} specified distance.
J: Jog a variable specified distance
J* Jog back to last programmed position
3. Report Command
P Report current motor position
V Report current motor velocity
D. Program Pointer Control Command

END Program pointer point to program end
JP{constant} Program pointer point to specified line no.
NEXT Program pointer point to next line
UPPER Program pointer point to last line
Motion Program Command (Stored in the program buffer, executed upon 'R'
command)
A. Motion Command
{axis}{data}[{axis}{data}...] Single step motor linear motion
<Example> X100Y100Z200
{axis}{data}[{axis}{data}..][{vector}{data}..] Single step circular motion
<Example>X100Y100Z200I500J300
DWELL{data} Dwell specified time, non time base related
DELAY{data} Dwell specified time, time base related
B. Modal Command
LIN Set to linear motion mode
RPD Set to rapid traverse mode
CIR1 Set to clockwise circular move mode
CIR2 Set to counterclockwise circular move mode
SPLINE Set to Spline Move mode
C. Coordinate Attribute Command

ABS[({axis}[,{axis},...])] Absolute move mode
INC[({axis}[,{axis},...])] Incremental move mode
PSET{axis}{data}[{axis}{data}...] Redefine the current axis position
NORMAL{vector}{data} Define normal vector to plane of circular
interpolation
ADIS{axis}{data}[{axis}{data}...] Set axes absolute offset value
IDIS{axis}{data}[{axis}{data}...] Set axes incremental offset value
AROT X{data} Set axes absolute rotation angle
IROT X{data} Set axes incremental rotation angle
1-25
ASCL{axis}{data}[{axis}{data}...] Set axes absolute enlarge ratio

ISCL{axis}{data}[{axis}{data}...] Set axes incremental enlarge ratio
INIT Cancel all axes redefinition
R{data} Set radius for an arc
D. Motion Attribute Command

TM{data} Set motion time for a single move
F{data} Set motion feedrate
TA{data} Set motion acceleration time
TS{data} Set motion s-curve acceleration time
E. Parameter Setting Command
I{data}={expression} Assign the {expression} result to I variable
P{data}={expression} Assign the {expression} result to P variable
Q{data}={expression} Assign the {expression} result to Q variable
M{data}={expression} Assign the {expression} result to M variable
F. Program Logic Command

N{constant} Program line number
GOTO{data} Jump to a line no. with no return
GOSUB{data}[{letter}{axis}...] Go to a line & return with variable data
CALL{data}[.{data}][{letter}{axis}...] Call subroutine [with parameter]
RET GOSUB return command
READ({letter}[,{letter}...]) Read the parameter for a subroutine
IF({condition}){action} Execute when the condition met.
ELSE{action} Execute when the condition not met
ENDIF Conditional block end
WHILE({condition}){action} Execute each time when condition met
ENDWHILE End of WHILE loop
G{data} NC program G-Code
M{data} NC program M-Code
G. Other Command
@ Forced On-line command
CMD"{command}" On-line command from NC program
CMD^{letter} Control type online command from NC
program
SEND"{message}" Send out messages to PC
DISP[{constant}] ,"{message}" Shows messages to LCD display
DISP{constant},{constant},{variable} Shows variable content to LCD display
ENAPLC{constant}[,{constant}...] Enable specified PLC program
DISPLC{constant}[,{constant}...] Disable specified PLC program
H. Edit Control Command

INS Set program line editing as insert mode.
OVR Set program line editing as replace mode.
DEL Delete current program pointer content
LEARN[({axis}[,{axis}. . .])] Motor position teaching
1-26
PLC Program Command (Stored in the buffer executed repeatedly)
A. Conditional Command
IF({condition}) Execute when condition met
ELSE{action} Execute when condition not met
ENDIF End of conditional block
WHILE({condition}) Execute each time when condition met
ENDWHILE End of WHILE loop
AND({condition}) Condition combinations
OR({condition}) Condition combinations
B. Operation
{variable}={expression} Assign the {expression} result to a variable
CMD"{command}" On-line command from PLC
CMD^{letter} On-line Ctrl-type command from PLC
SEND"{message}" Send messages to PC
DISP[{constant}],"{message}" Show messages on LCD
DISP{constant},{constant},{variable} Show variables on LCD
ENAPLC{constant}[,{constant}...] Enable specified PLC
DISPLC{constant}[,{constant}...] Disable specified PLC
1-27
I-Parameter Summary
Number Definitions
I0 Card Number
I1 Coordinate System Activation Control
I2 COM2 Baudrate Control
I3 COM2 Handshake Control
I4 Wait State Control
I5 Motor Position and Velocity Response Control
I6 PLC Programs On/Off Control
I7 Control Type Command Disable
I8 Backlash Hysteresis Value
I9 Maximum Digit for Floating Point Returned
I10 Real Time Interrupt Period
I11 P/Q Variables Backup Control
I18 Extension I/O Board Enable
I19 Digital Inputs Debounce Cycle
I20 Gathered Data Selection
I21 Gathered Data Source 1
I25 Gather Period
I26 Gather Buffer Size
I27 Gather Start and Stop Control
I28 Gather Stop Delay
Ix01 Motor x Jog / Home Acceleration Time
Ix02 Motor x Jog / Home S-Curve Time
Ix03 Motor x Jog Speed
Ix04 Motor Deceleration Rate on Position Limit or Abort
Ix05 Motor x Master Following Enable
Ix06 Motor x Master Scale Factor
Ix07 Motor x Homing Speed and Direction
Ix08 Motor x Home Offset
Ix09 Motor x Flag Control
Ix10 Motor x Positive Software Limit
Ix11 Motor x Negative Software Limit
Ix12 Motor x Coordinate Position Displacement
Ix13 Motor x Coordinate Position Scaling
Ix14 Motor x Coordinate Unit Scaling
Ix15 Motor x Backlash Size
Ix16 Motor x Backlash Takeup Rate
Ix17 Motor x Rollover Range
Ix18 <Reserved>
Ix19 Motor x Velocity Weighting
1-28
Ix20 Motor x PID Proportional Gain

Ix21 Motor x PID Derivative Gain
Ix22 Motor x Velocity Feedforward Gain
Ix23 Motor x PID Integral Gain
Ix24 Motor x PID Integration Mode
Ix25 Motor x Acceleration Feedforward Gain
Ix26 Motor x Position Feedback Address
Ix27 Motor x Velocity Feedback Address
Ix28 Motor x Velocity Feedback Scale
Ix29 Motor x DAC Bias
Ix30 Motor x DAC Limit
Ix31 Motor x Fatal Following Error
Ix32 Motor x Dead Band Size
Ix33 Motor x In Position Band
Ix34 Motor x Big Step Size
Ix35 Motor x Integration Limit
Ix50 Coordinate System x Blended Move Enable Control
Ix51 Coordinate System x Maximum Permitted Program Acceleration
Ix52 Coordinate System x Default Program Acceleration Time
Ix53 Coordinate System x Default Program S-Curve Time
Ix54 Coordinate System x Default Program Feed Rate
Ix55 Coordinate System x Feed Rate Override Slew Rate
Ix56 Coordinate System x Program Rapid Move Feed Rate
Ix57 Coordinate System x Program Rapid Move Acceleration Time
Ix58 Coordinate System x Acceleration Mode
Ix59 Coordinate System x Rotate Angle
Ix60 Coordinate System x External Time-Base Scale
Ix61 Coordinate System x Master Source
Ix80 Encoder Decode Control
Ix81 Encoder Capture Control
Ix82 Encoder Capture Flag Select
Ix85 Master x Source Address
Ix86 Master x Moving Average Buffer Size
1-29
Suggested M-Variable Definition
;
; SUGGEST M-DEFINITION FOR UTC400P V2.10
;
M0->9E9,0,24,S ; INTERRUPT COUNTER
; GENERAL PURPOSE INPUTS AND OUTPUTS
M1->22,0,1 ; MACHINE OUTPUT 1 (JDO-2)

M9->22,0,8 ; MACHINE OUTPUT 1-8 TREATED AS BYTE
;Debounced input in address 30

;Debounce cycle is set by I19
M11->I:2F,0,1 ; MACHINE INPUT 1 (JDI1-2)
M19->I:2F,0,8 ; MACHINE INPUT 1-8 TREATED AS BYTE
M21->I:B0,0,1 ; MACHINE INPUT 9 (JDI2-2)
M29->I:B0,0,8 ; MACHINE INPUT 9-16 TREATED AS BYTE
;M11->30,0,1 ; MACHINE INPUT 1 (JDI1-2)

1-30
;M19->30,0,8 ; MACHINE INPUT 1-8 TREATED AS BYTE

M30->22,16,1 ; MACHINE OUTPUT 17 (JTHW2-4)


M50->I:B0,8,1 ; MACHINE INPUT 17 (JTHW1-3)

;M50->30,16,1 ; MACHINE INPUT 17 (JTHW1-3)

1-31


;M60->1C,8,1 ; RESERVED MACHINE OUTPUT1 (INPOS LED)

;M61->1C,9,1 ; RESERVED MACHINE OUTPUT3 (FLT LED)
;M63->1C,11,1 ; RESERVED MACHINE OUTPUT4 (LIM LED)
;M64->1C,12,1 ; RESERVED MACHINE OUTPUT5 (F.E.1 LED)
M71->9EB,S ; TIMER1 COUNT

M72->9EC,S ; TIMER2 COUNT
M73->9ED,S ; TIMER3 COUNT
M74->9EE,S ; TIMER4 COUNT
M75->9EF,S ; TIMER5 COUNT
M76->9F0,S ; TIMER6 COUNT
M80->8BD,S ; MASTER AVERAGE INPUT VELUE

M81->1C,2,2 ; PWM FREQUENCY (0:4K / 1:8K / 2:16K)
M82->32,0,16,S ; PWM1 DUTY(4K:-2048~2047 / 8K:-1024~1023 / 16K:-512~511)
M83->33,0,16,S ; PWM2 DUTY(4K:-2048~2047 / 8K:-1024~1023 / 16K:-512~511)
M84->860,S ; HANDWHEEL DECODE CONTROL (I580)
M85->850,S ; HANDWHEEL VALUE (M562)

1-32

;Registers associated with axis x

Mx01 ; #x 16-BIT UPDOWN COUNTER (COUNTS)
Mx02 ; #x SPEED CODE (UNIT: 16 COUNT/MSEC)
Mx03 ; #x 16-BIT CAPTURE REGISTER (COUNTS)
Mx04 ; #x CAPTURED INDEX
Mx05 ; ADCx 12-BIT ANALOG INPUT (BUFFERED)
Mx14 ; #x SERVO ON/OFF
Mx16 ; #x ENCODER CAPTURED FLAG
Mx17 ; #x POSITION CAPTURED FLAG (MUST CLEARED AFTER
READ)
Mx20 ; HMFLx INPUT STATUS
Mx21 ; -LIMx INPUT STATUS
Mx22 ; +LIMx INPUT STATUS
Mx23 ; FAULTx INPUT STATUS
Mx24 ; HMFLx INPUT STATUS
Mx31 ; #x POSITIVE LIMIT SET
Mx32 ; #x NEGATIVE LIMIT SET
Mx33 ; #x ABORT FLAG
Mx39 ; #x DRIVER ENABLE BIT
Mx40 ; #x IN-POSITION BIT
Mx41 ; #x JOG IN PROGRESS
Mx42 ; #x HOME IN PROGRESS
Mx43 ; #x DRIVER FAULT SET
Mx44 ; #x FATAL FOLLOWING ERROR
Mx45 ; #x HOME COMPLETE
Mx47 ; #x INC MODE
Mx48 ; #x JOG SEGMENT (4 MEANS ACC/DECEL COMPLETE)
Mx61 ; #x COMMAND POSITION (COUNTS)
Mx62 ; #x ACTUAL POSITION (COUNTS)
Mx63 ; #x JOG REGISTER POSITION (COUNTS)
Mx64 ; #x POSITION BIAS (COUNTS)
Mx65 ; #x COORDINATE TARGET POSITION (USER UNITS)
Mx66 ; #x COORDINATE TARGET POSITION (COUNTS)
Mx67 ; #x ACTUAL VELOCITY (UNIT: COUNTS/MSEC)
Mx68 ; #x PRESENT MASTER VELOCITY (UNIT: COUNTS/MSEC)
Mx69 ; #x COMMAND VELOCITY (UNIT: COUNTS/MSEC)
Mx91 ; #x AXIS SCALE
Mx92 ; #x AXIS DEFINITION
Mx93 ; #x DEFINED IN WHICH C.S.
;Registers associated with coordinate system x

Mx80 ; &x RUN REQUEST
Mx81 ; BUFFER OPENED
Mx82 ; INS MODE
Mx83 ; &x PROGRAM HOLD
Mx84 ; &x PROGRAM NUMBER
Mx85 ; &x RAPID MODE
Mx86 ; &x LINEAR MODE
1-33
Mx87 ; &x CIR MODE (-1:CIR1 / 1:CIR2)

Mx88 ; &x CALL STACK POINTER
Mx89 ; &x DWELL IN PROGRESS
Mx90 ; <RESERVED>
Mx95 ; &x HOME IN PROGRESS
Mx97 ; &x COMMAND FEEDRATE OVERRIDE
Mx98 ; &x PRESENT FEEDRATE OVERRIDE
;
M599..631 ;Registers associated with #1 captured data
;DEFINITION OF FIRST MT0170

;
M900..931 ; IN1..32
M932..947 ; OUT1..16
;
;DEFINITION OF SECONT MT0170
;
M950..981 ; IN1..32
M982..997 ; OUT1..16
;
0C00∼0FFF M-Variables Definition Buffer (1024 words)
L:1000∼13FF P Variables Buffer (1024 words)
L:1400∼17FF Q Variables Buffer (1024 words)
1800∼C3DF Motion / PLC Programs Buffer (44000 words)
C3E0∼C45F Internal Used Buffer (128 words)
C460∼C67F Temperate Interpreted Buffer (544 words)
C680∼C6BF Open Buffer, Cleared to 0 on Power Up (64 words)
C6C0∼C6FF Open Buffer (64 words)
C700∼C77F PLC Online Command Interpret Buffer (128 words)
C780∼C7FF Host Online Command Interpret Buffer (128 words)
C800∼CBFF M Variables Buffer(1024 words)
1-34
Micro Trend UTC Controllers I-Variable Definition (V2.2) Sep. 04
I-Variables Definition
1. System I-Variables Online Command Summary
I0 Card Number
Range Nonnegative Integer

Units None
Default 0
Remarks I0 sets the card number of this controller. If more than one UTC are
connected together, the host must use this number to distinguish which one
can accept the command issued. Please refer to “!” command.
I1 Coordinate System Activation Control
Range 1-4
Units None
Default 1
Remarks I1 controls which coordinate systems are activated on a UTC controller.
A coordinate system must be activated in order for it to be addressed and
accept commands, and to have its automatic capability to run a motion
program.
I1 can take values from 1 to 4. The highest numbered coordinate

system that is activated is Coordinate System I1. In other words, a given
value of I1 activates Coordinate System 1 through Coordinate System I1.
Lowering I1 if one or fewer coordinate systems will be used brings one
advantage. There is a slight improvement in computational efficiency because
de-activated coordinate systems do not have to be checked periodically.
I2 COM2 Baudrate Control
Range $0000 – $00ff

Units None
Default 2
Remarks I2 controls the baudrate and data type through the communication from
COM2. Set I2 to 0 will disable COM2. The setting of default value is 19200,
N-8-1 (8 data bit, 1 stop bit, no parity check).
2−1
Bit 0 .. 3 Baudrate Setting
Value Baudrate
0 Not Active
1 9600
2 19200
3 38400
4 115200
Bit 4 .. 7 Data Format Setting
Value Format
0 N-8-1
1 O-8-1
2 E-8-1
3 N-7-1
4 O-7-1
5 E-7-1
※ O: Odd parity check, E: Even parity check, N: No parity check
I3 COM2 Handshake Control
Range 0/1
Units None
Default 0
Remarks This parameter determines whether the controller use the RTS/CTS
signal for handshake through COM2 or not. If I3 is 1, controller will check this
signal before sending the response out.
I4 Wait State Control
Range 0-7
Units None
Default 1
Remarks This parameter determines how many wait state is inserted between
each DSP instruction cycle. Lower down the number of wait state will
increase the performance of mathematical calculation and PLC scanning. But
sometimes it will cause the system more unstable. Users need to take the risk
by their own if they try to use zero wait state in our controller.
2−2
I5 Motor Position and Velocity Response Control
Range 0/1
Units None
Default 0 for UTC400V and 1 for UTC400P
Remarks This parameter determines the content of response for <Ctrl-P>,
<Ctrl-Q> and <Ctrl-V> commands. If I5=0, all actual positions and actual
velocities from encoder feedback will be returned. If I5=1, all command
positions and command velocities will be returned.
I6 PLC Programs On/Off Control
Range 0-3
Units None
Default 0
Remarks I6 controls which PLC programs may be enabled on power up. There are
two types of PLC programs: the foreground programs (PLC 0), which operate
at the repetition rate determined by I10 (PLC 0 should be used only for
time-critical tasks and should be short); and the background programs (PLC 1
to PLC 15) which cycle repeatedly in background as time allows. I6 controls
these as follows:
Setting Meaning
0 Foreground PLCs off; background PLCs off
1 Foreground PLCs on; background PLCs off
2 Foreground PLCs off; background PLCs on
3 Foreground PLCs on; background PLCs on
Note that an individual PLC program still needs to be enabled to run -- a

proper value of I6 merely permits it to be run. Any PLC program that exists at
power-up or reset is automatically enabled (even if the saved value of I6 does
not permit it to run immediately); also, the ENAPLC n command enables the
specified program(s). A PLC program is disabled either by the DISPLC n
command, or by the OPEN PLC n command. A CLOSE command will
automatically re-enable the PLC program at its previous state.
I7 Control Type Command Disable
Range 0/1
Units None
Default 0
Remarks This parameter determines whether <Ctrl-A>, <Ctrl-D>, <Ctrl-K>,
<Ctrl-O>, <Ctrl-R>, <Ctrl-S> can be accepted or not. If the serial
communication is very easy to be interfered by noise, it is highly
2−3
recommended to set I7=1 to disable those commands. This can prevent UTC
controllers to accept those one-character type commands by accidence.
I8 Backlash Hysteresis Value
Range Any nonnegative integer

Units count
Default 2
Remarks This parameter sets the backlash hysteresis value of all motors. That is,
if the backlash compensation is active for any motor by setting Ix15 greater
than 0. Whenever the motor runs to the reverse direction and the distance
larger than the value of I8, the backlash compensation will take into account.
Otherwise, even though the reverse has been occurred, the backlash
compensation won’t affect the movement of motor.
I9 Maximum Digit for Floating Point Returned
Range 0 - 16
Units None
Default 3
Remarks This parameter sets the maximum number of digit for a floating point
value to return when the host asked them to response. If the actual digit
number of this value exceeds the setting of I9, it rounds to the nearest value
that the host required.
Example with I9=8

I101
19.99999987
with I9=3
I101
20
I10 Real Time Interrupt Period
Range Any positive integer

