MOTION
ACCW value	Sets the linear acceleration of the W-axis to value .
ACCX value	Sets the linear acceleration of the X-axis to value .
ACCY value	Sets the linear acceleration of the Y-axis to value .
ACCZ value	Sets the linear acceleration of the Z-axis to value .
HOMEW	Instructs home searching sequence of the W-axis.
HOMEX	Instructs home searching sequence of the X-axis.
HOMEY	Instructs home searching sequence of the Y-axis.
HOMEZ	Instructs home searching sequence of the Z-axis.
JOGW	Instructs jogging mode of the W-axis.
JOGX	Instructs jogging mode of the X-axis.
JOGY	Instructs jogging mode of the Y-axis.
JOGZ	Instructs jogging mode of the Z-axis.
MOVAALL	Begins an absolute move on all axes.
MOVAW	Begins an absolute move on the W-axis.
MOVAX	Begins an absolute move on the X-axis.
MOVAY	Begins an absolute move on the Y-axis.
MOVAZ	Begins an absolute move on the Z-axis.
MOVRALL	Begins a relative move on all axes.
MOVRW	Begins a relative move on the W-axis.
MOVRX	Begins a relative move on the X-axis.
MOVRY	Begins a relative move on the Y-axis.
MOVRZ	Begins a relative move on the Z-axis.
POSW value	Sets the distance to move of the W-axis to value .
POSX value	Sets the distance to move of the X-axis to value .
POSY value	Sets the distance to move of the Y-axis to value .
POSZ value	Sets the distance to move of the Z-axis to value .
STOPALL	Stops the motion of all axes.
STOPW	Stops the motion of the W-axis.
STOPX	Stops the motion of the X-axis.
STOPY	Stops the motion of the Y-axis.
STOPZ	Stops the motion of the Z-axis.
VELW value	Sets the maximum step rate of the W-axis to value .
VELX value	Sets the maximum step rate of the X-axis to value .
VELY value	Sets the maximum step rate of the Y-axis to value .
VELZ value	Sets the maximum step rate of the Z-axis to value .
COORDINATED MOTION
LINE	Makes a coordinated linear motion.
VACCEL value	Sets the vector acceleration to value .
VVEL value	Sets the vector velocity to value .
GENERAL CONFIGURATION
EPOSW	Equates the current position of the W-axis to the value of the corresponding step counter.
EPOSX	Equates the current position of the X-axis to the value of the corresponding step counter.
EPOSY	Equates the current position of the Y-axis to the value of the corresponding step counter.
EPOSZ	Equates the current position of the Z-axis to the value of the corresponding step counter.
JOFF	Disables the joystick and trackball operation.
JON	Enables the joystick and trackball operation.
MOFFW	Turns the motor driver of the W-axis off.
MOFFX	Turns the motor driver of the X-axis off.
MOFFY	Turns the motor driver of the Y-axis off.
MOFFZ	Turns the motor driver of the Z-axis off.
MONW	Turns the motor driver of the W-axis on.
MONX	Turns the motor driver of the X-axis on.
MONY	Turns the motor driver of the Y-axis on.
MONZ	Turns the motor driver of the Z-axis on.
MSGOFF	Turns off the feedback messages sent from the controller.
MSGON	Turns on the feedback messages sent from the controller.
SPOSW value	Sets the current position of the W-axis to value .
SPOSX value	Sets the current position for the X-axis to value .
SPOSY value	Sets the current position for the Y-axis to value .
SPOSZ value	Sets the current position for the Z-axis to value .
SQUADW value	Sets the W-axis quadrature decoder to value
SQUADX value	Sets the X-axis quadrature decoder to value .
SQUADY value	Sets the Y-axis quadrature decoder to value .
SQUADZ value	Sets the Z-axis quadrature decoder to value .
DATA FLOW
CLRBIT value	Resets the discrete output specified by value to low state.
IN	Report the input ports
OUT value	Writes the value to the output ports.
RQUADW	The controller sends the W-axis quadrature decoder value to the serial port.
RQUADX	The controller sends the X-axis quadrature decoder value to the serial port.
RQUADY	The controller sends the Y-axis quadrature decoder value to the serial port.
RQUADZ	The controller sends the Z-axis quadrature decoder value to the serial port.
RSTSW	Reports the status of W-axis
RSTSX	Reports the status of X-axis
RSTSY	Reports the status of Y-axis
RSTSZ	Reports the status of Z-axis.
RW	Reports the value of W-axis step counter.
RX	Reports the value of X-axis step counter.
RY	Reports the value of Y-axis step counter.
RZ	Reports the value of Z-axis step counter.
SETBIT value	Sets the discrete output specified by value to high state.