Description

Another message form reflects the "object oriented" nature of the software and has the following form:

<receiver> <verb> <parameters> <CR>

Individual axes are presented as the "A" array numbered 1 to 16 (A is for "Axis"). An example of an object message to an individual axis would be the MTR command, Motor On command:

Here the "receiver" is A1, axis 1, the first "element" in the 16 xis array. MTR is the "verb" which acts on the "receiver". ON is a named constant with the value of 1. The parameter could have been a number also.

Reading and Writing

Many properties are read and written with the same command. The distinction is determined by whether a parameter has been provided or not. If a parameter has been provided then the command writes the information. If the command is absent a query is performed and the value is not changed.

For example, ACP, Actual Position, can be queried if the position parameter is absent:

Changing the actual position of the axis is accomplished if a parameter is provided:

Note that the result is the parameter value that was sent. This can be used to be assured the value was properly received.