Units msec
Default 3
Remarks I10 controls how often certain time-critical tasks, such as PLC 0 and
checking for motion program move planning, are performed. These tasks are
performed every I10 milliseconds, at a priority level called the “real-time
interrupt” (RTI). A value of 2 means that these tasks are performed after 2
milliseconds, 3 means every 3 milliseconds, and so on. The vast majority of
users can leave this at the default value. In some advanced applications that
push UTC400's speed capabilities, tradeoffs between performance of these
tasks and the calculation time they take may have to be evaluated in setting
this parameter.
2−4
Note: A large PLC0 with a small value of I10 can cause severe problems, because
UTC400 will attempt to execute the PLC program every I10 msec. This can
starve background tasks, including communications, background PLCs, and
the performance will much less than what you expect.
I11 P/Q Variables Backup Control
Range 0/1
Units None
Default 0
Remarks When I11 is set to 1, all P and Q variables will be copied periodically to
nvRAM (optional equipment) for backup. Those values will be restored on
power up when bit7 of SW1 was set, or when “$$$” command was issued.
I18 Extension I/O Board Enable
Range 0 – $0F
Units None
Default 0
Remarks UTC controllers can connect up to 2 MT0170 for extension I/O. Each
MT0170 has 32 inputs and 16 outputs. If we want to use those inputs and
outputs, we need to setup I18 properly to enable them.
Setting Meaning
0 No MT0170 Enabled (save scan time)
1 First MT0170 Enabled
2 Second MT0170 Enabled
3 Both MT0170 Enabled
I19 Digital Inputs Debounce Cycle

Units msec
Default 1
Remarks The users can read the digital inputs status on UTC controller by reading
the PGA registers directly, or by reading the memory register $0879 which
status is processed by digital filtering. I19 is the debounce period; it means all
the inputs must stay in the same status for at least I19 milliseconds to be
accepted.
I20 Gathered Data Selection
Range $0000 - $FFFF

Units None
2−5
Default 0
Remarks If gather function is enabled, UTC controllers can put the data selected
periodically to the gather buffer. There are at most four data can be selected.
The x’th data can be set by the x’th digit of I20, and the data comes from the
address given in I2x. The definition of each digit of I20 is as following:
Bit Meaning
0 Gather From Source I21 Enable (1) / Disable (0)
4 Data Type From Source I21 is Float (1) / Integer (0)
Range $0000 - $FFFF

Units None
Default 0
Remarks The address of first gather source. Followings are the common used
address:
Definition #1 #2 #3 #4
Command Position (int) $01CD $01CE $01CF $01D0
Command Vel. (float) $01D5 $01D6 $01D7 $01D8
Command Acc. (float) $01DD $01DE $01DF $01E0
Actual Position (int) $082C $082D $082E $082F
Actual Vel. (int) $0824 $0825 $0826 $0827
Following Error (int) $096D $096E $096F $0970
DAC Output (int) $0985 $0986 $0987 $0988
Range $0000 - $FFFF

Units None
Default 0
Remarks The address of second gather source.
Range $0000 - $FFFF

Units None
Default 0
Remarks The address of third gather source.
2−6
Range $0000 - $FFFF

Units None
Default 0
Remarks The address of forth gather source.
I25 Gather Period
Range Any Positive Integer

Units msec
Default 1
periodically to the gather buffer, and the period is set by this parameter.
I26 Gather Buffer Size
Range Any Positive Integer

Units group (set by I20)
Default 0
periodically to the gather buffer, and the size of gather buffer is set by this
parameter.
I27 Gather Start and Stop Control
Range $00 - $FF

Units None
Default 0
Remarks The first digit of this parameter determines the start/stop condition of
gather function. If this digit is 0, gather started by “GAT” command and
stopped by “ENDG”. If this digit is 1, gather is controlled by the moving of
addressed motor. If this digit is 2, gather is controlled by the program running
under the addressed coordinate system.
If the second digit is 0($40), gather will be stopped when the gather
buffer is full. If this digit is 1, gather will rollover to override the old data.
I28 Gather Stop Delay

Units group (set by I20)
Default 0
Remarks This parameter determines how many data to gather after the stop signal
triggered.
2−7
2. Motor I-Variable
x = Motor Number (#x, x = 1 to 4).
Ix01 Motor x Jog / Home Acceleration Time
Range Any positive floating point number

Units msec
Default 40
Remarks This parameter sets the time spent in acceleration in a jogging and
homing. A change in this parameter will not take effect until the next move
command. For instance, if you wanted a different deceleration time from
acceleration time in a jog move, you would specify the acceleration time,
command the jog, change the deceleration time, then command the jog move
again (e.g. J=), or at least the end of the jog (J/).
Ix02 Motor x Jog / Home S-Curve Time
Range 0 - 100
Units percent
Default 100
Remarks This parameter sets the time in each “half” of the “S” in S-curve
acceleration for jogging and homing move of motor x. If Ix02 is zero, the
acceleration is constant throughout the Ix01 time and the velocity profile is
trapezoidal.
Ix03 Motor x Jog Speed
Range Any floating point number

Units counts / sec (pps)
Default 1000
Remarks This parameter sets the commanded speed of a jog move. Direction of
the jog move is controlled by the jog command.
A change in this parameter will not take effect until the next move
command. For instance, if you wanted to change the jog speed on the fly, you
would start the jog move, change this parameter, and then issue a new jog
command.
Ix04 Motor Deceleration Rate on Position Limit or Abort

Units count / msec2
Default 0.5
Remarks This parameter sets the rate of deceleration that motor exceeds
hardware or software limits, or has its motion aborted by command A or
2−8
<CTRL-A>. This value should be set to a value near the maximum physical
capability of the motor. Once the deceleration happened, each motor’s
command speed was decreased by Ix04 per millisecond until it comes to a
completely stop. So if you want to stop the motors faster, increase this value,
and vice versa.
Do not set this parameter to zero, or the motor will continue indefinitely
after an abort or limit.
Ix05 Motor x Master Following Enable
Range $00 - $FF

Units None
Default 0
Remarks This parameter disables or enables motor x’s position following function.
A value of 0 means disabled. A value from 1 to 4 means position following
enabled (electrical gear) according to the corresponding master source
determined by Ix85. The following scale is set by Ix06.
Ix06 Motor x Master Scale Factor

Units None
Default 1
Remarks This parameter controls the following ratio of motor x. The master input
signal was multiplied by this scale factor first then add into the command
position. Ix06 can be changed on the fly to permit real-time changing of the
following ratio.
Ix07 Motor x Homing Speed and Direction
Range Any signed integer

Units counts / sec (pps)
Default 1000
Remarks This parameter controls the speed and direction of a homing-search
move for motor x. Changing the sign reverses the direction of the homing
move. A negative value specifies a home search in the negative direction; a
positive value specifies the positive direction.
Ix08 Motor x Home Offset

Units counts
Default: 0
Remarks This parameter is the relative position of the end of the homing cycle to
the position at which the home trigger was made. That is, the motor will
command a stop at this distance from where it found the home flag and call
2−9
this commanded location as motor position zero. This permits the motor zero
position to be at a different location from the same home trigger position
Ix09 Motor x Flag Control
Range Any integer

Units None
Default 0
Remarks This parameter sets the function of flags such as overtravel limit
switches, home flag, driver fault flag, and driver enable output.
The overtravel-limit inputs specified by this parameter must be held low

in order for motor x to be able to command movement. If this function is
disabled, the limit inputs can be used as general-purpose inputs. The polarity
of the limit switches is determined by bit-7 of this parameter.
The driver fault function is enabled by held the bit-6 of this parameter low,
and the polarity of this signal is determined by bit-5. The same as limit inputs,
if this function is disabled, driver fault input can be used as general-purpose
input.
The polarity of driver enable output is determined by bit-4 of this

parameter.
0 1 0 1 0 1 0 0 0 0 0 0
Bit3 Bit2 Bit1 Bit0
Driver Enable Polarity

Driver Fault Polarity
Driver Fault Disable
Limit Polarity
Limit Disable
Power on Servo State
Servo Enable Function On
Home Search Disable
Home Search Disable = 0 Home Move Allowed

= 1 Home Move not Allowed
Servo Enable Function On = 0 Servo Enable Not Used (can be used as DOUT)
= 1 Servo Enable Output Used
Power on Servo State = 0 Power up in Servo off State
= 1 Power up in Servo on State
Limit Disable = 0 Hardware Limit Switch is Enabled
= 1 Hardware Limit Switch is Disabled
Limit Polarity = 0 Limit Switch is High True (use B-type switch)
= 1 Limit Switch is Low True (use A-type switch)
Driver Fault Disable = 0 Driver Fault is Enabled
2−10
=1 Driver Fault is Disabled

Driver Fault Polarity = 0 Driver Fault is High True (Normally Close)
=1 Driver Fault is Low True (Normally Open)
Driver Enable Polarity = 0 Driver Enable is Low True
=1 Driver Enable is High True
Bit3 =0 Set C.S. Zero to Machine Home After Home Searching
=1 Keep Zero Position After Home Searching
Bit2 =0 Keep Current Position on Power Up
=1 Reset Current Position on Power Up
Bit1 =0 Jog Affected by Feedrate Override
=1 Jog Not Affected by Feedrate Override
Bit0 =0 DAC or Pulse Command Not Converted
=1 DAC or Pulse Command Converted
Ix10 Motor x Positive Software Limit
Range Any integer

Units counts
Default 0
Remarks This parameter sets the position for motor x which if exceeded in the
positive direction causes a deceleration to a stop (controlled by Ix04) and
allows no further positive position increments or positive output commands as
long as the limit is exceeded. If this value is set to zero, there is no positive
software limit (if you want 0 as a limit, use 1). This limit is automatically
de-activated during homing search moves.
This limit is referenced to the most recent power-up zero position or

homing move zero position. The physical position at which this limit occurs is
not affected by axis offset commands (e.g. PSET, X=, …), although these
commands will change the reported position value at which the limit occurs.
Ix11 Motor x Negative Software Limit
Range Any integer

Units counts
Default 0
Remarks This parameter sets the position for motor x which if exceeded in the
negative direction causes a deceleration to a stop (controlled by Ix04) and
allows no further negative position increments or negative output commands
as long as the limit is exceeded. If this value is set to zero, there is no
negative software limit (if you want 0 as a limit, use -1). This limit is
automatically de-activated during homing search moves.
This limit is referenced to the most recent power-up zero position or

homing move zero position. The physical position at which this limit occurs is
not affected by axis offset commands (e.g. PSET, X=, …), although these
commands will change the reported position value at which the limit occurs.
2−11
Ix12 Motor x Coordinate Position Displacement
Range Any floating point

Units user unit
Default 0
Remarks UTC offers a full set of instructions to do the coordinate system
transformation very easily, including position rotation and displacement. This
parameter is the current coordinate position displacement of motor x.
When motion program is not running, we can set Ix12 by online

command to change the coordinate displacement of motor x without any
problem. But in a blended motion program, it is strongly recommend not to
change this parameter directly, use ADIS or IDIS instruction instead (this two
commands won’t stop the blended state). This parameter will be reset to 0 on
power up.
Ix13 Motor x Coordinate Position Scaling
Range Any positive floating point

Units None
Default 1
Remarks UTC controller offers a full set of instructions to do the coordinate system
parameter is the current coordinate position scaling of motor x.

command to change the coordinate scaling of motor x without any problem.
But in a blended motion program, it is strongly recommend not to change this
parameter directly, use ASCL or ISCL instruction instead (this two commands
won’t stop the blended state). This parameter will be reset to 1 on power up.
Ix14 Motor x Coordinate Unit Scaling
Range Any non-zero floating point

Units None
Default 1
Remarks Besides coordinate position scaling, UTC400 offers another way to
change the unit scale to achieve the same purpose. But unit scale is
independent with the coordinate position, it just re-scaling the user unit. For
instance, if we set this parameter to –1, we can get a mirror image of the
original path.

command to change the coordinate scaling of motor x without any problem.
But in a blended motion program, it is strongly recommend not to change this
parameter directly, use UNIT instruction instead (this command will stop the
blended state on this step).
2−12
Ix15 Motor x Backlash Size
Range Any non-negative integer

Units counts
Default 0
Remarks This parameter allows UTC400 to compensate for backlash in the
motor’s coupling by adding or subtracting (depending on the new direction)
the amount specified in the parameter to the commanded position on
direction reversals (this offset will not appear when position is queried or
displayed). A value of zero means no backlash. The rate at which this
backlash is added or subtracted (“taken up”) is determined by Ix16.
Ix16 Motor x Backlash Takeup Rate
Range 1 .. 256
Units counts / msec
Default 1
Remarks This parameter determined how fast backlash (of size Ix15) is “taken up”
on direction reversal. If Ix16 is zero, backlash is effectively disabled. Ix16 is
usually set as high as possible without creating dynamic problems.
Ix17 Motor x Rollover Range

Units counts
Default 0
Remarks This parameter permits position rollover on incremental axes. When Ix17
is greater than zero, rollover is active. If the commanded position greater than
the value set in this parameter, it will rollover up from 0. If the commanded
position less than zero, it will rollover down from Ix17. Thus the commanded
position of motor x will be limited between 0 and Ix17, it prevents the position
overflow while the motor is continuously incremental in one direction.
Ix19 Motor x Velocity Weighting

Units None
Default 1
Remarks When the user unit of the axes that interpolated together is different.
Sometimes the feedrate will cause one of those axes moving too slow or too
fast. We can use this parameter to adjust the weighting for feedrate
calculation to prevent this problem.
2−13
Ix20 Motor x PID Proportional Gain

Units None
Default 0
Remarks This parameter provides a DAC command output proportional to the
position following error. It acts like an electrical spring, the higher Ix20 is, the
stiffer the spring is. If we set the Ix20 too small, the motor will become too
weak to follow the command. If we set the value too high, it will cause the
motor buzzing and maybe come up with the driver overload.
Ix21 Motor x PID Derivative Gain

Units None
Default: 0

measured velocity of motor. It acts like an electrical damper, the higher Ix21 is,
the heavier the damping is. If we set the Ix21 too small, the system can not
overcome the overshoot caused by the rapid response. If we set the value too
high, it will also cause the motor buzzing.
Ix22 Motor x Velocity Feedforward Gain

Units None
Default 0
command velocity of motor. It can reduce the following error due to the
damping caused by Ix21 or physical effects.
Ix23 Motor x PID Integral Gain

Units None
Default 0
Remarks This parameter provides a DAC command output proportional to the time
integral of position following error. It is often used to eliminate the steady state
error of the system.
Ix24 Motor x PID Integration Mode
Range 0/1
Units None
2−14
Default 1
Remarks This parameter sets two different mode of integral servo loop control.
When Ix24 is set to 1, integration is performed only when the command
velocity is zero. If Ix24 is set to 0, integration is performed all the time.
Ix25 Motor x Acceleration Feedforward Gain

Units None
Default 0
command acceleration of motor. It can reduce the following error due to the
inertial lag.
Ix26 Motor x Position Feedback Address
Range $0000 - $FFFF

Units None
Default I126: $084C
I226: $084D
I326: $084E
I426: $084F
Remarks This parameter sets the controller where to get the position feedback of
motor x. There are five onboard channels for the encoder input, all can be
chosen for position feedback.
Ix27 Motor x Velocity Feedback Address
Range $0000 - $FFFF

Units None
Default I127: $0844
I227: $0845
I327: $0846
I427: $0847
Remarks This parameter sets the controller where to get the position feedback of
motor x. There are five onboard channels for the encoder input, all can be
chosen for position feedback.
Ix28 Motor x Velocity Feedback Scale

Units None
Default 1
2−15
Remarks When the controller uses dual feedback for both position and velocity
feedback, sometimes the scales of these two encoders are different. In this
case, Ix28 can be used to adjust the velocity scale to match the position
feedback. In single feedback system, just leave this parameter as default.
Ix29 Motor x DAC Bias
Range -32767 - 32767

Units 10V/32767
Default 0
Remarks This parameter sets the offset for the servo loop command digital to
analog output. It is often used to compensate the zero reference between the
controller DAC output and driver analog input.
Ix30 Motor x DAC Limit
Range 0 - 32767
Units 10V/32767
Default 20480 (~6.25V)
Remarks This parameter sets the maximum voltage can be output for motor x
command. 32767 means ±10V (100%) and 20480 means ±6.25V (62.5%),
and so on. We should set this parameter properly in order not to damage the
motors.
Ix31 Motor x Fatal Following Error

Units Count
Default 2000
Remarks This parameter is very important for the system safety. It defined the
maximum following error allowed for motor x. If the following error exceeds
Ix31, the motor will be killed immediately. If this motor is under a motion
program which is running, the motion program will also be aborted. Set this
parameter to 0 will disable following error checking, but it is strongly
recommended not to doing so.
Ix32 Motor x Dead Band Size

Units Count
Default 0
Remarks This parameter sets the dead band size for motor x. Whenever the
position following error within Ix32, controller will ignore the following error
and make no DAC output.
2−16
Ix33 Motor x In Position Band

Units Count
Default 10
Remarks This parameter sets the in position range for motor x. Whenever the
position following error within Ix33, there is an in-position bit (Mx40) in
controller will be set. If all the motors in the addressed coordinate system are
in position, the in position LED indicator will light.
Ix34 Motor x Big Step Size

Units Count
Default 2000
Remarks This parameter sets the maximum following error allowed to enter the
servo filter for motor x. Whenever the position following error exceeds Ix32,
controller will clip the following error to this value, thus ensure the system
stability. Set Ix34 to zero will disable this function.
Ix35 Motor x Integration Limit

Units Count
Default 65536
Remarks This parameter limits the value of integration on servo filter when it was
activated. Set Ix35 to zero will disable this function.
2−17
3. Coordinate System I-Variable

x = Coordinate System Number (#x, x = 1 to 4)
Ix50 Coordinate System x Blended Move Enable Control
Range 0/1
Units None
Default 0
Remarks Ix50 controls whether programmed moves for coordinate system x is
automatically blended or not. If this parameter set to 1, programmed moves --
LIN, SPLINE, and CIR-mode -- are blended together with no intervening stop.
Upcoming moves are calculated during the current moves. If this parameter
is set to 0, there is a brief stop in between each programmed move (it
effectively adds a DWELL 0 command), during which the next move is
calculated.
This parameter is only acted upon when the R or S command is given to

start program execution. To change the variable from 0 to 1 while the
program is running, the moves start to blended together immediately. But if
you change it from 1 to 0, the motion will stop blended while the next RPD or
DWELL command is encountered.
Ix51 Coordinate System x Maximum Permitted Acceleration

Units (user unit) / minute / msec
Default 500
Remarks This parameter sets a limit to the allowed acceleration in motion program
moves. If a move command in a motion program requests a higher
acceleration by given its TA and TS time settings, the acceleration for all
motors in the coordinate system is stretched out proportionately so that the
vector acceleration will not exceed this parameter, yet the path will not be
changed. The minimum value of TA will be Feedrate / Ix51 (unit : msec).
When moves are broken into small pieces and blended together, this limit
can affect the velocity, because it limits the calculated deceleration for each
piece, even if that deceleration is never executed, because it blends into the
next piece.
Ix52 Coordinate System x Default Program Acceleration Time

Units msec
Default 40
Remarks This parameter sets the default time for commanded acceleration for
programmed blended LIN and CIR mode move in coordinate system x. Even
though this parameter makes it possible not to specify acceleration time in the
2−18
motion program, you are strongly encouraged to use TA in the program and
not to rely on this parameter, unless you must keep to a syntax standard that
does not support this (e.g. RS-274 “G-Codes”). Specifying acceleration time
in the program along with speed and move modes makes it much easier for
later debugging.
The acceleration time is also the minimum time for a blended move; if
the distance on a feedrate-specified (F) move is so short that the calculated
move time is less than the acceleration time, or the time of time-specified (TM)
move is less than the acceleration time, the move will be done in the
acceleration time instead. This will slow down the move.
Ix53 Coordinate System x Default Program S-Curve Time
Range 0 - 100
Units percent
Default 100
Remarks This parameter sets the default time in each “half” of the “S” in S-curve
acceleration for programmed blended LIN and CIR mode move in coordinate
system x. Even though this parameter makes it possible not to specify
acceleration time in the motion program, you are strongly encouraged to use
TS in the program and not to rely on this parameter, unless you must keep to
a syntax standard that does not support this (e.g. RS-274 “G-Codes”).
Specifying acceleration time in the program along with speed and move
modes makes it much easier for later debugging.
If Ix53 is zero, the acceleration is constant throughout the Ix52 time and
the velocity profile is trapezoidal. If Ix53 is greater than zero, the acceleration
will start at zero and linearly increase through Ix53 time.
Ix54 Coordinate System x Default Program Feedrate

