# Cool Muscle CM1-C ASCII / CML Serial Control Cheat Sheet

**Applies to:** CM1-C, with RT3.14-focused commands  
**Serial default:** 38400 baud, 8-N-1, no flow control  
**Terminator:** carriage return (`\r`, ASCII 13) after every command  
**Motor ID:** append `.1`, `.2`, etc. Always include it explicitly.

> Use low speed and low torque during commissioning. Software commands are not a safety-rated E-stop.

## Quick direct move

```text
M0.1=20
A0.1=10
S0.1=20
P0.1=1000
^.1
```

- `P0` target position in pulses
- `S0` speed; actual unit is selected by `K37`
- `A0` acceleration in thousands of pulses/s^2
- `M0` torque limit, 0-100% of peak torque
- `^` execute

## Continuous rotation until stopped

```text
A0.1=10
M0.1=30
P0.1=1000000000
S0.1=20
^.1
```

Use negative speed for the opposite direction:

```text
S0.1=-20
^.1
```

Stop:

```text
].1
```

`S0.1=0` also stops indefinite-position motion. Exact CW/CCW depends on `K45`.

## Safety and enable commands

| Command | Action |
|---|---|
| `].1` | Immediate normal software stop of motor 1; pauses a bank |
| `*` | Emergency stop all motors on the chain |
| `*1` | Clear emergency-stop state |
| `).1` | Disable motor; shaft becomes free |
| `(.1` | Enable motor |

## Queries

| Command | Information |
|---|---|
| `?.1` | Dynamic P0/A0/S0 |
| `?85.1` | Firmware and motor ID |
| `?90.1` | All K parameters |
| `?91.1` / `?P.1` | Position registers |
| `?92.1` / `?S.1` | Speed registers |
| `?93.1` / `?A.1` | Acceleration registers |
| `?95.1` | Position error |
| `?96.1` | Current position |
| `?97.1` | Current speed |
| `?98.1` | Averaged current |
| `?99.1` | Motor status |
| `?70.1` | Input status |
| `?71.1` | Temperature |
| `?74.1` | Analog input |
| `?1000.1` | All program and logic banks |
| `K37.1` | Query one specific parameter |

## Status values from `?99`

- `0` moving
- `1` position-error overflow
- `2` overspeed/overvoltage
- `4` overload/overcurrent
- `8` in position / ready
- `16` disabled
- `32` push torque reached
- `128` overtemperature
- `256` push target reached before expected resistance
- `512` emergency stop

Values can be combined as a bit field.

## Zeroing and homing

| Command | Action |
|---|---|
| `|.1` | Run configured origin search |
| `|1.1` | Move to position zero |
| `|2.1` | Assign current position as zero |
| `|4.1` | Soft reset |
| `|11.1` | Clear whole-revolution count |

The character is pipe `|` (ASCII 124), not capital I. Configure `K42`, `K43`, `K45`, `K46`, `K47`, and `K48` before origin search.

## Outputs

- `O1.1`, `O2.1`: output on
- `F1.1`, `F2.1`: output off
- `?51.1`, `?52.1`: output status
- Configure output behavior in `K34`

## Stored registers

- `P1-P25`: positions
- `S1-S15`: speeds
- `A1-A8`: accelerations
- `M1-M8`: torque limits
- `T1-T8`: millisecond timers
- `V1-V15`: variables/internal-state mappings
- `N1-N25`, `R1-R25`: coordinated-motion or general-use data

## Program banks

```text
B1
S1,A1,P1
END
```

- `[1.1`: execute program bank 1
- `[L1.1`: execute logic bank 1
- `].1`: pause immediately; send twice to terminate
- `}.1`: stop after current motion
- `>.1`, `<.1`: step through paused program
- `]L.1`: stop logic bank
- `B100`, `L100`: clear all banks
- `$ .1` without the space: save to EEPROM; actual command is `$.1`

## Important K parameters

- `K20`: baud / ASCII versus Modbus
- `K23`: serial event reporting and echo
- `K37`: resolution and speed unit; default `K37=3` = 1000 ppr, 100 pps speed unit
- `K44`: deceleration ratio
- `K45`: direction and coordinate sign
- `K55`: in-position tolerance
- `K56`: position-error fault threshold
- `K58`, `K59`: software position limits
- `K70`: CR-only versus CR+LF replies

K/H parameters auto-save by default. On suitable RT3.14 firmware, `_SKH=0` temporarily disables auto-saving to avoid repeated EEPROM writes; `_SKH=1` re-enables it.

## PowerShell

```powershell
$PortName = "COM3"

$cm = [System.IO.Ports.SerialPort]::new(
    $PortName, 38400,
    [System.IO.Ports.Parity]::None,
    8,
    [System.IO.Ports.StopBits]::One
)
$cm.Handshake = [System.IO.Ports.Handshake]::None
$cm.ReadTimeout = 700
$cm.WriteTimeout = 700
$cm.NewLine = "`r"
$cm.Open()

function Send-CM1 {
    param(
        [Parameter(Mandatory)][string]$Command,
        [int]$WaitMs = 150
    )
    if (-not $script:cm -or -not $script:cm.IsOpen) {
        throw "CM1 serial port is not open."
    }
    $null = $script:cm.ReadExisting()
    $script:cm.Write($Command + "`r")
    Start-Sleep -Milliseconds $WaitMs
    $script:cm.ReadExisting()
}
```

**Source basis:** Myostat CM1-C User Guide v3.00 (2025-12-05) and CM1 RT3.14 Quick Reference Guide v3.14.00.