Galil Motion Control DMC-40x0 Series Command Reference Manual Download Page 116

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DMC-40x0 Command Reference

FUNCTION:

Acceleration Feedforward

DESCRIPTION:

The FA command sets the acceleration feedforward coefficient. This coefficient, when scaled by

the acceleration, adds a torque bias voltage during the acceleration phase and subtracts the
bias during the deceleration phase of a motion.

Acceleration Feedforward Bias = FA

⋅

1.5

⋅

10-7

Deceleration Feedforward Bias = FA

⋅

1.5

⋅

10-7

The Feedforward Bias product is limited to 10 Volts. FA operates when commanding motion with

PA, PR and JG.

ARGUMENTS:

FA n,n,n,n,n,n,n,n or FAS=n where

n is an unsigned number in the range 0 to 8191 decimal with a resolution of 0.25.

n = ? Returns the value of the feedforward acceleration coefficient for the specified axis.

USAGE: DEFAULTS:

While Moving

Yes

Default Value

In a Program

Yes

Default Format

4.2

Command Line

Yes

Controller Usage

ALL CONTROLLERS

OPERAND USAGE:

_FAn contains the value of the feedforward acceleration coefficient for the specified axis.

RELATED COMMANDS:

Velocity feedforward

EXAMPLES:

AC 500000,1000000

Set feedforward coefficient to 10 for the A-axis

FA 10,15

and 15 for the B-axis. The effective bias will be 0.75V
for A and 2.25V for B.

FA ?,?

Return A and B values

: 10, 15

Note: If the feedforward coefficient is changed during a move, then the change will not take effect until the
next move.

Summary of Contents for DMC-40x0 Series

Page 1: ...ERENCE Manual Rev 1 0e By Galil Motion Control Inc Galil Motion Control Inc 270 Technology Way Rocklin California 95765 Phone 916 626 0101 Fax 916 626 0102 Internet Address support galilmc com URL www galilmc com Rev 2 08 ...

Page 2: ......

Page 3: ...LM buffer space QZ record info EB enable DP define position greater than TB tell status byte TN tangent scale UI user interrupt EC counter FE find home only assign equal TR debug trace _TN 1st position VF variable format EG engage slave FI find index only less or equal UL upload VA acceleration ZA DR variable EM modulus HM home greater or equal _UL variables left VD deceleration DH DHCP Enable EP ...

Page 4: ......

Page 5: ...and Descriptions 2 Parameter Arguments 2 Direct Command Arguments 3 Interrogation 3 Operand Usage 3 Usage Description 3 Default Description 4 Resetting the Controller to Factory Default 4 5 6 7 a b c d e f g h 8 9 10 11 12 13 14 15 AB 16 ABS n 17 AC 18 ACOS n 19 AD 20 AF 21 AG 22 AI 23 AL 24 AM 25 AMPERR 26 AN n 27 AO 28 AP 29 AQ 30 AR 31 AS 32 ASIN n 33 AT 34 ATAN n 35 ...

Page 6: ...3 BD 44 BG 45 BI 46 BK 47 BL 48 BM 49 BN 50 BO 51 BP 52 BR 53 BS 54 BV 55 BW 56 BZ 57 CA 58 CB 59 CC 60 CD 61 CE 63 CF 64 CI 65 CM 66 CMDERR 67 CN 68 CO 69 COM n 70 COMINT 71 COS n 72 CR 73 CS 74 CW 75 DA 76 DC 77 DE 78 DH 79 DL 80 DM 81 DP 82 DR 83 DT 84 DV 86 EA 87 EB 88 EC 89 ED 90 EG 91 EI 92 ELSE 94 ...