Units (user unit) / minute
Default 2000
Remarks This parameter sets the default feedrate (command speed) for
programmed blended LIN and CIR mode move in coordinate system x. The
first use of an F or TM statement in a motion program override this value. The
velocity unit is defined by the position per minute, as defined by axis definition
statements.
Even though this parameter makes it possible not to specify feedrate in

the motion program, you are strongly encouraged not to rely on this
parameter and to declare your feedrate in the program.
2−19
Ix55 Coordinate System x Time Base Slew Rate
Range 0.0 ~ 1.0

Units %1 / msec
Default 0.01
Remarks Ix55 controls the rate of change of the time base for coordinate system x.
It effectively works in two slightly different ways, depending on the source of
the time base information. If the source of the time base is the "%" command
register, then Ix55 defines the rate at which the "%" (actual time base) value
will slew to a newly commanded value. If the rate is too high, and the % value
is changed while axes in the coordinate system are moving, there will be a
virtual step change in velocity. For these type of applications, Ix55 is set
relatively low (often 0.001 to 0.01) to provide smooth changes.
If there is a hardware source (as defined by Ix85), the commanded

time-base value changes every servo cycle, and the rate of change of the
commanded value is typically limited by hardware considerations (e.g. inertia).
In this case, Ix55 effectively defines the maximum rate at which the "%" value
can slew to the new hardware-determined value, and the actual rate of
change is determined by the hardware. If you wish to keep synchronous to a
hardware input frequency, as in a position-lock cam, Ix55 should be set high
enough that the limit is never activated. However, following motion can be
smoothed significantly with a lower limit if total synchronicity is not required.
Ix56 Coordinate System x Program Rapid Move Feedrate

Units (user unit) / minute
Default 3000
Remarks This parameter sets the velocity for programmed RPD mode move in
coordinate system x. The unit is the same with Ix54 and it can be set to be
affected by feedrate override or not by Ix55. Usually we will set a larger value
than Ix56 to do a faster rapid move. The acceleration time of rapid move is
defined by Ix57.
Ix57 Coordinate System x Program Rapid Move Acceleration Time

Units msec
Default 100
Remarks This parameter sets the default time for commanded acceleration for
programmed RPD mode move in coordinate system. The specified S-curve
time is also set by Ix53.
2−20
Ix58 Coordinate System x Program Acceleration Mode
Range $0 - $F
Units None
Default 3
Remarks This parameter sets the acceleration mode for programmed LIN and CIR
mode move in coordinate system x. There are two types of acceleration as
following:
When bit-0 of Ix58 set to 1, it’s at fix acceleration mode. Every time we
start to run the motion program, acceleration will be calculated according to
the default feedrate and acceleration time, that is Ix54/Ix52. In order to get a
fix acceleration during motion, if the feedrate get higher, the acceleration time
must be get longer proportionally, and vice versa. So the TA is changing all
the time while the program is running.
When bit-0 of Ix58 set to 0, it’s at fix acceleration time mode. Each step
in the motion program will use the same TA assigned in the program. If the
feedrate get higher, the acceleration will also get larger, and vice versa. So
the acceleration is changing all the time while the program is running.
When bit-1 of Ix58 set to 0, the rapid move will be affected by feedrate
override. If bit-1 of Ix58 set to 1, the rapid move will always on the real speed
and won’t be affected by feedrate override.
When bit-2 of Ix58 set to 1, the encoder feedback for external time-base
will be treated as absolute value; that is, no mater the direction encoder is,
the time will always the positive. If bit-2 of Ix58 set to 0, the time will become
negative when the encoder runs to the negative side.
Ix59 Coordinate System x Rotate Angle

Units degree
Default 0
Remarks UTC controller offers a full set of instructions to do the coordinate system
parameter is the current rotate angle of coordinate system.
command to change the rotate angle without any problem. But in a blended
motion program, it is strongly recommend not to change this parameter
directly, use AROT or IROT instruction instead (this two commands won’t
stop the blended state). This parameter will be reset to 0 on power up.
2−21
Ix60 Coordinate System x External Time-Base Scale

Units count/msec
Default 1
Remarks This parameter sets the scale when we using the external time-base
control (when Ix61 is greater than 0, see Ix61 below). The value of 1 means
every one count input from master represents one millisecond. That is, when
the master frequency is 1KHz, the time-base is equal to 100%. So we need to
calculate the scale properly to meet the requirement that the maximum
master frequency input won’t produce a too large time-base (it is
recommended not exceeding 200%).
Ix61 Coordinate System x Time Base Source
Range $00 - $FF

Units None
Default 0
Remarks UTC controller offers five on-board encoder input ports. We can set the
bits 0 ∼ 2 of Ix61 properly to choose the source of time base signal coming
from:
Setting Meaning
0 Use internal time base
1 Master signal from address defined in I185
When bit 2 of Ix58 is equal to 1, external time base only depends on the
counts come in from the master. So the time base is always positive no mater
which direction the master is
When bit 4 of Ix61 is equal to 1, it means coordinate system x will use

the external triggered time-base. It acts just like the external time-base,
except it will also use the trigger signal of forth channel to trigger the
time-base. Before the trigger signal comes, the time-base will keep frozen.
After triggered, Ix61 will be automatically changed this bit to 0 and start the
regular external time-base process.
This parameter will be reset to 0 on power up.
2−22
4. Encoder I-Variable
x = Encoder Channel Number (#x, x = 1 to 4)
Ix80 Encoder Decode Control
Range 0-7
Units None
Default 4
Remarks This parameter sets the decode method and direction for the onboard
encoder input.
Encoder Decode Bits

Bit2 Bit1 Bit0 Function
0 X 0 CW A/B Phase
0 0 1 CW +/- Pulse
0 1 1 CW Pulse/Direction
1 X 0 CCW A/B Phase
1 0 1 CCW +/- Pulse
1 1 1 CCW Pulse/Direction
Ix81 Encoder Capture Control
Range 0 - 15
Units None
Default 3
Remarks This parameter determines which signal triggers a position capture of the
counter for encoder x.
Setting Function
0 Software Control
1 Rising Edge of CHCn
2 Rising Edge of Flag n
3 Rising Edge of [CHCn and Flag n]
4 Software Control
5 Falling Edge of CHCn
6 Rising Edge of Flag n
7 Rising Edge of [CHCn/ and Flag n]
8 Software Control
9 Rising Edge of CHCn
10 Falling Edge of Flag n
11 Rising Edge of [CHCn and Flag n/]
12 Software Control
13 Falling Edge of CHCn
14 Falling Edge of Flag n
15 Rising Edge of [CHCn/ and Flag n/]
2−23
Note: To do a software controlled position capture, present this setting to 0 or 4; when

the setting is then changed to 8 or 12, the capture is triggered.
Ix82 Encoder Capture Flag Select
Range 0-3
Units None
Default 0
Remarks This parameter determines which flag is used for trigger signel for
encoder x.
Setting Meaning
0 Home Flag
1 Positive Limit Flag
2 Negative Limit Flag
3 Driver Fault Flag
Ix85 Master x Source Address
Range $0000 - $FFFF

Units None
Default I185=$0848 (Handwheel)
I285, I385, I485 = 0 (Disable)
Remarks UTC controller offers up to four master sources. Bit 0..16 of Ix83 store
the address of master being used. If no any master is needed for the system,
this parameter should set to zero to save background scanning time.
Ix86 Master x Moving Average Buffer Size
Range 1 .. 128
Units msec
Default 1
Remarks Once the master source was selected, the frequency of input signals
were put into the buffer which size was defined by this parameter once per
millisecond. The final result used by the following function is the average
value in the whole buffer. This can prevent a sudden change caused by the
master source and make the following much smoother than without the buffer
does. The buffer is rollover, so we can guarantee that the master signal will
never get lost.
2−24
Micro Trend UTC Controller Online Command Specification (V2.2) Sep. 04
Online Command Specification
I. Online Command Summary
Notes
spaces : Spaces are not important unless special noted
{ } : Item in { } can be replaced by anything fitting definition
[ ] : Item in [ ] is an option
[{item}…] : Repeated syntax
[..{item}] : The periods are used to specify a range
Definitions
constant : Number that is non-changeable
variable : Variable like I , M , P , Q
expression :combination of constant, variable, function and operator
data :constant without parentheses or expression with parentheses
axis : element of coordinate system. It can be X, Y, Z, U, V, W, A, B, C
1. Global Online Command
Control Character Command
<Ctrl-A> Abort all programs and movement of motors

<Ctrl-D> Disable all PLC programs
<Ctrl-K> Disable all drivers
<Ctrl-O> Feed hold for all coordinate system
<Ctrl-P> Report positions of all motors(count)
<Ctrl-Q> Report mechanical positions of all motors(count)
<Ctrl-R> Execute programs in all coordinate systems
<Ctrl-S> Step programs in all coordinate systems
<Ctrl-V> Report the actual velocities of all motors(count)
<Ctrl-X> Terminate the message reporting
3-1
Address Mode Command
# Report the currently addressed motor number

#{constant} Address a motor(1-4)
& Report the currently addressed coordinate
system
&{constant} Address a Coordinate System(1-4)
CS Report all the axes specification of the motors
Global Variable Command
I{constant} Report the specified I-variable value

P{constant} Report the specified P variable value
Q{constant} Report the specified Q variable value
M{constant} Report the specified M variable value
M{constant}-> Report M variable definition
I{constant}={expression}[;] Assign the specified I-variable value and
Report the specified I-variable value
P{constant}={expression}[;] Assign the specified P variable value and
report the specified P variable value
Q{constant}={expression}[;] Assign the specified Q variable value and
report the specified Q variable value
M{constant}={expression}[;] Assign the specified M variable value and
report the specified M variable value
M{constant}->{definition} Assign the specified M variable definition
M{constant}->* Assign M{const} as a normal variable
PLC Command
ENAPLC{const}[,{const}...] Enable the specified PLC program

DISPLC{const}[,{const}...] Disable the specified PLC(s)
Buffer Control Command
OPEN PROG{constant} Open a motion program buffer

OPEN CAM Open Cam program buffer
OPEN ROT Open the rotary buffer
OPEN PLC{constant} Open a PLC program buffer
OPENBUF{address} Open the addressed buffer memory
CLOSE Close the currently opened program buffer
CLEAR Clear currently opened buffer
SIZE Report the available buffer size
LISTPROG[constant] Report the existed motion program numbers
or specified motion program contents
LISTPLC[constant] Report the existed PLC program number or
3-2
specified PLC Program contents

LISTCAM Report the existed cam program numbers or
specified cam program contents
LISTBUF{address}[,{length}] Report the contents of the addressed buffer
memory
LISTGAT Report the contents of data gathering
GAT Start to do data gathering
ENDG Stop data gathering
RD{address}[,{length}] Report the contents of the addressed buffer
memory
SAVE Save all the contents from static RAM to
FLASH ROM
$$$ Card conditions reset
$$$*** Card reset and re-initialization
PWD={string} Set the control card password
2. Coordinate System Online Command
Coordinate Axis Definition Command
#{constant}->{axis} Assign an axis definition for the specified

motor
#{constant}-> Report the specified motor's coordinate
system axis definition
Coordinate System Command
%{constant} Set Feedrate Override value

% Report the current Feedrate Override value
Coordinate Axis Related Command
{axis}={constant} Set the specified axis position

INIT Cancel all the axes displacement and rotation
ABS
INC
NORMAL
Attention: ABS,INC,NORMAL may be (on line command) also. See(buffer command)
Motion Program Command
B{constant} Select Motion Program number

R Execute the Motion Program
S Execute the motion program step by step
3-3
ENACAM Enable the specified Cam program

H Program feed hold
A Abort Program Execution and Motor move
Buffer Control Command
PC Report program pointer number

PE{constant} Report the current program line number
PR Report the lines count in the rotary buffer that
have not been executed
LIST Report the program contents to be executed
LISTPE{constant}[,{length}] Report the contents of the program(or cam)
DEFROT{constant} Define Rotary Buffer for motion program
DELROT Delete the Rotary Buffer
3. Motor Control Online Command
Normal Command
HM Motor home searching

HMZ Do a Zero-Move Homing
O{data} Set the output pulse
OUT{data} Set the output voltage
@ Specify an Online Command
K Driver disabled
Jog Command
J+ Jog to positive direction

J- Jog to negative direction
J/ Jog stop
J= Jog to a variable specified absolute position
J={constant} Jog a motor to a specified position
J:{constant} Jog a distance specified by {constant}
J: Jog a variable specified distance
J* Jog the addressed motor back to the motion
program stop
Report Command
P Report the position of a specified motor

V Report the speed of specified motors
3-4
4. Program Pointer Control Online Command
END End of a program

JP[constant] Program pointer points to a specified line
number
NEXT{constant} Program pointer point to next program line
UPPER{constant} Program pointer point to last program line
<CONTROL-A>
Function Abort all Program Execution and motor moves

Syntax ASCII Value 1
Remarks This command stops all Program Execution and Motor moves, The motor
deceleration is specified by Parameter Ix04. The program cannot continue
execution from the position where it has stopped by this command. We
normally use this command only when an emergency situation happens. For
temporary stopping the program execution, we may use H command for
immediate stop or S Command to stop at end of current moving. The <Ctrl-A>
command enables all the drivers, which are currently disabled.
<CONTROL-D>
Function Disable all PLC programs

Remarks This command disables the execution of all PLC Programs. It acts as
setting I6=0 or executing the command DISPLC. Normally we use this
command to disable all PLC program when the PLC programs are wrongfully
executed or some unexpected results have occurred.
<CONTROL-K>
Function Disable all drivers

Remarks This command disables all motor drivers. If a driver is disabled, it will not
accept either Jog Command or Program Execution Command. The drivers
could be re-enabled by the J/ or A command.
3-5
<CONTROL-O>
Function Feed hold for all Coordinate System

Remarks This command causes all Coordinate System motion feed hold. It acts the
same as an H command applied to all Coordinate System. The feedrate
override value will slow down to zero with a slew rate of parameter Ix55
settings. The <CONTROL-R> or <CONTROL-S> command will make the
Feedrate Override ramp-up to the original value.
<CONTROL-P>
Function Report positions of all motors

Remarks This command causes the control to report the positions of all the motors
to the host computer. The position unit is counts. There is a <SPACE>
between each reported position.
Examples <CTRL-P>
1000 1250 -324 5890 0 0 0 0
<CONTROL-Q>
Function Report mechanical positions of all motors

Remarks This command causes the control to report the mechanical positions of all
the motors to the host computer. The mechanical positions are the distances
between motors’ actual positions and its mechanical home. The position unit is
counts. There is a <SPACE> between each reported position.
Examples <CTRL-P>
1000 1250 -324 5890 0 0 0 0
M164
-1000
<CTRL-Q>
0 1250 –324 5890 0 0 0 0
3-6
<CONTROL-R>
Function Start to execute Motion Programs for all active Coordinate Systems.
Remarks This command causes the control to start executing the Motion Programs
from the pointed program line for all active Coordinate Systems. The execution
will stop at each program end, and then the pointer will point to first line of the
program.
<CONTROL-S>
Function Step execution of Motion Programs for all active Coordinate Systems.
Remarks This command causes the control to execute one step of the Motion
Program from the pointed line for all active Coordinate Systems. Then, the
pointer will point to next line of each Motion Program. If a BSTART command
is executed the whole block between BSTART and BSTOP will be executed as
one step.
<CONTROL-V>
Function Report the actual velocities of all motors.

Remarks This command causes the control to report the actual velocities of all the
motors to the host computer. The velocities unit is counts/msec. There is a
<SPACE> between each reported velocity.
Examples <CTRL-V>
1000 1250 -250 0 0 0 0 0
<CONTROL-X>
Function Terminate the message reporting

Remarks The command clears the message-reporting buffer, and terminates all the
message reporting.
3-7
@{command}
Function Specify an Online Command

Syntax @{command}
Remarks Any command prompted with '@' character will be considered as an
Online command. When a Program Buffer is opened, this command could be
used if we want to have an Online command to get immediate messages or
actions.
Examples OPEN PROG1

@JP ; Program point to Program begin
@#1J+ ; Jog first motor
@#1J/ ; First motor Jog Stop
LEARN(1) ; Read the 1st motor position.
Function Report the currently addressed motor number

Syntax #
Remarks This command causes the control to report the currently addressed motor
number to the host computer. We should address the motors before we use the
Online <For all motor> commands. The power on default-addressed motor is
motor #1.
Examples #
1
#3
#
3
#{constant}
Function Address a Motor

Syntax #{constant}
{constant}representing the addressed motor number, ranging 1∼4
Remarks This command will address a motor to accept the future motor command.
We should address the motors before we use the Online <For all motor>
command. The power on default-addressed motor is motor #1.
3-8
Examples #1J+ ; Motor #1 Jog +

#2J+ ; Motor #1 Jog +
J/ ; Motor #2 Jog Stop
#1J/ ; Motor #1 Jog Stop
#{constant}->
Function Report the specified motor's coordinate system axis definition

Syntax #{constant}->
{constant} represents the specified motor number, ranging 1∼4
Remarks This command causes the control to report the current axis definition of
the specified motor. The message 0 will be reported if the motor has not been
defined to any axis.
Examples #1->
1000X
#2->
0
#{constant}->{axis definition}
Function Assign an axis definition for the specified motor

Syntax #{constant}->{scale factor}{axis}[,{cs}]
{constant} represents the specified motor, Ranging 1∼4
{scale factor} is a positive ratio, representing the counts number of each
user's unit (axis unit).
{axis} Specifying axis, could be any of X, Y, Z, U, V, W, A, B, C
{cs} represents the specified Coordinate System number, ranging 1-4.
Remarks This command assigns the specified motor to a coordinate system. If the
axis definition is zero 0, it represents the specified motor axis definition is
cleared.
If the {coordinate system} has already been specified, the motor will be
redefined to a new Coordinate System; no matter what coordinate system it
previously defined.
3-9
PS: The ratio must be a positive floating-point value, the moving direction could be
specified by Parameter Ix09 bit0.
Examples &1 ; Define #1 Coordinate System

#1->1000X ; Assign motor #1 to X axis with scale 1000.
#2->333.333Y ; Assign motor #2 to Y axis with scale 333.333.
#3->A,2 ; Assign motor #3 to A axis with scale 1 in. 2nd
Coordinate System
#4->0 ; Clear axis definition for motor #4
$$$
Function Card Flash Reload

Syntax $$$
Remarks If a SAVE command has been done, the information back-upped in flash
memory will be reloaded to the working memory area by issuing this command.
It is just like re-turned on the power with the bit-7 of SW1 on.
$$$***
Function Card reset and re-initialization

Syntax $$$***
Remarks This command causes the control to do the following action:
1. Reset all parameters to the Factory settings.
2. Clear all program buffers.
This command allows users to re-program the control. If a control card has
troubles when power just turned on or cannot communicate with host computer,
please turn SW1 digit 1 to ON position then re-turn on the power. This is to
re-initialize the control.
Function Report the current feedrate override value

Syntax %
Remarks This command causes the control to report the feedrate override value of
the currently addressed coordinate system.
3-10
Examples %
100
%50
%
50
%{constant}
Function Set feedrate override value

Syntax %{constant}
{constant} is a non-negative value representing the new feedrate override
value.
Remarks This command is used to set the feedrate override value. The value 100
represents 'real-time' and 0 represents a stop. The feedrate override slew rate
is determined by parameter I7 (V1.3x) or Ix55 (V1.4x).
Examples %0
%33.333
%150
&
Function Report the currently addressed coordinate system

Syntax &
Remarks This command causes the control to report the number of currently
addressed coordinate system. We should address the active coordinate
system before any coordinate system related online command is executed.
The power on default-addressed coordinate system is #1.
Examples &
1
&3
&
3
3-11
&{constant}
Function Address a Coordinate System

Syntax &{constant}
{constant} is representing the number of coordinate system to addressed,
ranging 1∼4
Remarks This command set the currently addressed coordinate system number.
We should address the active coordinate system before any coordinate system
related online command. The power on default-addressed coordinate system
is #1.
Examples: &1B1R ; #1 Coordinate System to execute Motion Program #1

S ; #1 Coordinate System to step execute Motion Program
&2B10R ; #2 Coordinate System to execute Motion Program #10
A ; #2 Coordinate System to abort Motion Program execution.
{axis}={constant}
Function Set the specified axis position.

