While working for a previous employer, I used the Velmex motors and VXM controller. After one look at their driver (and the fact that I was running on a Mac), I wrote a controller which used the RS-232 interface. The VXM users manual had a complete list of the available commands. No DLLs. No weird conpanes. No undocumented functions. I no longer have access to that code and it probably only implemented a small subset of the commands because we had a fairly simple project (mechanically). Although we did want it to do something the Velmex applications people said it could not do. We did it anyway.
I suggest that you could do the same thing. If you only need to implement a few commands (as it appears that you might), then this should not be too difficult. Writing and testing the code to implement every command is a much more complex task.
Lynn
