Vyuziti registru
~~~~~~~~~~~~~~~~
00	prikaz
01	kontrolni soucet
02	data 0
03	data 1
04	data 2
05	data 3
06	data 4
07	data 5
08	data 6
09	data 7
0A	chybovy kod (!!! NOVE !!!)
0B	smerove bity (aktualizuje se prikazem GetPos)

0F	stav

1A	xpos 0 (aktualizuje se prikazem GetPos)
1B	xpos 1
1C	xpos 2
1D	zpos 0
1E	zpos 1
1F	zpos 2


Nazev		Kod	Data
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
InitPos		07	M->S: XOffs2 | XOffs1 | XOffs0 | ZOffs2 | ZOffs1 | ZOffs0 | Dir
			S->M: ---

XMove		19	M->S: XPod0 | XPos1 | XPos2 | XSpd0 | XSpd1
			S->M: ---

ZMove		1E	M->S: ZPod0 | ZPos1 | ZPos2 | ZSpd0 | ZSpd1
			S->M: ---

SetXSpd		2A	M->S: XSpd0 | XSpd1
			S->M: ---

SetZSpd		2D	M->S: ZSpd0 | ZSpd1
			S->M: ---

SetXLim		33	M->S: XMin0 | XMin1 | XMin2 | XMax0 | XMax1 | XMax2
			S->M: ---

SetZLim		34	M->S: ZMin0 | ZMin1 | ZMin2 | ZMax0 | ZMax1 | ZMax2
			S->M: ---

SetXPrm		C8	M->S: XCp | XCor | XZero | XAccel | XDecel | XMult
			S->M: ---

SetZPrm		CB	M->S: ZCp | ZCor | ZZero | ZAccel | ZDecel | ZMult
			S->M: ---

ServoOn		CD	M->S: ---
			S->M: ---

ServoOff	CE	M->S: ---
			S->M: ---

Stop		D0	M->S: ---
			S->M: ---

XStop		D5	M->S: ---
			S->M: ---

ZStop		D6	M->S: ---
			S->M: ---

GetPos		E0	M->S: ---
			S->M: --- (0B=Dir,1A..1C=XPos,1D..1F=ZPos)

GetDif		E3	M->S: ---
			S->M: XD | ZD

XDiag		E5	M->S: ---
			S->M: XD0 | XD1 | XD2 | XS0 | XS1 | XDAC0 | XDAC1

ZDiag		E6	M->S: ---
			S->M: ZD0 | ZD1 | ZD2 | ZS0 | ZS1 | ZDAC0 | ZDAC1

GetMem		F8	M->S: A0 | A1
			S->M: D0 | D1 | D2 | D3 | D4 | D5 | D6 | D7

Kontrolni soucet se pocita ze vsech predavanych dat a z kodu prikazu. Pokud
prikaz vraci data, kontrolni soucet se pocita ze vsech predavanych dat, pouze
u GetPos se pocita z registru 0B a 1A..1F.

Chybove kody
~~~~~~~~~~~~
0	ok
1	chybny kod prikazu
2	chybny kontrolni soucet prikazu
3	nepovoleny prikaz (napr. pohyb pri vypnutych servech apod.)
4	prikaz k pohybu mimo povolene meze

Poloha se kontroluje i pri zapnutych servech a pokud je mimo povolene meze,
dojde k rychlemu zastaveni osy X i Z a ve stavovych bitech serva X se objevi
kombinace 111.