Page 7: ...07 FI 108 FL 109 FRAC n 110 FV 111 GA 112 GD 113 GM 114 _GP 115 GR 116 HM 117 HS 118 HV 119 HX 120 IA 121 ID 122 IF 123 IH 124 II 126 IK 128 IL 129 IN 130 IN n 131 ININT 132 INT n 133 IP 134 IT 135 JG 136 JP 137 JS 138 KD 140 KI 141 KP 142 KS 143 LA 144 LB 145 LC 146 LD 147 LE 148 _LF 149 LI 150 LIMSWI 151 control L control K 152 LL 153 ...

Page 8: ...MW 169 NB 170 NF 171 NO apostrophe also accepted 172 NZ 173 OA 174 OB 175 OC 176 OE 177 OF 178 OP 179 OT 180 OUT n 181 OV 182 PA 183 PF 184 P2CD 185 P2CH 186 P2NM 187 P2ST 188 PL 189 POSERR 190 PR 191 PT 192 PW 193 QD 194 QH 195 QR 196 QS 197 QU 198 QZ 199 RA 200 RC 201 RD 202 RE 203 REM 204 RI 205 RL 206 RND n 207 RP 208 RS 209 control R control S 210 ...

Page 9: ... 220 SQR n 221 ST 222 TA 223 TAN n 224 TB 225 TC 226 TCPERR 228 TD 229 TE 230 TH 231 TI 232 TIME 233 TK 234 TL 235 TM 236 TN 237 TP 238 TR 239 TS 240 TT 241 TV 242 TW 243 TZ 244 UI 245 UL 247 VA 248 VD 249 VE 250 VF 251 VM 252 VP 253 VR 254 VS 255 VV 256 WH 257 WT 258 XQ 259 YA 260 YB 261 YC 262 YR 263 YS 264 ZA 265 ZS 266 Index 267 ...

Page 10: ...vi i Table of Contents DMC 40x0 Command Reference This Page is Left Blank Intentionally ...

Page 11: ...w Attention Pertains to servo motor use Attention Pertains to stepper motor use Trippoints The controller provides several commands that can be used to make logical decisions or trippoints based on events during a running program Such events include the completion of a specific motion waiting for a certain position to be reached or simply waiting for a certain amount of time to elapse When a progr...

Page 12: ... the user to identify the specific axes to be affected These commands are followed by uppercase X Y Z W or A B C D E F G and H No commas are needed and the order of axes is not important Do not insert any spaces prior to any command For example STX AMX is invalid because there is a space after the semicolon The proper syntax for commands requires that the command argument be separated from the com...

Page 13: ... return parameter information listed in the command description Type the command followed by a for each axis requested The syntax format is the same as the parameter arguments described above except replaces the values PR The controller will return the PR value for the A axis PR The controller will return the PR value for the D axis PR The controller will return the PR value for the A B C and D ax...

Page 14: ...Controller to Factory Default When a master reset occurs the controller will always reset all setup parameters to their default values and the non volatile memory is cleared to the factory state A master reset is executed by the command ctrl R ctrl S Return OR by powering up or resetting the controller with the MRST jumper on For example the command KD is used to set the Derivative Constant for ea...

Page 15: ... left available can be queried with MG _DL The automatic subroutines include CMDERR LIMSWI POSERR ININT AUTO and MCTIME A label can only be defined at the beginning of a new line ARGUMENTS nnnnnnn where nnnnnnn is a label name up to seven characters USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Controller Usage ALL RELATED COMMANDS LL List labels DL ...

Page 16: ...nteger m is up to four hexadecimal digits denoting 16 bits of fraction USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS Multiply shift left Divide shift right MG 8 4 Print in hexadecimal EXAMPLES x 7fffffff 0000 store 2147483647 in x y x 0000ffff 0000 store lower 16 bits of x in y z x ffff0000 0000 10000 store uppe...

Page 17: ...ault Format Command Line Yes Controller Usage ALL RELATED COMMANDS COM n Bitwise complement IF If statement JP Jump statement JS Jump subroutine EXAMPLES IF x 2 y 4 MG true ENDIF x must be greater than 2 and y equal to 4 for the message to print MG 1 2 3 0000 Bitwise operation 01 OR 10 is 11 3 Pass By Reference Example value 5 a value to be passed by reference global 8 a global variable JS SUM val...