Syntax {axis}={constant}
{axis} Specifying axis, could be any of X, Y, Z, U, V, W, A, B or C
{constant} is a floating-point value representing the axis value (motor
position).
Remarks This command does not cause the specified axis to move; it only assigns
a new value to the axis position. It works the same as command PSET in
motion program.
Examples X=0 ; Set X axis position to 0

Z=-123.5 ; Set Z axis position to -123.5
Function Abort Program Execution and Motor move

Syntax A
Remarks This command stops all Program Execution and Motor moves; Motor
deceleration is specified by Parameter Ix04. The program cannot continue from
the position where it is stopped by this command. We normally use this
command only when an emergency happens. For temporary stop the program
3-12
execution, we may use the H command for immediate stop or S Command to

stop at end of current moving.
B{constant}
Function Select Motion Program number

Syntax B{constant}
{constant} is a non-negative value ranging 1.0∼999.9999
Remarks This command sets the motion program pointer to point to a program
numbered INT({constant}), the pointed line number is
({constant}-INT({constant}))*10000. If the {constant} is an integer, the pointer
will point to the beginning line of program number {constant}.
Examples B1 ; Point to Program #1 beginning line.

B10.35 ; Point to Program #10, line number 3500.
PS: B0 causes the program pointer point to the beginning of the rotary buffer.
Normally we use it following the command DEF ROT. If the rotary buffer has
been opened by the command OPEN ROT, B0 will be interpreted as B-axis
motion command. It causes the B-axis back to zero position.
CLEAR
Function Clear currently opened buffer

Syntax CLEAR
CLEARALL
Remarks Normally we use this command after OPEN {buffer} command to clear
the old contents before downloading a new program. Otherwise, the new
downloaded program will be added to follow the last line of previous program.
Examples OPEN PROG 1 ;Open Program #1

CLEAR ;Clear current contents
……….
CLOSE ; Close Program #1
3-13
CLOSE
Function Close the currently opened program buffer

Syntax CLOSE
Remarks If a buffer has been opened by the command OPEN {buffer}, should be
closed by the command CLOSE. All the command entered before the close
command will be saved in the buffer for future execution.
When the command CLOSE is executed, the controller will re-build a
checksum value. The checksum value will be verified at each power-on; if the
checksum value unmatched, the control will reload data from Flash Memory.
Examples OPEN PROG 1 ; Open Program #1

CLEAR ; Clear current contents
...
CLOSE ; Close Program #1
CS
Function Report all the axes specification of the motors.

Syntax CS
Remarks This command cause the control to report all the axes specification of the
motors, including the information of axis name, unit ratio, and the coordinate
system.
Examples CS
#1->400X,1
#2->400Y,1
#3->33.333A,2
#4->0
DATE
Function Report the controller firmware date.

Syntax DATE
Remarks This command reports the current firmware date. It’s a string consists with
the information of year, month and date. Sometimes it is useful for system
diagnostic.
3-14
Examples DATE ; Report the controller firmware date.

20040922
DEFROT
Function Define Rotary Buffer for motion program

Syntax DEFROT[{constant}]
{constant} is a positive integer representing the buffer size with unit of "word".
Remarks This command causes the control to reserve a memory space with
{constant} specified size for Rotary Buffer. If the buffer size is not specified, all
the memory left will be defined as the Rotary Buffer.
Examples DEF ROT 1000 ; Define a rotary buffer of 1000 words

B0R ; Program pointer point to the top of the buffer.
; and ready for execution(PROG 0)
OPEN ROT ; Open the rotary buffer
LIN X100Y100 ; Execute the step immediately after it is entered.
DELROT
Function Delete the Rotary Buffer

Syntax DELROT
Remarks This command deletes the currently reserved rotary buffer. All the
reserved buffer memory will be released. If there is a program under execution,
the rotary buffer could not be deleted. We have to abort the execution by the
command A before deleting the rotary buffer.
Examples DEF ROT 1000 ; Define a rotary buffer of 1000 words

DEL ROT ; Delete the currently defined buffer.
DISPLC
Function Disable the specified PLC(s)

Syntax DISPLC{constant}[,{constant}. . .]
{constant} is a positive integer representing PLC number, ranging 0∼15
Remarks This command disables a specified PLC program. The PLC program is
specified by program number ranging from 0 to 15. The disabled PLC program
3-15
will stop execution at next scan cycle, not an immediate stop.
Examples DISPLC1
DISPLC1,2,4,5
ENAPLC
Function Enable the specified PLC program.

Syntax ENAPLC{constant}[,{constant}. . .]
{constant} is a positive integer representing PLC number, ranging 0∼15
Remarks This command enables a specified PLC program. The PLC program is
specified by program number, ranging from 0 to 15. The enabled PLC program
will start execution at next scan cycle. The change of parameter I6 will also
change the enable condition of a PLC program. The change of I6 from 0 to 3
will enable all PLC programs, while I6 from 3 to 0 will disable all PLC programs.
Examples ENAPLC1
ENAPLC1,2,4,5
ENACAM
Function Enable the specified Cam program.

Syntax ENACAM
Remarks This command enables the cam table
Examples ENACAM
ENDG
Function Stop data gathering

Syntax ENDG
Remarks This command causes the control to stop data gathering.
GAT
Function Start to do data gathering

Syntax GAT
Remarks This command causes the control to do data gathering according to
3-16
I20..28.
Function Program feed hold

Syntax H
Remarks This command causes all Coordinate System motion feed hold. It is the
same as the execution of %0 command for all Coordinate System. The
feedrate override value will slow down to zero with a slew rate of parameter
Ix55 settings. The R or S command will make the Feedrate Override back to
original value.
HM
Function Motor home searching

Syntax HM
Remarks This command causes a home searching operation. The homing
acceleration and deceleration are the same setting as Jog function. (Ix01 and
Ix02), The speed setting is at Ix07. The positive value of Ix07 will run a positive
direction home searching while negative settings make negative direction
searching.
The home flag signal is specified by Ix82 and the capture condition is set by
Ix81. The user may check the associated bit condition for searching finish
confirm. We suggest using the M variable Mx45 for the bit test.
Examples HM
#1HM#2HM
HMZ
Function Do a Zero-Move Homing

Syntax HMZ
Remarks This command will not cause a motor to move, only set the current motor
position as mechanical home position.
3-17
I{constant}
Function Report the specified I-variable value

Syntax I{constant}[..{constant}]
{constant} is an integer representing I variable number, ranging 0~1023
Remarks This command causes the control to report the specified I-variable value
PS: If a program buffer or rotary buffer has been opened, I{constant} will be
recognized as a vector definition of X-axis and stored in the buffer for future
execution. (Please refer to Motion Program Format).
Examples I5
2000
I2..4
500
20
20
I{constant}={expression}[;]
Function Assign The specified I-variable value.

Syntax I{constant}[..{constant}]={expression}
{constant} is an integer representing I variable number, ranging 0~1023
The second {constant} should be greater than the first one; it represents
the ending I-variable number.
{expression} is an expression
[;] means to report the value of this I-variable value.
Remarks This command will assign the {expression} value to the {constant}
specified I variable. If a program buffer or rotary buffer has been opened,
I{constant}={expression} will be stored in the buffer for future execution.
Examples I5=2
I109=1.25 * I108
I102=$17
I104=I103
3-18
INIT
Function Cancel all the axes displacement and rotation

Syntax INIT
Remarks The INIT command will set the motor zero position as axis position, set the
axis rotation angle as zero and set the axis ratio to 1. (This is the power on
default condition.)
Examples I159
45
I112
150
INIT
I159
0
I112
0
J+
Function Jog to positive direction.

Syntax J+
Remarks This command causes currently specified motor jog to positive direction.
The jog acceleration time and speed are specified by variable Ix01-Ix03.
If a motion program is under execution, Jog function will not be performed. We
may first stop the execution by an 'S' command, and then do the Jog command
after motor stops. The command J* will move the motor back to the position
where motion program stop. Then, next R or S command could continue the
motion program execution.
Examples J+
#4J+
#1J+#3J+
3-19
J-
Function Jog to negative direction.

Syntax J-
Remarks This command causes currently specified motor jog to negative direction.
The jog acceleration time and speed are specified by variable Ix01-Ix03.
may first stop the execution by an 'S' command, and then do the Jog command
after motor stops. The command J* will move the motor back to the position
where motion program stop. Then, next R or S command could continue the
motion program execution.
Examples J-
#1J-
#2J-#4J-
J/
Function Jog stop.

Syntax J/
Remarks This command stops a jog moving or enables a motor driver, which is
currently disabled.
The deceleration time and speed are specified by variable Ix01-Ix03.
If a motion program is under execution, the Jog function will not be performed.
Examples #1J+ ; Motor #1 Jog positive direction

J/ ; Motor #1 stop jog
K ; Driver Disable
J/ ; Driver Enable
J:
Function Jog a variable specified distance

Syntax J:
Remarks This command jogs a motor with a distance of counts specified in the
target memory. The memory location is L:3D for #1 motor, L:3E for #2 motor
and so on. It is suggested using an M variable to point to the memory location.
That is M163-> L:3D for #1 motor, M263 for #2 motor and so on.
3-20
The acceleration time and speed are specified by variable Ix01-Ix03.

may first stop the execution by an 'S' command, then do the Jog command after
motor stops. The command J* will move the motor back to the position where
motion program stop. Then, next R or S command could continue the motion
program execution.
Examples M463->L:40 ; Point the M463 to the 4th motor jog destination.
#4HM ; Motor #4 back home.
M463=100 ;
#4J: ; Jog the #4 motor to the position of 100 counts
J: ; Jog the #4 motor to another distance of 100 counts
(the motor position becomes 200 counts)
J:{constant}
Function Jog a distance specified by {constant}

Syntax J:{constant}
{constant} is a floating point value representing the distance to jog in
count..
Remarks This command jogs a motor with a distance of counts specified by
{constant}.
The acceleration/deceleration time and speed are specified by variable
Ix01-Ix03.
We may first stop the execution by an 'S' command, and then do the Jog
command after motor stops. The command J* will move the motor back to the
position where motion program stopped. Then, next R or S command could
continue the motion program execution.
Examples #1HM ; Motor #1 back HOME

J:2000 ; Jog a distance of 2000 counts
J:2000 ; Jog a distance of 2000 counts (The motor position
becomes 2000 counts)
3-21
J=
Function Jog to a variable specified absolute position.

Syntax J=
Remarks This command jogs a motor to the target memory specified absolute
position. The memory location is L:3D for #1 motor, L:3E for #2 motor and so
on. It is suggested using an M variable to point to the memory location. That is
M163-> L:3D for #1 motor, M263 for #2 motor and so on.
Ix01-Ix03.
We may first stop the execution by an 'S' command, and then do the Jog
position where motion program stopped. Then, next R or S command could
continue the motion program execution.
Examples M363->L:3F ; Point M363 to the motor #3 target memory location.

M363=10 ;
#3J= ; Jog motor #3 to the absolute position 10.
J={constant}
Function Jog a motor to a specified position

Syntax J={constant}
{constant} is a floating point value representing the absolute position to jog in
count..
Remarks This command jog a motor to an absolute position specified by {constant}.
Ix01-Ix03.
We may first stop the execution by an 'S' command, then progress the Jog
position where motion program stop. This will allow the user to continue their
normal program execution by next R or S command.
Examples J=0 ; Jog the currently addressed motor back to 0

#4J=5000 ; Motor #4 jog to the position 5000 counts.
#2J=-32000 ; Motor #2 jog to the position -32000 counts.
3-22
J*
Function Jog the addressed motor back to the motion program stop
Syntax J*
Remarks This command will move the motor back to the position where motion
program stop, if the motor has been jog to some other place after a motion
program stop. This command will allow users to continue their normal program
execution by next R or S command.
Examples S ; Stop a program under execution

#1J=0#2J=0 ; Jog the motors back to zero
#1J*#2J* ; Jog the motors back to the program stop position
R ; Continue the Execution
Function Driver disabled

Syntax K
Remarks This command disables the currently specified motor driver. The Jog
commands and program execution commands will not be accepted. We may
use the J/ or A command to re-enable the specified driver.
Examples K ; Disable the currently addressed motor driver

#1K ; Motor #1 driver disable
J/ ; Motor #1 driver enable
#2K#3K ; Motor #1 & #2 drivers disable
A ; All motor driver enable
LIST
Function Report the program(or cam) contents to be executed

Syntax LIST
Remarks This command causes the control to report the program(or cam) contents
to be executed
Examples B1R ; Program #1 start to execute.

LIST ; Report the program contents to be executed
Q300=1
3-23
LISTBUF{address}[,{length}]
Function Report the contents of the addressed buffer memory(hex).

Syntax LISTBUF{address}[,{length}]
{address} points to the buffer memory you want to list. It should be 16 bit,
ranging from $0~FFFF
{length} means the length of the buffer memory you want to list.
Remarks This command is used to report the contents of the addressed buffer
memory .
Examples CLOSE
OPENBUF $2000 :open buffer
LISTBUF$2000,2 ;list the addressed buffer memory
38
39
LISTGAT
Function Report the contents of data gathering

Syntax LISTGAT
Remarks This command causes the control report the contents of data gathering if
data gathering is finished.
Examples I25=2 ;gather data every 2ms

I20=$8D ;Source 1,3,4($xD)
;Source 4 floating point number
I21=$9E9 ;Gather Source 1 1msec interrupt counter
I23=$96D ;Gather Source 3 following error of motor#1
I24=$1001 ;Gather Source 4 P1
GAT ;Start to gather data
ENDG ;Stop data gathering
LISTGAT ;Report the content
a1 b1 c1
a2 b2 c2
…
an bn cn
3-24
LISTPE
Function Report the contents of the program

Syntax LISTPE
Remarks This command causes the control to report the contents of the program
under execution.
LIST PLC
Function Report the existed PLC program number or specified PLC Program
contents
Syntax LIST PLC {constant}
{constant} is positive integer representing the number of the PLC Program
to reported, ranging 0~15.
Remarks This command reports the existed PLC program number, start address,
end address, and enable status.
The LIST PLC {constant} reports all the contents of the specified PLC
program in detail.
Examples LIST PLC ; Report the exist PLC program number, start and end
address, and enable status.
1 120 194 YES
2 195 442 NO
3 443 779 YES
LIST PLC 3 ; Report all program contents of PLC program #3.
IF(M20=0ANDM180=0)
...
ENDI
RET
LISTPROG
Function Report the existed motion program numbers or specified motion program
contents
Syntax LIST PROG{constant}
{constant} is positive integer representing the number of the motion
program to be reported.
Remarks LISTPROG command will report the existed motion program numbers
3-25
and their start and end address.

The LISTPROG{constant} will report all the contents of the specified motion
program in detail.
Examples LIST PROG ;Report the existed motion program and their start and end
address.
1 0 29
1000 30 107
2 108 116
LISTPROG 1 ; Report all program contents of motion program #1
WHILE(Q300<=P300)
...
ENDW
RET
M{constant}
Function Report the specified M variable value

Syntax M{constant}[..{constant}]
{constant} is an integer representing the variable number to be specified
or the starting variable number, ranging 0 ~ 1023.
The 2nd {constant} representing the end number of variable to be reported,
its value should be larger than the 1st one.
Remarks This command causes the control to report the specified M variable value.
If the variable is a signed number, the reported value is in decimal.
If the variable is an unsigned number, the reported value is in hexadecimal.
Examples M0
623316
M165
0
M1..3
0
1
1
PS: If the program buffer or rotary buffer has been opened, M{constant} will be
recognized as an M-code and stored in the program for future execution. (Refer
to the motion program command specification.)
3-26
M{constant}={expression}[;]
Function Set the specified M variable value

Syntax M{constant}[..{constant}]={expression}
The 2nd {constant} representing the end number of variable to be set, its
value should be larger than the 1st one.
{expression} Representing the value to be set.
[;] means to report the value of this M variable.
Remarks This command sets the specified M variable value.
If the program buffer or rotary buffer has been opened,
M{constant}={expression} will be stored in the program for future execution.
(Refer to the motion program command specification.)
Examples M1=1
M9=M9 & $20
M102=-16384
M1..8=0
M{constant}->
Function Report M variable definition

Syntax M{constant}[..{constant}]->
The 2nd {constant} representing the end number of variable to be reported,
Remarks This command causes the control to report the specified M variable
definition.
Examples M1->
22,0,1
M180->
574,S
M191->
L:275
M2..M4->
3-27
22,1,1
22,2,1
22,3,1
M{constant}->*
Function Assign M{const} as a normal variable.

Syntax M{constant}[..{constant}]->*
The 2nd {constant} representing the end number of variable to be assigned,
Remarks This command cancels the M variable definition to be used as a normal
variable.
Examples M90->22,24,1 ; Point M90 to address 22,bit 24

M91->22,25,1 ; Point M91 to address 22,bit 25
M90..91 ;Report the pointed contents
0
1
M90..91-> ;Report the M90,M91 definition

14,16,1
14,17,1
M90..91->* ; Cancel M90,M91 definition
M90..91-> ; Report M90,M91 definition
*
*
M90..91 ; Report M90,M91 contents
1234
567
M{constant}->addr[,start][,width][,s]
Function Set the specified M variable definition

Syntax M{constant}-> addr[,start][,width][,s]
{constant} is an integer representing the M variable number to be
specified, ranging 0 ~ 1023.
3-28
addr is the address in hexadecimal that the M variable pointed, ranging 0000~
FFFF
[start] is the start bit of the pointed address, ranging 0~31.
[width] is the bits length of pointed address, ranging 1~31.
But [start] + [width] < 32.
[s] Representing a signed value
If [s] is not specified, it represents an unsigned value.
Remarks This command will point a specified M variable to the normal data area.
The addressed contents is an integer, If [s] is not specified, it represents an
unsigned value, while the [s] specifies a signed value.
Examples M90->1049,0,8,S ; Define M90 address and data format

M91->1049,0,10 ; Define M91 address and data format
M91=255
M90..91 ; Report M90~M91 value
-1 ; Report M90 value in decimal
FF ; Report M91 value in hexadecimal
PS: It is allowed that multiple M variables point to the same address. If the assigned
data formats are different, the reported value will be different.
M{constant}->L : addr
Function Set the M variable definition

Syntax M{constant}-> L:addr
addr The address which M variable pointed, a hexadecimal ranging
0000~FFFF
Remarks This command points the specified M variable to the data area.
The addressed data is a floating-point value.
Examples M90->L:1049 ; Define M90 address and data format.
M{constant}->I : addr[,start][,width][,s]
Function Set the M variable definition

Syntax M{constant}-> I:addr[,start][,width][,s]
3-29

addr The address which M variable pointed, a hexadecimal ranging
0000~FFFF.
[start] is the start bit of the pointed address, ranging 0~31.
[width] is the bits length of pointed address, ranging 1~31.
But [start] + [width] < 32.
[s] Representing a signed value
If [s] is not specified, it represents an unsigned value.
Remarks This command will point a specified M variable to the I/O address area.
The addressed contents is an integer, If [s] is not specified, it represent an
unsigned value, while the [s] specifies a signed value.
Examples M11->I:2F,0,1 ; DefineM11 pointed I/O address and data format.

