Galil Motion Control CDS-3310, User Manual

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CDS-3310 Chapter 5 Command Basics
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Command Syntax - Binary
Some commands have an equivalent binary value. In the command reference, these values are listed
next to the command in parentheses in hexadecimal format *. Binary communication mode can be
executed much faster than ASCII commands. Binary format can only be used when commands are
sent from the PC and cannot be embedded in an application program.
* hexadecimal format represents a byte as two 4 bit values. Each 4 bit value is represented as a single
character with a decimal equivalent between 0 and 15. The characters used for representing 10-15 is
A,B,C,D,E and F. For example, the hexadecimal value
6D
represent the binary value 01101101.
Negative values are represented in 2's complement.
Binary Command Format
All binary commands have a 4 byte header and is followed by data fields. The 4 bytes are specified in
hexadecimal format.
Header Format:
Byte 1
Specifies the command number between 80 to FF. The complete binary command number table is
listed below.
Byte 2
Specifies the # of bytes in each field as 0,1,2,4 or 6 as follows:
00 No datafields (i.e. SH or BG)
01 One byte per field
02 One word (2 bytes per field)
04 One long word (4 bytes) per field
06 Galil real format (4 bytes integer and 2 bytes fraction)
Byte 3
00 No coordinated motion
Byte 4
Specifies the axis # or data field as follows
Bit 7 = H axis or 8
th
data field
Bit 6 = G axis or 7
th
data field
Bit 5 = F axis or 6
th
data field
Bit 4 = E axis or 5
th
data field
Bit 3 = D axis or 4
th
data field
Bit 2 = C axis or 3
rd
data field