Device Protocol

Scope and primary source

The primary device source is Tsujicon, PM4C-06A Series Operating Manual, Revision 4 (2022-04-15), covering the PM2C-06A among other models. The PM16C-16 is not assumed to be an identical device.

Communication

The manufacturer specifies a common command set for LAN, RS-232C, and GP-IB, with CR+LF as a fixed delimiter. The Python Communication implementation uses TCP, ASCII encoding, and CR+LF framing.

Representative commands

Command	Function
`REM` / `LOC`	Remote / local mode
`VER?`	Firmware version
`PS?x` / `PSx±ddddddd`	Position query / preset
`ABSx±ddddddd` / `RELx±ddddddd`	Absolute / relative move
`SSTPx` / `ESTPx`	Slow / fast stop
`STS?`	Read aggregate status
`SETLS?x` / `SETLSx...`	Limit switch configuration
`FL?x` / `BL?x`	Read software limits

The manufacturer’s series-wide notation allows x from 0 to 3; this PM2CD Python implementation accepts only channels 0 and 1. See pages 2–4 of the manufacturer manual for command tables and the later command-description section for details.

Python API versus raw commands

set_limit() reads SETLS?x, enables digital limits if necessary, and issues the configuration and FLx / BLx commands. Users need not reconstruct that multi-command sequence manually.

Before moving hardware, verify wiring, limit switches, travel direction, and permissible travel. The examples have not been run against a physical controller.