M19->I:2F,0,8 ; DefineM19 pointed I/O address and data format.
O{constant} For Pulse Command (UTCx00P)
Function Set the output pulse frequency in the unit Pulses/msec

Syntax O{constant}
{constant} is an integer representing the pulse number per msec, ranging
-250∼250.
Remarks This command causes the control send out the setting number of pulse in
one msec.
Examples #1O10 ; The addressed axes send out 10 pulses .

#1O-20 ; The addressed axes send out -20 pulses.
OUT{constant} For Voltage Command (UTCx00V)
Function Set the output voltage

Syntax OUT{constant}
{constant} is an integer representing the ratio of Ix30 voltage, ranging
-100∼100.
Remarks This command causes the control send out the voltage.
Examples I130=20480 ;6.25V

#1OUT10 ; The addressed axes send out 10/100*6.25 volts .
3-30
#1OUT-20 ; The addressed axes send out –20/100*6.25 volts.
OPENBUF{address}
Function Open the addressed buffer memory.

Syntax OPENBUF{address}
{address} point to the buffer memory. It should be 16 bit, ranging from
$0~FFFF
Remarks This command is used for opening buffer memory. The buffer must be
closed by the command CLOSE when the execution is finished.
No other program buffer or rotary buffer could be opened when buffer memory
is currently opened. It is suggested to execute a CLOSE command before we
want to open a buffer.
Examples CLOSE
OPENBUF $2000
…
CLOSE
OPEN CAM
Function Open a Cam program buffer.

Syntax OPEN PROG
{constant} is a positive integer representing the cam program number,
ranging 0∼15.
Remarks This command is used for opening a cam program buffer. We may edit
any legal cam program lines after a buffer has been opened. The buffer must
be closed by the command CLOSE when the editing is finished.
No other program buffer or rotary buffer could be opened when a cam program
buffer is currently opened. It is suggested to execute a CLOSE command
before we want to open a buffer.
Opening a cam program will terminate the execution if it is currently executed;
however, it can re-start after the buffer is closed.
The cam program begins with N{constant}, following by #1, #2 position and an
optional output state.
Examples CLOSE
OPEN CAM CLEAR
3-31
N100,123.45, -100
N200,150.69, -150
…
CLOSE
OPEN PLC
Function Open a PLC program buffer.

Syntax OPEN PLC {constant}
{constant} is a positive integer representing the PLC program number,
ranging 0∼15.
Remarks This command is used for opening a PLC program buffer. We may edit
any legal program lines after a buffer has been opened. The buffer must be
closed by the command CLOSE when the editing is finished.
No other program buffer or rotary buffer could be opened when a PLC program
buffer is currently opened. It is suggested executing a CLOSE command
before we want to open a buffer.
Opening a PLC program will terminate the execution if it is currently executed.
And, it will automatically re-start after the buffer is closed.
Examples CLOSE
OPEN PLC 7 CLEAR
IF(M11=1)
…
CLOSE
OPEN PROG
Function Open a motion program buffer.

Syntax OPEN PROG {constant}
{constant} is a positive integer representing the motion program number,
ranging 1∼65535.
Remarks This command is used for opening a motion program buffer. We may edit
any legal program lines after a buffer has been opened. The buffer must be
closed by the command CLOSE when the editing is finished.
No other program buffer or rotary buffer could be opened when a motion
program buffer is currently opened. It is suggested to execute a CLOSE
command before we want to open a buffer.
3-32
Opening a motion program will terminate the execution if it is currently

executed; however, it can re-start after the buffer is closed.
Examples CLOSE
OPEN PROG 1
CLEAR
X10 Y20 …
CLOSE
B1
R
OPEN ROT
Function Open the rotary buffer.

Syntax OPEN ROT
Remarks This command is used for opening rotary buffer. We may edit any legal
program lines for execution after a buffer has been opened. The buffer must be
closed by the command CLOSE when the execution is finished. (The branch
and loop commands are not allowed in the rotary buffer.)
No other program buffer or rotary buffer could be opened when rotary buffer is
currently opened. It is suggested to execute a CLOSE command before we
want to open a buffer.
Examples CLOSE
DEF ROT 1000
B0R
OPEN ROT
X10 Y20
…
CLOSE
Function Report the position of a specified motor

Syntax P
Remarks This command causes the control to report the position of currently
specified motors.
3-33
Examples P ; Report the position of currently addressed motor.

1995
#1P ; Report position of Motor #1
-5
#2P#4P ; Report position of Motor #2 & #4
9998
10002
P{constant}
Function Report specified P variable value

Syntax P{constant}[..{constant}]
{constant} is a positive integer representing the P variable, ranging
0∼1023
Remarks This command causes the control to report the {constant} specified P
variable value or the P variable range.
Examples P1
25
P1005
3.44
P100..102
17.5
-373
0.005
P{constant}={expression}[;]
Function Set the specified P variable value

Syntax P{constant}[..{constant}]={expression}
{constant} is a positive integer representing the P variable, ranging
0∼1023
{expression} is the value to be assigned.
[;] means to report the value of this P variable.
3-34
Remarks This command sets the specified P variable value.

If the program buffer or rotary buffer has been opened, the
P{constant}={expression} will be stored in the program for future execution.
Examples P1=1
P75=P329 + P10
P102=-16384
P100..199=0
PC
Function Report program pointer number.

Syntax PC
Remarks This command causes the control to report current program pointer value.
Examples PC
10
B123
PC
123
PE
Function Report the current program executed block number.

Syntax PE
Remarks This command causes the control to report the current program line
number.
PR
Function Report the lines count in the rotary buffer that have not been executed.
Syntax PR
Remarks This command causes the control to report the lines count in the rotary
buffer that have not been executed.
3-35
PWD
Function Set the control card password

Syntax PWD={string}
{string}a string of maximum 16 characters
Remarks This command allows users to setup their own passwords to protect their
programs. Once the password is been set, each time when uploading a
program to the host computer, the password must first be re-entered.
Otherwise, the controller will report a error message. The password can be
changed by next password setup, or use PWD= to clear the password setting.
If the password is forgotten, the only way to clear the password is using the
reset command ($$$***) to clear the entire program memory.
Examples PWD=MicroTrend
PWD=~!@#$%^&*()
Q{constant}
Function Report specified Q variable value

Syntax Q{constant}[..{constant}]
{constant} is a positive integer representing the Q variable, ranging
0∼1023
Remarks This command causes the control to report the {constant} specified Q
variable value or the Q variable range.
Examples Q10
35
Q255
-3.4578
Q101..103
0
98.5
-0.0333
3-36
Q{constant}={expression}[;]
Function Set the specified Q variable value

Syntax Q{constant}[..{constant}]={expression}
{constant} is a positive integer representing the Q variable, ranging
0∼1023
{expression} is the value to be assigned.
[;] means to report the value of this Q variable.
Remarks This command sets the specified Q variable value.

If the program buffer or rotary buffer has been opened,
Q{constant}={expression} will be stored in the program for future execution.
Examples Q100=2.5
Q1..10=0
Function Execute the Motion Program.

Syntax R
Remarks This command runs a motion program according to the motion program
pointer, the pointer will back to the beginning after all lines are finished.
The H or A command could terminate the program execution.
Examples B1R ; Program pointer point to Program #1 and Execute.

H ; Terminate the Program execution
R ; Execute the Program again
A ; Abort the Program Execution
RD{address}[,{length}]
Function Report the contents of the addressed buffer memory.

Syntax RD(D(dec)/H(hex) /L(float){address}[,{length}]
{address} points to the buffer memory you want to list. It should be 16 bit,
ranging from $0~FFFF
3-37
{length} means the length of the buffer memory you want to list.
Remarks This command is used to report the contents of the addressed buffer
memory.
Examples CLOSE
OPENBUF $2000 :open buffer
RD$2000,2 ;list the addressed buffer memory
38
39
Function Execute the motion program step by step.

Syntax S
Remarks This command will run a motion program step by step according to the
motion program pointer, the pointer will back to the beginning of that program
after all lines are finished. If a BSTART command is executed, it will continue to
execute until a BSTOP command.
SAVE
Function Save all the contents from static RAM to FLASH ROM.
Syntax SAVE
Remarks This command saves all the contents, including Variables, Motion
Programs, PLC Programs and so on, to a non-volatile Flash Memory. This
process could protect all the important program contents or data from been
destroyed. If the contents in the SRAM is unexpectedly lost, we may make the
control to recover from the damage by using the $$$ Online Command to
re-load the contents from the Flash Memory.
Each time when the power is turned on, the control runs a checksum process. If
the checksum result shows an unmatched situation, the control will
automatically do the re-load. The re-load process takes about 10 seconds; the
controller does not response to any command before it is finished. Please do
not turn the power off when this reload is processing. Otherwise, the reload
process cannot be completed.
The Watch Dog LED is turned on when the SAVE command is executing.
Please do not run this command when any motor is running, no matter running
a motion program or just jogging the motor.
3-38
SIZE
Function Report the available buffer size.

Syntax SIZE
Remarks This command reports the available buffer size, with unit (word).
Examples SIZE
43188
Function Report the speed of specified motors.

Syntax V
Remarks This command causes the control to report the speed of specified motors,
with unit counts / msec.
Examples V ; Report the addressed motor speed.

0
#1V ; Report the speed of Motor #1.
10
#2V#4V ; Report the speed of Motor #2 & #4.
123
-100
VER
Function Report the controller firmware version.

Syntax VER
Remarks This command reports the current firmware version. The controller
checks version each time when the power is turned on. If the software version
is changed, the controller will reset automatically. (The same as executing a
$$$*** command.)
Examples VER ; Report the controller firmware version..

V2.20
3-39
Micro Trend UTC Controller Program Command Specification (V2.2) Sep.04
Motion Command Format
I. Summary of Buffer Command:
1. Motion Action Command

{axis}{data}[{axis}{data}...] Motor linear motion
Example:X100Y100Z200
{axis}{data}[{axis}{data}..] Motor arc motion
[{vector}{data}..] Example:X100Y100Z200 I500J300
DWELL{data} Program stop for a specified time
DELAY{data} The program execution will
delay for a specified time
HM[({axis}[,{axis}…])] Home searching
2. Motion Mode Command

LIN Linear motion mode
RPD Rapid motion mode
CIR1 Clockwise arc motion mode
CIR2 Counterclockwise arc motion mode
MUT Move Until Trigger
POSTLUDE Automatic subroutine call after a
programming move
SPLINE Spline move mode
3. Axis Command
ABS[({axis}[,{axis},...])] Absolute axis mode
INC[({axis}[,{axis},...])] Incremental move mode
PSET{axis}{data}[{axis}{data}...] Define the current axis position
NORMAL{vector}{data} Specifies the rotation plane for
a circular interpolation move
ADIS{axis}{data}[{axis}{data}...] Absolute displacement for the
specified axes
IDIS{axis}{data}[{axis}{data}...] Set the incremental
displacement of axes
AROT X{data} Specifies the incremental
rotation angle of a coordinate plane
IROT X{data} Specifies the absolute rotation
angle of a coordinate plane
ASCL{axis}{data}[{axis}{data}...] Specifies the absolute scaling of axes
ISCL{axis}{data}[{axis}{data}...] Specifies the incremental
scaling of axes
INIT Cancel all the axes displacement
4−1
and rotation
R{data} Set circle radius
4. Motion Related Command

TM{data} Set move time
F{data} Specifying motor feed rate
TA{data} Set the total acceleration time
TS{data} Set the percentage of S-curve
acceleration time
5. Setting Variable Command

I{data}={expression} Set I variable value
P{data}={expression} Set P variable value
Q{data}={expression} Set Q variable value
M{data}={expression} Set M variable value
6. Logical Control Command

N{constant} Program line number
GOTO{data} Unconditional jump Without Return
GOSUB{data}[{letter}{axis}...] Unconditional jump With Return
CALL{data}[.{data}][{letter}{axis}...] Subroutine Call
RET Return from subroutine
READ({letter}[,{letter}...]) Read the variable for subroutine
IF({condition}){action} The block-start-point of a
conditional branch
ELSE{action} Start fault condition branch
ENDIF End of conditional block
WHILE({condition}){action} Start point of a conditional loop
ENDWHILE End of conditional loop
G{data} NC program G-Code
M{data} NC program M-Code
T{data} NC program T-Code
7. Miscellaneous Command
CMD"{command}" Run an immediate command
CMD^{letter}
SEND{C1/C2},"message" Send out message from comport
DISP[{constant}] ,"{message}" Shows messages on LCD panel
DISP{constant},{constant},{data}
ENAPLC{constant}[,{constant}...] Enable specified PLC
DISPLC{constant}[,{constant}...] Disable specified PLC(s)
8. Program Pointer Control Command

INS Set the program editing to the
insertion mode
4−2
OVR Set the program editing process as

the write over mode
DEL Delete program command line
LEARN[{axis}[,{axis}. . .] Motor position teaching
{axis}{data}[{axis}{data}. . .]
Function Motor linear motion setting

Type Motion program
Syntax {axis}{data}[{axis}{data}. . . ]
{axis} Specifying axis, could be any choice of X, Y, Z, U, V, W, A, B, or C.
{data} could be a constant (no parentheses) or an expression (in parentheses)
representing the end position in absolute mode or the distance of moving in
incremental mode.
[{axis}{data}. . .] is an option, multi-axes could be specified to move
simultaneously.
Remarks This is a basic motion command, including an axis label and its
associated value. The value presents a position in absolute mode, or a
distance in incremental mode. The value is user scaled by axis definition
command.
Example X10000
X(P1+P2)
X1000Y1000
Y(Q100+50)Z35W(P100)
X(Q1*SIN(Q2/Q3))W500
{axis}{data}[{axis}{data}. . .]{vector}{data}[{vector}{data}. . .]
Function: Motor arc motion setting

Type: Motion program
Syntax: {axis}{data}[{axis}{data}. . . ]{vector}{data}[{vector}{data}. . .]
{data} could be a constant (no parentheses) or an expression (in parentheses)
representing the end position in absolute mode or the distance of moving in
incremental mode.
[{axis}{data}. . .] is an option, specifying the axes moving simultaneously.
{vector} is a character (I,J or K) specifying a vector component ,parallel to the
4−3
X,Y or Z axis respectively, to the center of arc.

{data}specifies the magnitude of the vector component.
[{vector}{data}. . .] is specifying multiple vector components.
Remarks For an arc motion setting, we should specify the endpoint (Same as in
linear motion) and the vector to the arc center. The direction of an arc motion is
specified by the commands CIR1(CW) or CIR2(CCW).
Example X5000Y3000I1000J1000
X(P101)Y(P102)I(P201)J(P202)
X10I5
X10Y20Z5I5J5
J10
ABS
Function: Absolute move mode

Syntax: ABS[({axis}[,{axis}. . .])]
Remarks The command ABS with no axes specified will cause all axes set to
absolute mode. The ABS command with axes specified will cause only the
assigned axes to be set to absolute mode; all others will keep as their original
mode.
Example ABS
ABS(X,Y,Z)
ABS(X,Y,Z,A,B,C,U,V,W)
ADIS
Function: Absolute displacement for the specified axes

Syntax: ADIS
{axis} Specifying axis, could be any of X, Y, Z, U, V, W, A, B or C.
{data} could be a floating point constant or an expression presenting the
displacement distance in user units for the axis.
Remarks This command set the specified value as the offset value of each axis.
4−4
That is X' = X{data}, Y' = Y{data}, Z' = Z{data}, W' = W{data}. The axes not
specified will keep their original offset value. If no axis is specified, the current
motor positions will be specified as their offset values, it act as
PSETX0Y0Z0W0 but will not cancel Blended Move function. This command
will not cause any movement; only cause the future movements to take the
offset value into account.
Example ADISX10Y5Z3.5W0 ;New coordinate center (X', Y', Z', W') = (10, 5,
3.5, 0)
ADISX20Y-5 ;New coordinate center (X', Y', Z', W') = (20,
-5, 3.5, 0) ADISX(P1)Z(P2+3)
ADIS ;New coordinate center will be the current
motor positions.
AND
Function: Logic condition AND

Type: Motion program and PLC PROGRAM
Syntax: AND {condition}
{condition} is a simple or compound condition.
Remarks This command use only in IF or WHILE command; it performs the
Boolean operator logically.
Example IF(M11 = 1 AND P11 != 1)

CMD"R"
P11=1
ENDIF
AROT
Function: Specifies the absolute rotation angle of a coordinate plane

Syntax: AROT X{data}
absolute rotation angle in the unit of an angle.
Remarks This command will load the specified X-axis value as coordinate absolute
rotation angle. That is θrot = X{data}. If specified axis is not X-axis, the specified
4−5
value will be given up. This command will not cause any movement; only
cause the future movements to take the rotation angle into account.
⎡ X new ⎤ ⎡ cos( θ rot ) sin( θ rot ) ⎤ ⎡ X old ⎤

⎢ ⎥= ⎢ ⎥⎢ ⎥
⎣Y new ⎦ ⎣− sin( θ rot ) cos( θ rot ) ⎦ ⎣Y old ⎦
Example AROTX45 ; 45 degree rotation

AROTX(ASIN(P2))
ASCL
Function: Specifies the absolute scaling of axes

Syntax: ASCL{axis}{data}[{axis}{data}. . .]
absolute scale of axis in the unit of ratio.
Remarks This command will load the specified axes value as coordinate axes ratio.
That is Xratio = X{data}, Yratio = Y{data}, Zratio = Z{data}, Wratio = W{data}.
This command will not cause any movement, only cause the future movements
to take the ratio into account.
Example ASCLX2 ; X axis multiplier is 2

ASCLX1.5 ; X axis multiplier is 1.5
ASCLZ0.5 ; Z axis multiplier is0.5
ASCLW1 ; W axis multiplier is1
ASCLX(P1)Y(P2)Z(P3)W(P4)
BSTART
Function: Program Block Start

Syntax: BSTART
Remarks In the single step execution, all the motion commands after BSTART will
be continuously executed until the BSTOP command is found.
Example X100Y100
4−6
BSTART
Z(P100)
Z(-P100)
BSTOP
X0Y0Z0
BSTOP
Function: Program Block End

Syntax: BSTOP
Remarks This command is used as a pair with BSTART. In the single step
execution, all the motion commands after BSTART will be continuously
executed until next BSTOP command is found.
Example X100Y100
BSTART
Z(P100)
Z(-P100)
BSTOP
X0Y0Z0
CALL
Function: Subroutine Call

Syntax: CALL{data}[{letter}{data}. . .]
{data} is a floating point constant, the integer part representing the motion
program number to be called, the fractional part multiplied by 10000 will
representing the line number of that motion program being called.
{letter} is an English alphabet (except G, M, N, T) used for passing a
parameter to the subroutine being called.
{data}is the specified parameter value
Remarks Motion programs are labeled as PROGn (n represents the program
number), total 256 programs could be stored in memory. Each program under
execution could call other programs as a subroutine. Maximum 16 subroutine
loops (including G, M code) could be nested.
4−7
If the CALL command followed by an integer, the subroutine will be started at

top of the program being called. The subroutine will be ended by the RET
command or program end. Following end of a subroutine, the control will jump
back to the next line of the previous CALL command.
If the number following the CALL command contains fractional part, the
subroutine will start at the line number specified by the fractional part multiply
by 10000.
If the CALL command followed by an English alphabet except G, M, N or T,
the alphabet is used for passing a parameter to the subroutine being called.
And there should be a READ command at the first line of the subroutine, the
Alphabet will be recognized as a variable and its value will be stored in the
associate Q variable for later use. (Refer to READ command)
Example CALL500 ;to PROG500 at the top

CALL500.1 ;to PROG500 label N10000
CALL500.12345 ;to PROG500 label N12345
CALL500 X10Y20 ;to PROG500 passing X and Y
CIR1
Function: Clockwise arc motion mode

Syntax: CIR1
Remarks This is a mold command setting the current circular motion mode as
clockwise Arc Motion Mode until next mode setting command found.
The arc motion only performs on the plane of 1st and 2nd axes. The radius (R)
or the vector component to the center of arc (I, J) should also been specified.
Otherwise, the statements will be recognized as a linear motion.
Example LIN
X10Y10F200
CIR1
X20Y20I10
X25Y15J-5
X10Y10R10
LIN
X0Y0
4−8
CIR2
Function: Counterclockwise arc motion mode

Syntax: CIR2
Remarks This is a mold command setting the current motion mode as
counterclockwise Arc Motion Mode until next mode setting command.
The arc motion only performs on the plane of 1st and 2nd axes. The radius (R)
or the vector component to the center of arc (I, J) should also been specified.
Otherwise, the statements will be recognized as a linear motion.
Example LIN
X10Y10F200
CIR2
X20Y20I10
X25Y15J-5
X10Y10R-10
LIN
X0Y0
CMD
Function: Run an immediate command

Type: Motion program, PLC Program
Syntax: CMD"{command}"
CMD^{letter}
{command} is an any legal immediate command.
^{letter} is recognized as an on-line control code command.
Remarks In the motion program, we use the CMD command to perform an
immediate instruction. The immediate command could be a string or a control
code type command prompted by '^'. These commands will not report any
message to computer. The SEND command can be used for sending
messages back to computer.
Example CMD"#1J+"
CMD"#4HM"
4−9
CMD^A
CMD^D
DELAY
Function: The program execution will delay for a specified time

Syntax: DELAY{data}
{data} is a floating point constant or an expression representing the delay time
in msec.
Remarks The control will keep the command position of all axes in the coordinate
system constant for the time specified by {data}.
There are 3 differences between DELAY and DWELL:
(1). In Blended Move, the DELAY timing includes the deceleration time of the
previous motion but DWELL does not.
(2). DELAY is a function of Time Base (% value), while DWELL performs a
fixed time.
(3). In Blended Move, DELAY command will perform next step calculation but
DWELL will not.
Example DELAY2000
DELAY(P1+200)
DISP
Function: Shows messages on LCD pannel

Type: Motion program or PLC Program
Syntax: DISP{const},"message"
DISP{const},{const}.{const}, {data}
{const} is the start location of the LCD panel, an integer of 0∼79
"message" The message string for display
{const}.{const}: The 1st constant is an integer 1~80, specifying the total inter
digits, the 2nd constant is also an integer 0~15, specifying the total fractional
digits.
{data} could be a variable or an expression.
Remarks This command is used for displaying a formatted value or a string on a
standard 40×2 LCD panel. The start location 0 is at left top, 39 at right top, 40
4−10
at left bottom and 79 at right bottom. The total digits of the value for both
integer and fractional part can be specified. The unspecified portion will be
filled with blank.
Example DISP0,"Hello World!"

DISP40, "X Pos: mm"
DISP10,6.2,P100
DISP10,6.4,10*SIN(Q2)+Q1/3
DISPLC
Function: Disable specified PLC(s)

Type: Motion program, PLC PROGRAM
Syntax: DISPLC{const}[,{const}. . .]
{const} bis PLC program number, an integer ranging 0∼15
Remarks This command is used for disable a {const} specified PLC program. The
program number is between 0 and 15. The disabled PLC program will stop at
next scan instead of an immediate stop.
Example DISPLC1
DISPLC1,2,4,5
DWELL
Function: Program stop for a specified time

Syntax: DWELL{data}
DWE{data}
{data} is a floating point constant or expression representing the delay time in
msec.
Remarks The control will stop the command position of all axes in the coordinate
system for the time specified by {data}. The DWELL command will stop the
Blended Motion even a zero time dwell. (DWELL 0). The differences between
Dwell and Delay commands are described in the Delay command section.
Example DWELL2000
DWELL(P1+P2)
DWE0
4−11
ELSE
Function: Start fault condition branch

Syntax: ELSE
Remarks This instruction must be matched with an IF instruction (ELSE requires a
preceding IF, IF does not require a following ELSE.) It is followed by the
instruction to be executed upon a false IF condition.
Example IF(M11 = 1)
X(P100)
ELSE
X(P200)
ENDIF
ENAPLC
Function: Enable the specified PLC

Type: Motion program, PLC PROGRAM
Syntax: ENAPLC{const}[,{const}. . .]
{const} is PLC program number, an integer ranging 0∼15
Remarks This command is used for enable a {const} specified PLC program. The
program number is between 0 and 15. The enabled PLC program will start at
next scanning cycle. Changing I 6 will also change the PLC enable status. If I 6
value is changed from 0 to 3, will enable all the PLC programs, while changing
value from 3 to 0 will disable all the PLC programs.
Example ENAPLC1
ENAPLC1,2,4,5
ENDIF
Function: End of conditional block

Syntax: ENDIF
ENDI
4−12
Remarks Each of the conditional blocks started with IF should have an ENDIF
instruction for closing. The program will generate an error message when it is
CLOSE, if the IF and ENDIF are not matched with pair.
Example IF(M11 = 1)
X(P100)
ELSE
X(P200)
ENDIF
ENDWHILE
Function: End of conditional loop

Syntax: ENDWHILE
ENDW
Remarks Each of the conditional loops started with WHILE should have an
ENDWHILE instruction for closing. The program will generate an error
message when it is closed (CLOSE), if the WHILE and ENDWHILE are not
matched with pair. When the command ENDWHILE is executed in a program,
the control will jump back to associated WHILE for next condition evaluation. It
is not allowed putting the associated ENDWHILE in front of the WHILE
command.
Example WHILE(P10 < 10)

P10=P10+1
ENDWHILE
Function: Specifying motor feed rate

Syntax: F{data}
{data} could be a floating point constant or an expression presenting the motor
feed rate with the user units/minute.
Remarks This instruction sets the commanded velocity for motor linear or arc
motion. The motor velocity will follow last commanded value until next
4−13
commanded velocity executed. If the motion distance is too short as unable

to reach the setting velocity, the actual velocity will be lower than the setting
value. In fact, in the condition of TM<TA+TS, the TM will be set to TA+TS.
Example F2000
F12.56
F(P100*SIN(SQRT(Q1)))
FRAX
Function: Specify the axes that the motor feed rate instruction (F) covered.
Syntax: FRAX[({axis}[,{axis}. . .])]
Remarks This instruction specifies the axes that will follow the F instruction setting.
UTC400 calculates the motion time on each step according to the F setting and
FRAX specified axes. If the instruction FRAX stands alone with no axis
specified, all the axes in current coordinate system follow the F setting.
Caution: When a step with non-FRAX-specified-axes is executed, the amplitude of

the velocity vector will be set to zero. And, the motion time will also be counted
as zero. In this case, the actual motion time TM will be set to the value of
TA+TS. Therefore, if the motion distance is too long, the velocity of that step
might become too high as to over the rating speed base on the hardware
limitation. Then, an error bit will be set (at bit 1 of memory location 0001) and
the program execution will be terminated.
Example FRAX
FRAX(X,Y,Z)
FRAX(A)
Function: Reserved codes (G-CODE)

Syntax: G{data}[{letter}{data}. . .]
{data} could be a floating point constant or an expression, 2 digits of fractional
4−14
part ranging 0.00~1048.99

{letter} is an alphabet character except G, M, N or T, used for passing a
variable to PROG1000.
{data} is the specified variable value
Remarks The command G{data} will be recognized as CALL 1000.{data}. This
structure allows users to define their own G code for special purpose easily.
Just like the CALL instruction, we may pass variables by the READ command
at the 1st line of subroutine and the {letter}{data} in G command.
Example G01 ;jump to N1000 of PROG1000

G1.1 ;jump to N1100 of PROG1000
G92X0Y0 ;jump to N92000 of PROG1000 passing X and Y
GOSUB
Function: Unconditional jump With Return

Syntax: GOSUB{data}
{data} is an integer specifying the destination line number in the same program
ranging 0∼4096.
Remarks This command causes the motion program execution to jump to the line
number specified by {data}, the first RET will cause the control to jump back to
the next line of the GOSUB commend. It is similar to the CALL command but
not an inter-program call.
Example GOSUB300 ;jump to N300 of this program, to jump back on RET

GOSUB(P100)
GOTO
Function: Unconditional jump Without Return

Syntax: GOTO{data}
{data} is an integer specifying the destination line number in the same program
ranging 0∼4096.
Remarks This command causes the motion program execution to jump to the line
number specified by {data}, the first RET or Program END will cause the
4−15
control to stop. If the line number specified could not be found, the command
will be ignored.
Example GOTO300 ;jump to N300 of this program

GOTO(P100)
HM
Function: Home searching

Syntax: HM[({axis}[,{axis}…])]
{axis} Specifying axis, could be any of X, Y, Z, U, V, W, A, B or C .
Remarks The command HM with no axes specified will cause home searching of
all the axes of the whole coordinate system. The HM command with axes
specified will cause only the assigned axes to do home searching. This
instruction will disable the blended move.
Example HM
HM(X,Y,Z)
HM(X,Y,Z,A,B,C,U,V,W)
Function: I-Vector setting for circular moves

Syntax: I{data}
{data} is a floating-point constant or expression representing the magnitude of
the I-vector in scaled user axis units.
Remarks In circular motions, this I{data} value specifies the component of the
vector to the arc center that is parallel to the X-axis. Either in absolute mode or
incremental mode, the reference point is at the start position of X-axis.
Example X10Y20I10J5
X(P10)I(P10/2)
I33.33
4−16
I{const}={data}
Function: Set I variable value

Syntax: I{const}={data}
{const} is an integer representing the I-variable number ranging 0∼1023
{data} is a floating-point constant or expression represents the value to be
assigned to the specified I-Variable.
Remarks This command is to assign a value to a specified I variable. In the
Blended Move mode, when executing a motion command, it looks one step
ahead. So, this I-variable will be assigned when the previous step just start.
Example I1=1
I4=P131+1000
IDIS
Function: Set the incremental displacement of axes

Syntax: IDIS{axis}{data}[{axis}{data}. . .]
{axis} Specifying axis, could be any choice of X, Y, Z, U, V, W, A, B or C.
{data} could be a floating point constant or an expression presenting the offset
value of the specified axis in the user scaled axis units.
Remarks This command adds an offset to the current axes value. That is X' = X' +
X{data}, Y' = Y'+Y{data}, Z' = Z'+Z{data}, W' = W'+W{data}, The unspecified
axes will not be affected and keep the original axis value. This command does
not cause any movement; it only causes the future movements to take the
offset value into account.
Example ;The original axes value (X0, Y0, Z0, W0)

IDISX10Y5Z3.5
;New axes value becomes (X', Y', Z', W') = (X0+10, Y0+5, Z0+3.5, W0)
IDISX(P100)Y(Q200)
4−17
IF
Function: The block-start-point of a conditional branch

Syntax: IF({condition})
{condition} is a simple or compound conditions.
Remarks 1.For the true {condition}, the statements following the IF line will be
executed step by step. The control will jump over ENDIF to execute the
next line when the ENDIF or ELSE appears.
2. For the false condition, it will execute the line following ELSE if there is an
associated ELSE command in this conditional block. If there is no
associated ELSE command in this block, the control will jump over the
associated ENDIF to the line following ENDIF.
IF command does not require a following ELSE, but must pair matched with
an ENDIF command. The program will generate an error message when it
is closed if the IF and ENDIF is not matched with pair. There is no limit for
the multi-layer nested IF conditions if the memory size is adequate.
Example IF(M11 = 1)
X(P100)
ELSE
X(P200)
ENDIF
IF(M12=1ANDP12!=1)
CMD"#4J+"
ENDIF
INC
Function: Set to incremental mode

Syntax: INC[({axis}[,{axis}. . .])]
Remarks If the INC command with no axis specified, all axes will be set to
incremental mode. If the INC command with axes specified, only the specified
axes will be set to the incremental mode, other axes will keep their original
mode.
4−18
Example INC
INC(X,Y,Z)
INC(X,Y,Z,U,V,W,A,B,C)
INIT
Function: Cancel all the axes displacement and rotation

Syntax: INIT
Remarks INIT command will reset all axes value to the motor zero position, the
rotation angle reset to zero and the axes ratio reset to 1. (This is the default
factory setting for the UTC400.)
Example INIT
IROTX45
IROT
Function: Specifies the incremental rotation angle of a coordinate plane

Syntax: AROT X{data}
incremental rotation angle in the unit of angle.
Remarks This command will add the specified X-axis value as coordinate absolute
rotation angle. That is θrot = θrot +X{data}. If specified axis is not X-axis, the
specified value will be given up. This command will not cause movement of
any motor; only cause the future movements to take the incremental rotation
angle into account.
⎡ X new ⎤ ⎡ cos( θ rot ) sin( θ rot ) ⎤ ⎡ X old ⎤

⎢ ⎥= ⎢ ⎥⎢ ⎥
⎣Y new ⎦ ⎣− sin( θ rot ) cos( θ rot ) ⎦ ⎣Y old ⎦
Example IROTX45 ; 45 degree rotation

IROTX90 ; 90 degree rotation
4−19
ISCL
Function: Specifies the incremental scaling of the axes

Syntax: ASCL{axis}{data}[{axis}{data}. . .]
incremental scale of axis in the unit of ratio.
Remarks This command will multiply the specified axes value to coordinate axes
ratio. That is Xratio = Xratio × X{data}, Yratio = Yratio × Y{data}, Zratio = Zratio
× Z{data}, Wratio = Wratio × W{data}. This command will not cause the
movement of any motor, only cause the future movements to take the
multiplied ratio into account.
Example ISCLX2 ; X-axis value multiplied by 2

ISCLX1.5 ; X-axis value multiplied by 1.5
ISCLX(1/3) ; X-axis value multiplied by 1/3
ISCLX(P1)Y(P2)Z(P3)W(P4)
Function: J-Vector setting for circular moves

Syntax: J{data}
the J-vector in scaled user axis units.
Remarks In circular motions, this specifies the component of the vector to the arc
center that is parallel to the Y-axis. Either in absolute mode or in incremental
mode, the reference points are both at the start position of Y-axis.
Example X10Y20I10J5
Y(P10)J(P10/2)
J33.33
4−20
Function: K-Vector setting for circular moves

Syntax: K{data}
the K-vector in scaled user axis units.
Remarks In circular motions, this specifies the component of the vector to the arc
center that is parallel to the Z-axis. Either in absolute mode or in incremental
mode, the reference points are both at the start position of Z-axis.
Example #1->400X
#2->400Z
NORMAL J-1 ; Specified the X-Z plane as the rotation plane.
X10Z20I10K5
Z(P10)K(P10/2)
K33.33
LIN
Function: Set to linear interpolation move mode

Syntax: LIN
Remarks This command sets the current program to the Linear Interpolation Move
mode, and keeps in this mode until next mode command being executed. The
velocity of the linear interpolation mode is determined by the latest F or TM
command.
Example LIN
X10Y20Z30W40
OPENPROG1000CLEAR
N1000 LIN RET
M{const}={data}
Function: Assign the M variable value

4−21
Syntax: M{const}={data}
{const}is an integer representing the M-variable number, ranging 0∼1023
{data}is a floating-point constant or expression representing the value to be
assigned to this M-variable.
Remarks This instruction assigns a value to a specified M-variable. In the Blended
Move mode, the execution looks one step ahead; therefore, this M-variable will
be assigned when the previous step just started.
Example M1=1
M4=P131+1000
Function: Machine Code (M-CODE)

Syntax: M{data}[{letter}{data}. . .]
{data} could be a floating point constant or an expression, 2 digits for fractional
{letter}is an alphabet character except G, M, N or T, used for passing a
{data}is the specified variable value
Remarks The command M{data} will be recognized as CALL 1001.{data}. This
structure allows users to define their own M-code for the special purpose
easily. Just like the CALL instruction, we may pass variables by the READ
command in the 1st line of subroutine and the {letter}{data} in M command.
Example M01 ;jump to N1000 of PROG1001

M1.1 ;jump to N1100 of PROG1001
M92X0Y0 ;jump to N92000 of PROG1001 passing X and Y
Function: Program line number

Syntax: N{const}
{const}is an integer representing the program line number, ranging
1∼1,048,575(220-1)
4−22
Remarks This is a label for a line in the program could be easily specified by the
command GOTO, GOSUB, CALL, G or M. Line numbers neither has to be in
numerical order, nor have to be existed in every line. Since the line number
also takes one word memory space each line, it is suggested that we put it
only when it is needed.
Example N1000
N2000 X200
NORMAL
Function: Specifies the rotation plane for a circular interpolation move

Syntax: NORMAL{vector}{data}
{vector} is one of the letter I,J, and K, representing components of the total
vector parallel to the X, Y, and Z axes, respectively.
{data}only take the polarity of this value for the vector direction.
Remarks This command allows uses to specify the rotation plane, the vector K
representing the X-Y plane, the vector J representing the Z-X plane while
vector I representing the Y-Z plane as the rotation plane. The positive or
negative value will determine the CW or CCW of the rotation. The power on
default rotation plane is NORMAL K-1 for all the coordinate system.
Example NORMAL K-1 ; X-Y plane

NORMAL J-1 ; Z-X plane
NORMAL I-1 ; Y-Z plane
OR
Function: Conditional OR
Syntax: OR{condition}
{condition} is a simple or compound conditions.
Remarks This command only used in IF or WHILE command, it performs the
Boolean operator logical OR.
4−23
Example IF(M11 = 1 OR M12 = 1)

CMD"R"
P11=1
ENDIF
P{const}={data}
Function: Set P variable value

Syntax: P{const}={data}
{const} is an integer representing the P-variable number ranging 0∼1023
{data}is a floating-point constant or expression represents the value to be
assigned to the specified P-Variable.
Remarks This command assigns a value to a specified P-variable. In the Blended
Move mode, the execution looks one step ahead. So, the P-variable will be
assigned when the previous step just start.
Example P1=1
P4=P131+1000
P123=ROUND(100*SIN(Q100))
POSTLUDE
Function: Automatic subroutine call after a programming move

Syntax: POSTLUDE1{command}
POSTLUDE0
{command} could be the following types:
CALL{const}
G{const}
M{const}
Remarks POSTLUDE1 command will cause the future execution of a motion
command to insert a subroutine call after that movement. The subroutine call
will not be executed following a non-motor-moved command. The type of
subroutine call could only be a constant, not an expression or variable.
POSTLUDE0 will cancel all the automatic inserted subroutine executions.
4−24
Example POSTLUDE1 CALL200 ;Insert a CALL200 after subsequent moves

LIN
X100Y100 ; Implicit CALL200 after this move
X200Y200 ; Implicit CALL200 after this move
…….
POSTLUDE0 ; Disable postlude
CLOSE
OPENPROG200 CLEAR
Z-1
Z1
CLOSE
PSET
Function: Define the current axis position

Syntax: PSET
Remarks This command re-defines the motor position of the axes. The actual
motor position will not be changed by this command. Insert this command
between any two movements will cause the Blended Move to stop. If this
effect is not permitted in the program execution, please use the command
ADIS or IDIS instead.
Example PSETX10Y10 ; Set the axes position X=10, Y=10

PSET
X10Y10 ; The same effect as previous statement.
PSETX(Q124)Y(Q125)Z(Q126)
Q{const}={data}
Function: Set Q variable value

Syntax: Q{const}={data}
{const} is an integer representing the Q-variable number ranging 0∼1023
{data}is a floating-point constant or expression represents the value to be
assigned to the specified Q-Variable.
Remarks This command assigns a value to a specified Q-variable. In the Blended
4−25
Move mode, the execution looks one step ahead. This Q-variable will be
assigned to a new value when the previous step just start.
Example Q1=1
Q4=P131+1000
Q123=ROUND(100*SIN(Q100))
Function: Set circle radius

Syntax: R{data}
{data}is a floating-point constant or expression representing the radius of an
arc move with user length units.
Remarks In the circular interpolation mode, if we define the endpoint and radius R
for next move, there are two paths with different circle center meet the
specified condition. When we give R a positive value, the circular move will
take the path with the arc less than or equal to 180o. If the radius value
specified in {data} is a negative value, the circular move will take the path with
the arc greater than 180o.
If the assigned radius is less than half the distance from start point to endpoint,
there is no circular move possible. In this case UTC400 will assign the radius
as the half distance from start point to endpoint and perform a half circle move
accordingly.
If there is no R and no IJK vector specified on a command line in the circular
move mode, the command will be recognized as a linear motion.
PS: If there are AROT, ASCL, …commands for axes rotation or ratio settings, the
R settings will not follow the change. Please use I, J or K for the circular
setting.
Example CIR1
X10Y10R10 ;1/4 circle arc to (10, 10)
X0Y0R-10 ;3/4 circle arc to (0, 0)
X(P100)R(P100/2) ; half circle arc to (P100, 0)
4−26
READ
Function: Read the variable for subroutine

Syntax: READ({letter}[,{letter}. . .])
variable to the subroutine.
Remarks READ command is executed in a subroutine. It will cause a letters
scanning at the associated subroutine call instruction for all the possible
variables until an English alphabet not in the list of letters to READ. If a letter
value is successfully read into the associated Q-variable, the bit N-1 of Q100
will be set to 1. (N noted for Nth letter of the alphabet). The value been read is
stored in the variable Q(100+N). The READ command will be ignored if it
appears at somewhere not in the subroutine.
Following table is the Q-variable and flag bit of Q100 associated with each
letter:
Letter Target Q100 Bit Value Bit Value

Variable Bit Decimal Hex
A Q101 0 1 $01
B Q102 1 2 $02
C Q103 2 4 $04
D Q104 3 8 $08
E Q105 4 16 $10
F Q106 5 32 $20
G* Q107 6 64 $40
H Q108 7 128 $80
I Q109 8 256 $100
J Q110 9 512 $200
K Q111 10 1,024 $400
L Q112 11 2,048 $800
M* Q113 12 4,096 $1000
N* Q114 13 8,192 $2000
O Q115 14 16,384 $4000
P Q116 15 32,768 $8000
Q Q117 16 65,536 $10000
R Q118 17 131,072 $20000
S Q119 18 262,144 $40000
T* Q120 19 524,288 $80000
U Q121 20 1,048,576 $100000
4−27
V Q122 21 2,097,152 $200000

W Q123 22 4,194,304 $400000
X Q124 23 8,388,608 $800000
Y Q125 24 16,777,216 $1000000
Z Q126 25 33,554,432 $2000000
*Not available for user
Example N4000 READ(X)

DWE(Q124)
RET
N92000 READ(X,Y)
IF(Q100&8388608>0)
PSET X(Q124)
ENDIF
IF(Q100&16777216>0)
PSET Y(Q125)
ENDIF
RET
Function: Return from subroutine

Syntax: RET
Remarks The RET command will cause the motion program to jump back to the
next line of original call function, if this routine starts from a CALL, GOSUB, G,
M, code. If this command appears in the main program, it represents a
program end.
Example OPENPROG1000CLEAR
RPD RET
N1000 LIN RET
...
RPD
Function: Set to rapid move mode

Syntax: RPD
4−28
Remarks This command sets the current motion mode to the rapid move mode
until next motion mode command is executed.
Example RPD
X10Y20Z30W40
OPENPROG1000CLEAR
RPD RET
N1000 LIN RET
….
Function: Spindle velocity setting

Syntax: S{data}
{data} is floating-point constant or expression representing the spindle velocity.
Remarks This command loads the {data} content into variable Q127. We may
detect the change of Q127 through PLC program and change the spindle
velocity accordingly.
Example S2000
S12.56
S(P100*SIN(SQRT(Q1)))
SEND
Function: Send message to computer.

Syntax: SEND{C1/C2},”message"
C1/C2 means Com1/Com2
Remarks This command will send out {message} through RS232 to the computer
or controller to controller for error indication or for status reporting. The
message can consist of “@{variable}” means the value of this variable.
Example IF(M180 != 0 AND P180 != 1)

SENDC1"PROGRAM RUNNING"
P180=1
ENDIF
4−29
IF(M180 = 0 AND P180 != 0)

SENDC1"PROGRAM STOP"
P180=0
ENDIF
SENDC2”P561=@P561” ; Set P561 value to another UTC controller
SPLINE
Function: Spline move mode

Syntax: SPLINE
Remarks This command sets the current motion in Spline move mode.
In the spline move mode, all the motion trajectory will be generated through a
3-dimentional calculation. By this way, we can obtain a smooth trajectory
passing by all the position we specified in the program.
In order to get the smooth trajectory, we need to add an additional time
segment (TM1) for the acceleration at the starting point, and also a time
segment (TM2) at the endpoint. The total motion time will be the total time for
program line motion plus TM1 and TM2.
The motion commands after the SPLINE command line, could specify the
velocity (F) or motion time (TM) step by step. The Spline move mode will be
terminated at program end or if other motion mode (RPD,LIN, CIR1 or CIR2)
command appears.
Example RPDX10Y10
SPLINE
X20Y15F2000
TM500
X30Y45
...
RPDX0Y0
STOP
Function: Stop program execution

Syntax: STOP
4−30
Remarks This command causes the executing program to a stop. The R or S

command will make the program execution re-started from the line following
the STOP command.
Example X100Y100
Z200
STOP
X0Y0Z0
Function: Tool select Code (T-CODE)

Syntax: T{data}[{letter}{data}. . .]
{data} could be a floating point constant or an expression, 2 digits for fractional
{data}is the specified variable value
Remarks The command T{data} will be recognized as CALL 1002.{data}. This
structure allows users to define their own T-code for special purpose easily.
Just like the CALL instruction, we may pass variables by the READ command
in the 1st line of subroutine and the {letter}{data} in T command.
Example T01 ; jump to N1000 of PROG1002

T1.1 ; jump to N1100 of PROG1002
T92X0Y0 ; jump to N92000 of PROG1002 passing X and Y
TA
Function: Set the total acceleration time

Syntax: TA{data}
acceleration time with the units msec.
Remarks The acceleration time consists of 2 portions, TS is the S-curve
acceleration time and TL is the linear acceleration time. The total acceleration
4−31
time TA=TS+TL.
If we set S Curve Acceleration Time TS=0, we will obtain a constant slope
acceleration. If TS=100, the motion profiles will become pure S curve. If
0>TS>100, the profile will have both linear (constant acceleration) and S-curve
portion.
Example TA100
TA(P10*2)
TA(INT(SQRT(30)*Q200+0.5))
4−32
TM
Function: Set move time

Syntax: TM{data}
{data} could be a floating point constant or an expression presenting the move
time with the units msec.
Remarks This command sets the move time of a motion in the motion program.
The setting will keep to the next F or TM command executed. The TM value
will be set to TA automatically if the setting is less than TA. (Also see TA
command)
Τ
TM or ∆P/F
Tacc Tacc
Τ
TM or ∆P/F TM or ∆P/F
Tacc Tacc Tacc
Example TM100
TM(P10*2)
TM(INT(SQRT(30)*Q200+0.5))
4−33
TS
Function: Set the percentage of S-curve acceleration time

Syntax: TS{data}
{data} is an integer between 0~100.
Remarks This command is the percentage of S-curve acceleration time over the
overall acceleration time TA.
Example TS100
TS(P10*2)
TS(INT(SQRT(30)*Q200+0.5))
UNIT
Function: Set the axes units ratio

Syntax: UNIT{axis}{data}[{axis}{data}. . .]
{data} could be a floating point constant or an expression presenting the ratio
with the units is the ratio value
Remarks This command will multiply a ratio to the axes units scales. (The axes
unit scales are defined by the on-line command #{number}->.) This
command will neither move the motor nor change the axes unit’s scales. It
only causes the future movement to multiply a ratio to the unit scale. The
ratio setting will be ignored if the setting is 0. It will generate a mirror trajectory
if the ratio setting is a negative value.
Example #1->1000X ; X axis Unit Scale = 1000 (counts/mm)

X10 ; X axis actual position: 10000 counts
UNITX1.5
UNITX1 ; Cancel the X-axis ratio setting
UNITX1.5
4−34
DWE2 ; re-PMATCH
CIR1X(10/1.5)I10 ; To path an ellipse, the X endpoint should be divided
by the ratio 1.5
WHILE
Function: Start point of a conditional loop

Syntax: WHILE({condition})
{condition}is a simple or compound conditions
Remarks WHILE is the only loop command in UTC400. It is used to do a block of
program command repeatedly until the condition is not true. If there is no
move command or DWELL, DELAY in the WHILE loop and the condition
keeps true, the control will leave this loop after each scan. This action
prevents all the background timing from being used in the WHILE loop. It also
cancels the Blended Move Function.
Each of the conditional loop starts with WHILE should end with a ENDW
instruction. The program will generate an error message when it is closed
(CLOSE) if the WHILE and ENDW do not match with pair. When the command
ENDW is executed in a program, the control will jump back to associated
WHILE for next condition evaluation. It is not allowed putting the associated
ENDW in front of the WHILE command.
The maximum nested WHILE loop is 16. There is also an error message be
generated if it is over limitation
Example WHILE(M11 = 1) ;Wait until M11 equal to 0

ENDWHILE
INC
P1=0
WHILE(P1 < 10)
X1000
P1=P1+1
ENDW
4−35
Program Pointer Control Command
CLEAR
Function: Clear the current program contents

Type: Motion program pointer control (Program command, On-line Command)
Syntax: CLEAR
Remarks This command erases the current opened buffer and points the program
pointer to the beginning of this program. Normally, we put this command
following the OPEN {buffer} command to override the original contents.
Example OPEN PROG1 CLEAR

LINX10Y10
CIR1I5
...
CLEAR
LIST
<End>
DEL
Function: Delete program command line

Type: Motion program pointer control (Program Command)
Syntax: DEL[{const}]
DEL*
{const} is an integer representing the number of lines to be deleted after
current line.
Remarks If without a number specified in this command, the current program line
will be deleted. If a number specified in this command, it specifies that the
total number of lines after the current program line will be deleted. If the
command followed by a '*', all the program lines after the current line will be
deleted.
LINX10Y10
CIR1I5
4−36
CLOSE
OPEN PROG1
@JP0
DEL
CLOSE
LISTPROG1
CIR1I5
END
Function: End of a program

Type: Motion program pointer control (On-line Command)
Syntax: END
Remarks In the program editing process, it is possible to move the program
pointer to any line in the program for insertion, modification or deletion. This
command will cause the pointer point to end of the program. (The pointer point
to the end of a program when it is just opened.)
Example OPEN PROG1

LINX10Y10
CIR1I5
...
@JP0
LIST
LINX10Y10
@END
LIST
<End>
INS
Function: Set the program editing to the insertion mode

Syntax: INS
Remarks In the program editing insertion mode, all the entered new contents will
be inserted to the current content after the program pointer. The original
content after the pointer will be push to follow the new entered contents.
4−37

LINX10Y10
CIR1I5
CLOSE
OPEN PROG1
@JP0
INS
RPDX0Y0
CLOSE
LISTPROG1
RPDX0Y0
LINX10Y10
CIR1I5
JP
Function: Program pointer points to a specified line number.

Syntax: JP{const}
{const} is an integer representing the program line number raging 1∼4096
Remarks In the program editing process, it is possible to point the program pointer
to any line in the program for insertion, modification or deletion. This
command will cause the pointer point to the {const} specified line number.
The pointer will point to the start of this program if the line number is not
specified. (The same as JP0)
Example OPEN PROG1

LINX10Y10
N100CIR1I5
...
JP100
LIST
N100CIR1I5
4−38
LEARN
Function: Motor position teaching

Syntax: LEARN[({axis}[,{axis}. . .])]
{axis}represents the axis for teaching, range:1∼4
Remarks This command will cause the new axes position equal to the original
setting position plus the current motor position. We may first move the motors
to a desire position then execute the LEARN command to add the motor
position value the original setting axes value. All the motor position value will
be read if there is no axis specified in the LEARN command.
Example #1->1000X
#2->1000Z
OPEN PROG1
<Ctrl-P>
2500 -2000 0 0 0 0 0 0
LEARN(1,2)
@UPPER
LIST
X2.5Z-2
LIST
Function: Report the program content which the pointer pointed.

Type: Motion program pointer control (Program Command, On-line Command)
Syntax: LIST
Remarks In the program editing, it is possible to check he current content of the
pointed program line. If the pointer point to program end, the reported
message will be an <End> message.
Example OPEN PROG1

LINX10Y10
CIR1I5
LIST
<End>
@UPPER
4−39
LIST
CIR1I5
NEXT
Function: Program pointer point to next program line

Syntax: NEXT
command will cause the pointer points to the next program line.
Example OPEN PROG1

LINX10Y10
CIR1I5
...
@JP0
LIST
LINX10Y10
@NEXT
LIST
CIR1I5
OVR
Function: Set the program editing process as the write over mode.
Syntax: OVR
Remarks In the editing write over mode, the new edited program contents will
over-write the current contents, other contents will keep unchanged.

LINX10Y10
CIR1I5
CLOSE
OPEN PROG1
@JP0
4−40
OVR
RPDX0Y0
CLOSE
LISTPROG1
RPDX0Y0
CIR1I5
UPPER
Function: Program pointer point to last program line

Syntax: UPPER
command will cause the pointer point to the previous program line.
Example OPEN PROG1

LINX10Y10
CIR1I5
LIST
<End>
@UPPER
LIST
CIR1I5
4−41
Micro Trend UTC-series Hardware Reference Aug. 2004
Contents
UTC-series CONNECTORS & INDICATORS ...................................................2

UTC-series Front View/Dimension Diagram ..................................................2
UTC-series Inside View....................................................................................4
Function of Connectors...................................................................................5
DRIVERx (15-PIN D-sub CONNECTOR) ..........................................................7
COM1 (9-PIN D-sub CONNECTOR) .................................................................8
COM2 (9-PIN D-sub CONNECTOR) .................................................................9
J1-J6 Terminal Block .......................................................................................11
J7 Terminal Block ............................................................................................13
J8 Terminal Block ............................................................................................14
J9 Terminal Block ............................................................................................15
CN2 (14-PIN HEADER) .....................................................................................16
CN3 (26-PIN HEADER) .....................................................................................17
CN4 (26-PIN HEADER) .....................................................................................18
DIP_SWITCHES ................................................................................................19
CONNECTION DIAGRAM .................................................................................21
MT-0170 CONNECTORS& INDICATORS ........................................................29
MT-0192 CONNECTORS& INDICATORS ........................................................32
MT-0118C CONNECTORS& INDICATORS……………….………………………35
1
UTC-series CONNECTORS & INDICATORS
UTC-series Front View/Dimension Diagram

FOR V3.0
194.00 mm
175.50 mm
COM1
J1 +LIM1
-LIM1
HMF1
DRIVER 1 +V
COM
DRIVER
1-4 J2
55.50 mm
01 +5V
+LIM2
02 CHC -LIM2
03 CHB HMF2
04 CHA
05 DIR
+V
06 PLS
DRIVER 2 COM
07 ENA
08 FLT J3 +LIM3
09 DGND
10 CHC \
-LIM3
11 CHB \ HMF3
12 CHA \ +V
13 DIR \
14 PLS \
COM
DRIVER 3
15 COM
215.50 mm
282.50 mm
J4 +LIM4
GND J9 -LIM4
HWB HMF4
HWA +V
+5V COM
J8 DRIVER 4 J5
GND +V
AD2 M11
AD1 POWER M12
-12V M13
+12V IN POS M14
DA2 M15
DA1 STEP M16
PWM2 M17
PWM1 FLT M18
+5V COM
+LIM
COM J7 J6 +V
M08 M21
M07 M22
M06
M05
UTC400P M23
M24
M04 Programmable Four-Axis Controller M25
M03 M26
M02 M27
M01 M28
+V COM
MICRO TREND
AUTOMATION CO., LTD.
鐵殼高度(H):75mm
Height:75mm
2
FOR V2.0
194.00 mm
175.50 mm
COM1
J1 +L IM1
-LIM1
HM F1
D RIV ER 1 +V
COM
DRI VE R
1-4 J2 +LIM2
01+5V
02CHC -L IM2
C OM2 03CHB HMF2
04CHA
+V
226.39 mm 66.39 mm
05DIR
D RIV ER 2 C OM
06PLS
07ENA
08FLT J3 +LIM3
09DGND
10CHC \
-L IM3
11CHB \ HMF3
12CHA \ +V
13DIR \
14PLS \ C OM
D RIV ER 3
15COM
J4
282.50 mm
+LIM4
G ND J9 -L IM4
H WB HMF4
H WA +V
+ 5V C OM
J8 D RIV ER 4 J5
G ND +V
A D2 M 11
A D1 POWER W.DO G M 12
-12V M 13
+ 12V I N POS B.REQ M 14
D A2 M 15
D A1 FLT LI M M 16
PWM 2 M 17
PWM 1 F.E.1 F.E.2 M 18
+ 5V C OM
F.E.3 F.E.4
C OM J7 J6 +V
M 08 M 21
M 07 M 22
M 06
M 05
UTC400P M 23
M 24
M 04 Programmable Four-Axis Controller M 25
M 03 M 26
M 02 M 27
M 01 M 28
+V C OM
MICRO TREND
AUTOMATION CO., LTD.
鐵殼高度(H):75mm
Height:75mm
3
UTC-series Inside View
CN2
CN3
CN4
1 2 3 4 5 6 7 8
Flash Battery
29F040 電池
ON
4
Function of Connectors
Main Power Connector

Main Power Input AC220V/110V 60/50Hz
Driver Connector - DRIVER1, DRIVER2, DRIVER 3, DRIVER 4

Encoder feedback signal
Driver fault/enable signal
Pulse/Direction output (UTC-x00P or UTC-400H)
DAC output (UTC-x00V or UTC-400H)
Serial Communication Port - COM1, COM2

Two standard RS232serial communication ports
The fastest Baud Rate-38400 bps
Dedicated Digital I/O Port - J1,J2,J3,J4

There are three dedicated digital input for +LIM/-LIM/HMF signal with photo-isolation and
LED status indication. Either internal +V(+13V) or external +24V can be used.
General Purpose Digital I/O Port - J5,J6,J7

16 programming digital inputs (M11..18, M21..28), 8 programming digital outputs (M1..8)
with photo-isolation and LED status indication. Either internal +V(+13V) or external +24V
can be used.
PWM Output Port - J8

Two PWM output ports. Both frequency and pulse width can be setting.
Analog Input Port - J8

Two 0~5Vsingle ended analog inputs. The resolution is 12 bits.
Handwheel Port – J9
This port offers a handwheel encoder input.
The signal can be line driver or open collector.
5
LCM Port - CN2

Can connect to standard LCD Module display(2*40,4*20...)
Thumbwheel Multiplexer Port 1 - CN3

8 TTL level inputs and 12 TTL level outputs. It can be
16-digit thumbwheel switch
Thumbwheel Multiplexer Port 2 - CN4

8 TTL lever inputs and 12 TTL lever outputs. It can be
-16-digit thumbwheel switch, or
-Two 32 inputs and 16 outputs card
DIPSW
There is a 8 bits DIP switch input on board to set some system feature.
LED indicator for V3.0

POWER : To indicate +5V power status. It is green when power
W.DOG : To indicate CPU operation status. It is red when CPU is abnormal.
IN POS : To indicate if the motor is in position or not. It is light when in position.
B. REQ : Buffer Request LED is light to indicate the program is downloading.
STEP : Single step
HOLD : Program hold
FLT : Driver fault
F.E. : Motor following error
+LIM : Motor hits the hardware or software positive limit
-LIM : Motor hits the hardware or software negative limit
LED indicator for V2.0

POWER : To indicate +5V power status. It is green when power
W.DOG : To indicate CPU operation status. It is red when CPU is abnormal.
IN POS : To indicate if the motor is in position or not. It is light when in position.
B. REQ : Buffer Request LED is light to indicate the program is downloading.
FLT : Driver fault
LIM : Motor hits the hardware or software positive limit
F.E. 1 : Driver1 Motor following error
6
DRIVERx (15-PIN
D-sub CONNECTOR)
Front View
UTC-x00P or UTC-400H
PIN# SYMBOL FUNCTION Description NOTES
1 +5V OUTPUT +5V Power Reference to DGND
2 CHC INPUT Encoder C Positive
3 CHB INPUT Encoder B Positive
4 CHA INPUT Encoder A Positive
5 DIR OUTPUT Direction Output To Driver
6 PLS OUTPUT Pulse Output To Driver
7 ENA OUTPUT Driver Enable Reference to COM
8 FLT INPUT Driver Fault Reference to COM
9 DGND COMMON
10 CHC/ INPUT Encoder C Negative
11 CHB/ INPUT Encoder B Negative
12 CHA/ INPUT Encoder A Negative
13 DIR/ OUTPUT Neg. Direction Output To Driver
14 PLS/ OUTPUT Neg. Pulse Output To Driver
15 COM COMMON
UTC-x00V or UTC-400H
1 +5V OUTPUT +5V Power Reference to DGND
2 CHC INPUT Encoder C Positive
3 CHB INPUT Encoder B Positive
4 CHA INPUT Encoder A Positive
5 AGND COMMON
6 DAC OUTPUT ±10V DAC Command Reference to AGND
7 ENA OUTPUT Driver Enable Reference to COM
8 FLT INPUT Driver Fault Reference to COM
9 DGND COMMON
10 CHC/ INPUT Encoder C Negative
11 CHB/ INPUT Encoder B Negative
12 CHA/ INPUT Encoder A Negative
13 AGND COMMON
14 N.C.
15 COM COMMON
7
COM1 (9-PIN D-sub

CONNECTOR)
Front View
PIN# SYMBOL FUNCTION Description UTC-series <---> PC

2 TXD OUTPUT Transmit data 2 (TXD) ---> 2 (RXD)
3 RXD INPUT Receive data 3.(RXD) <--- 3 (TXD)
5 GND COMMON Common 5.(GND) <-->5 (GND)
7 CTS CTS Clear to send 7.(CTS) <---- 7 (RTS)
8 RTS RTS Request to send 8.(RTS) ----> 8 (CTS)
9 +5V +5V
Remark: 9P D-sub connector, one to one to PC. The default setting is 38400, N, 8, 1
1 1 1 1
2 2 2 2
3 3 3 3
4 4 4 4
5 5 5 5
6 6 6 6
7 7 7 7
8 8 8 8
9 9 9 9
UTC-series PC UTC-series PC
9 pin SUB-D 9 pin SUB-D 9 pin SUB-D 25 pin SUB-D
MALE FEMALE MALE FEMALE
8
COM2 (9-PIN D-sub

CONNECTOR)
Front View
PIN# SYMBOL FUNCTION Description UTC-series <---> PC

2 TXD OUTPUT Transmit data 2 (TXD) ---> 2 (RXD)
3 RXD INPUT Receive data 3.(RXD) <--- 3 (TXD)
5 GND COMMON Common 5.(GND) <-->5 (GND)
7 CTS CTS Clear to send 7.(CTS) <---- 7 (RTS)
8 RTS RTS Request to send 8.(RTS) ----> 8 (CTS)
9 +5V +5V
Remark: 9P D-sub connector, one to one to PC.
1 1 1 1
2 2 2 2
3 3 3 3
4 4 4 4
5 5 5 5
6 6 6 6
7 7 7 7
8 8 8 8
9 9 9 9
UTC-series PC UTC-series PC
9 pin SUB-D 9 pin SUB-D 9 pin SUB-D 25 pin SUB-D
MALE FEMALE MALE FEMALE
1 1 1 1
2 2 2 2
3 3 3 3
4 4 4 4
5 5 5 5
6 6 6 6
7 7 7 7
8 8 8 8
9 9 9 9
UTC-series UT740/725/UT735/UT750 UTC-series PLC MMI

9 pin SUB-D 9 pin SUB-D 9 pin SUB-D (Easy View)
MALE FEMALE MALE 9 pin SUB-D
MALE
9
1 1 1 1
2 2 2 2
3 3 3 3
4 4 4 4
5 5 5 5
6 6 6 6
7 7 7 7
8 8 8 8
9 9 9 9
UTC-series PLC MMI(Hitech)- FEMALE UTC-series PLC MMI(Hitech)

9 pin SUB-D (Digital ProFace)-MALE 9 pin SUB-D 9 pin SUB-D
MALE (Fuji) -MALE MALE FEMALE
25 pin SUB-D
1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 9
UTC-series PLC MMI(Delta-Com2)

9 pin SUB-D 9 pin SUB-D
MALE MALE
Panel setting Facon FB series

Baut rate 19200,N,8,1
(Delta//Fuji // ProFace Baut rate 19200,E,7,1(V2.0: I2=$52) ; (V3.0: I2=$52 I3=2))
Parameter PLC UTC-series
R(HR) 0- 1023 P0-1023
R(HR) 1024- 2047 Q0-1023
M 0- 1023 M0-1023(for bit)
WM 0- 1023 M0-1023(for value)
10
J1-4 (5-PIN Terminal Block 5 1

CONNECTOR) Front View

1 +LIM INPUT Positive Limit Input
2 -LIM INPUT Negative Limit Input
3 HMF INPUT Home Flag
4 +V OUTPUT +13V Power +13V isolation power
5 COM COMMON +13VG COMMON +13VG Common
UTC-series offers on board 28 photo-isolation digital inputs. Among these points, there
are 16 (J5, J6) general purposed inputs and 12(+LIMx/-LIMx/HMFx) dedicated inputs.
There is an isolated +13V on board. The customer can use this +13V or external +24V
as follows:
+13V +5V
+V
4.7k 4.7k
INx
COM
+13VG DGND
suggested connection method:
Internal +13V +5V External +13V +5V
+V 13~24Vdc +V
4.7k 4.7k 4.7k 4.7k
Switch INx INx

COM COM
Transistor +13VG DGND +13VG DGND
11
J5 (10-PIN Terminal Block 10 1


1 +V POWER +13V POWER +13V isolation power
2 M11 INPUT Machine Input 11
10 COM COMMON +13VG Common +13VG Common


1 +V POWER +13V Power +13V isolation power
12


1 +V POWER +13V Power +13V isolation power
2 MO1 OUTPUT Machine Output 1
UTC-series offers on board 8 photo couple isolation digital output points.. There is a
isolated +13V on board. The customer can use this +13V or external +24V as follows
+5V +13V
470 2.7k
+V
OUTx
OUTx
COM
+13VG
Suggested connection method:
Internal External
+5V +13V +5V +13V
470 2.7k 470 2.7k

+V +V 13~24V
OUTx
OUTx OUTx Load

COM
COM
+13VG +13VG
13


1 +5V OUTPUT +5V Power
2 PWM1 OUTPUT PWM Output 1 Reference to GND
3 PWM2 OUTPUT PWM Output 2 Reference to GND
4 DA1 OUTPUT ±10V Analog Output Reference to GND
5 DA2 OUTPUT ±10V Analog Output Reference to GND
6 +12V OUTPUT +12V Power Reference to GND
7 -12V OUTPUT Neg. Pulse Output Reference to GND
8 AD1 INPUT ±10V Analog Input Reference to GND
9 AD2 INPUT ±10V Analog Input Reference to GND
10 GND COMMON Power Common
1. UTC-series offers two analog output -10~+10V. The resolution is 10~12 bits.
2. UTC-series offers two analog input -10~+10V. The resolution is 12 bits.
14


1 +5V OUTPUT +5V Power
2 HWA INPUT Encoder A Ch Pos Encoder Input
4 HWB INPUT Encoder B Ch Pos Encoder Input
8 GND COMMON Digit Common
UTC-series has one ports encoder input. It can be line driver or open collector.
Handwheel (x=A,B)
+5V
-
+ CH5x
HWx 26LS32
15
CN2 (14-PIN HEADER)

Front View
PIN# SYMBOL FUNCTION DESCRIPTION NOTES

1 VDD OUTPUT +5V power Power output
2 Vss COMMON Common
3 Rs OUTPUT Read strobe TTL signal out
4 VEE OUTPUT Contrast adjust 0 to +5VDC*
5 E OUTPUT Display enable High to enable
6 R/W OUTPUT Read/write strobe TTL signal out
7 DB0 OUTPUT Display data 0
JDISP can be connected to 2 x 40 LCD module to send the message on the display.
*Remark:Can Be Controlled By VR1
16
CN3 (26-PIN
HEADER) Front View
PIN# SYMBOL FUNCTION DESCRIPTION NOTE

1 GND COMMON
2 GND COMMON
3 IN17 INPUT
4 OUT09 OUTPUT
5 IN18 INPUT
6 OUT10 OUTPUT
7 IN19 INPUT
8 OUT11 OUTPUT
9 IN20 INPUT
10 OUT12 OUTPUT
11 IN21 INPUT
12 OUT13 OUTPUT
13 IN22 INPUT
14 OUT14 OUTPUT
15 IN23 INPUT
16 OUT15 OUTPUT
17 IN24 INPUT
18 OUT16 OUTPUT
19 OUT25 OUTPUT
20 GND COMMON
21 OUT26 OUTPUT
22 GND COMMON
23 OUT27 OUTPUT
24 GND COMMON
25 +5V +5VDC
26 OUT28 OUTPUT
JTHW1 offers 8 TTL lever inputs and 12 TTL lever inputs. The main function is to read
BCD thumbwheel switches.
17
CN4 (26-PIN
HEADER) Front View
PIN# SYMBOL FUNCTION DESCRIPTION NOTE

1 GND COMMON
2 GND COMMON
3 IN25 INPUT
4 OUT17 OUTPUT
5 IN26 INPUT
6 OUT18 OUTPUT
7 IN27 INPUT
8 OUT19 OUTPUT
9 IN28 INPUT
10 OUT20 OUTPUT
11 IN29 INPUT
12 OUT21 OUTPUT
13 IN30 INPUT
14 OUT22 OUTPUT
15 IN31 INPUT
16 OUT23 OUTPUT
17 IN32 INPUT
18 OUT24 OUTPUT
19 OUT29 OUTPUT
20 GND COMMON
21 OUT30 OUTPUT
22 GND COMMON
23 OUT31 OUTPUT
24 GND COMMON
25 +5V +5VDC
26 OUT32 OUTPUT
JTHW2 offers 8 TTL lever inputs and 12 TTL lever inputs. The main function is to read
BCD thumbwheel switches. It also can be used as TTL I/O multiplexer.
18
DIP_SWITCHES(V2.03)
OFF ON
1
2
3
4
5
6
7
8
SW1
NO. FUNCTION OFF ON
1 Power on re-initializing NO YES
(The same as $$$*** command)
2 **
3 **
4 Com1 handshake YES NO
5
6
7 Power on load from FLASH NO YES
8
NO.2 N0.3 COM1 baudrate

OFF OFF 38400
ON OFF 19200
OFF ON 9600
19
DIP_SWITCHES(V3.0)
OFF ON
1
2
3
4
5
6
7
8
SW1
NO. FUNCTION OFF ON
1 Power on re-initializing NO YES
(The same as $$$*** command)
2 Com1 baud rate 00:115200 01: 9600
3 10:19200 11: 38400
4 Com1 handshake YES NO
5 Current loop frequency 4K 6K
6 Wait state 1 wait state 0 wait state
7 Power on load from FLASH NO YES
8 Seven-Segment Display Mode Standard Other
20
CONNECTION DIAGRAM
Parameter P00 : 0X04

P08 : 3000
P09 : 3000
P10 : 3000
21
Parameter P00 : 0X00 4000Pulse/rev

P03 : 0125
P04 : 4096
P21 : 0001
22
Parameter Pn010 : 0002

Pn011 : 0030
Pn019 : 3000
Pn029 : 0300
Parameter Pn010 : 0X01
23
24
Parameter Pr02 : 2
Pr52 : 0
Pr56 : 3000
Parameter Pr02 : 0
Pr42 : 3
25
26
27
28
MT-0170 CONNECTORS & INDICATORS
120.0 mm
225.0 mm
58.0 mm
29
J4
+V
M900//M950
M901//M951
M902//M952 CN1 to
M903//M953 Controller
M904//M954 CN2 to
M905//M955 Card 2
M906//M956
M907//M957
COM
+V J5 J1
+5VG
M908//M958 +5VDC
M909//M959 COM
M910//M960 +V ( 12-24V )
M911//M961
M912//M962
M913//M963 J2
+V
M914//M964
M932//M982
M915//M965 M933//M983
COM M934//M984
+V J6 M935//M985
M916//M966 M936//M986
M917//M967 M937//M987
M918//M968 M938//M988
M919//M969 M939//M989
M920//M970 COM
M921//M971
M922//M972
M923//M973
COM J3
+V
+V J7 M940//M990
M924//M974 M941//M991
M925//M975 M942//M992
M926//M976 M943//M993
M927//M977 M944//M994
M928//M978 M945//M995
M929//M979 M946//M996
M930//M980 M947//M997
M931//M981 COM
COM
JP1 2,3 shorted(card1 ) input are M900-M931 output are M932-M947

JP1 1,2 shorted(card2 ) input are M950-M981 output are M982-M997
I18 = 1 (card1 enabled) / 2 (card2 enabled) / 3 (card1&2 enabled)
30
Input:
+5V
+V
2.7k
Mxxx
COM
Output:
+5V
+V
10k
Mxxx
Load
COM
31
MT-0192 CONNECTORS & INDICATORS
120.0 mm
193.5 mm
57.0 mm
32
CN5
CN4
+V
M57/67
M56/66
M55/65
M54/64
M53/63
M52/62
M51/61
M50/60
COM
+V
IN1
IN2
IN3
IN4
IN5
IN6
IN7
IN8
COM
AC SSR 250V3A CN6
DC SSR 60V2A +V
(COM1,2 TO +V) IN9
Relay AC125V0.6A IN10
DC30V2A IN11
IN12
COM
P4 P2 P1
P3
+V
CN7
M93/97 COM2
M92/96 P3 M93/97
M91/95 M92/96
M90/94 M91/95
COM M90/94
N.C.
CN8
CN3
COM1
M47/37
M46/36
P5 M45/35
+V M44/34
M47/37 M43/33
P5 M42/32
M46/36
M45/35 M41/31
M44/34 M40/30
M43/33 N.C.
M42/32
M41/31
M40/30
COM
P4 P2 P1
+V
IN1
IN2
IN3
IN4
IN5
IN6
IN7
IN8
COM
+V
M57/67
M56/66
M55/65
M54/64
M53/63
M52/62
M51/61
M50/60
COM
+V
IN9
IN10
IN11
IN12
COM
CN4,CN5,CN6 are usedfor type inputs,P1,P2,P4 are their corresponding NPN outputs.
When CN8 connetted to UTC-series controller,CN3 is the outputs and Cn5 is the intputs.
33
When Relay used,short 12for normally closed and 23 for normally open.
If the input(M50..M57) were NPN type, the lines shown below must be wired.
34
MT-0118C CONNECTORS & INDICATORS
81.5mm
56.0mm
121.0mm
CN1
CN2
CN3
+V:12-24VDC
35

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What are the different types of connectors used in the manual?

What are the different types of connectors used in the manual?

What are the different types of variables discussed in the manual?

What are the different types of variables discussed in the manual?

UTC

Programmable Four Axes

Reference Manual V2.2

Micro Trend Automation Co., Ltd

I1 Coordinate System Activation Control..........................................2-1

Ix29 Motor x DAC Bias........................................................................2-16

Table of Contents iii

Mathematics Operation Ability

SIN Function Standard trigonometric sine function

Range units None

Domain All real numbers

Expressions: An operation command string that consists of constants, variables,

Data: The Data could be a constant without bracketing or an expression

Comparators: Used for the comparison of two numerical values or expressions.

Matrix Read: Using P({expression}) instead of P{constant} could program a

Matrix Write: Matrix write should follow a procedure described below.

Mem. Coord. Coord. Coord. Coord.

Sign Width Start Bit Type Address

Address- The address which M variable point to, Range: 0000-FFFF

0: Not used as a pointer, used as a normal variable.

Mxx-> Read current Mxx definition.

JOG THE MOTOR

Jog Acceleration and Deceleration:

For pulse command controllers:

1. The HM Command received.

For voltage command controllers:

1. The HM Command received.

OPEN PROG 1 ; Open program buffer #1

OPEN PROG 1000 CLEAR ; Defining a G-Code set

IF (Q100 & 16777216 > 0) ; Check if Y variable read complete.

H ; Halt the execution

IF (M11 = 0 AND P11 != 0) ; Press E-stop pushbutton

If we set S-curve acceleration time TS = 0(Ts=TA*0=0), we will obtain a

TS=0 TS=100 0>TS>100

Fig. 1 Fig. 2 Fig. 3

In circular mode, UTC-Series will automatically generate 2-dimentional or

Orientation of the plane

NORMAL K-1 NORMAL J-1 NORMAL I-1

z Position Following – electrical gearing

Trajectory position Command position

Flow chart of position following

z Time Based Following – electrical cams

Flow chart of time base following

On-line Command (The commands will be executed upon reception)

A. On-line Commands For All Axes

<Ctrl-K> Disable all motor driver.

2. Addressing Mode Commands

3. PLC Control Commands

4. Global Variable Commands:

5. Buffer Control Commands

B. Coordinate System On-line Commands

2. Normal Axis Command

3. Program Control Command

5. Coordinate Attribute Commands

6. Buffer Control Command