Page 18: ...ercise good programming style when passing parameters See examples below for recommended syntax 2 Do not use spaces in expressions containing 3 Global variables MUST be assigned prior to any use in subroutines where variables are passed by reference USAGE Defaults While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage DMC 4000 RELATED COMMANDS MG Message P...

Page 19: ...ultiplication is NOT evaluated before addition Instead the controller follows left to right precedence Therefore it is recommended to use parenthesis as much as possible ARGUMENTS n where n is a math or logical expression USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS Math Operators Logical Operators EXAMPLES MG ...

Page 20: ... Do not program this way because it is hard to read 3 To give higher priority to a thread All commands on a line are executed before the thread scheduler switches to the next thread ARGUMENTS n n n where n is a Galil command USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS NO apostrophe also accepted comment EXAMPL...

Page 21: ... is the array index and is an integer between 0 and 15999 When used in an array n 1 returns the array length USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS DM Dimension Array QU Print Upload Array EXAMPLES DM A 100 define a 100 element array A 0 3 set first element to 3 MG A 0 print element 0 QU A print entire ar...

Page 22: ...perform mathematical operations on variables constants and operands ARGUMENTS n m or n m or n m or n m or n m where n and m are signed numbers in the range 2147483648 to 2147483647 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS Parenthesis EXAMPLES x 1 2 3 7 2 assign 1 to x MG 40 6 integer remainder of 40 divided...

Page 23: ...a comparison expression can also be printed with MG or assigned to a variable ARGUMENTS n m or n m or n m or n m or n m or n m where n and m are signed numbers in the range 2147483648 to 2147483647 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS Parentheses IF If statement JP Jump JS Jump subroutine EXAMPLES IF x ...

Page 24: ...able or array element x which is equivalent to MG x MG is the preferred method of printing ARGUMENTS mmmmmmmm n where mmmmmmmm is a variable name and n is a signed number in the range 2147483648 to 2147483647 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS MG Print Message EXAMPLES x 5 x 5 0000 MG x 5 0000 define ...

Page 25: ...axis 7 or H H axis 8 or S S coordinate system 9 or T T coordinate system 10 or N Virtual N axis 11 or M Virtual M axis USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE n contains the axis number 0 11 EXAMPLES a 2 b 6 Sets s to 2 Z axis Sets b to 6 G axis PR a 1000 Relative position move 1000 counts on ...

Page 26: ...motion and program USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _AB gives state of Abort Input 1 inactive and 0 active RELATED COMMANDS SH Re enables motor OE Specifies Off On Error EXAMPLES AB Stops motion OE 1 1 1 1 Enable off on error AB Shuts off motor command and stops motion A Label Start of prog...

Page 27: ... value if positive and returns 1 times the value if negative ARGUMENTS ABS n where n is a signed number in the range 2147483647 to 2147483647 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS SQR n Square Root EXAMPLES MG ABS 2147483647 2147483647 0000 ...

Page 28: ... Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _ACx contains the value of acceleration for the specified axis RELATED COMMANDS DC Specifies deceleration rate FA Feedforward Acceleration IT Smoothing constant S curve EXAMPLES AC 150000 200000 300000 400000 Set A axis acceleration to 150000 B axis to 200000 counts sec2 the C axis to 300000 counts sec2 and the D axis to 400000 count sec2 AC...

Page 29: ...r ARGUMENTS ACOS n where n is a signed number in the range 1 to 1 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS ASIN n Arc sine SIN n sine ATAN n Arc tangent COS n Cosine TAN n Tangent EXAMPLES MG ACOS 1 180 0000 MG ACOS 0 90 0000 MG ACOS 1 0 0001 ...

Page 30: ...mmand will be affected when the motion smoothing time constant IT is not 1 See IT command for further information ARGUMENTS AD n n n n n n n n or ADA n where n is an unsigned integers in the range 0 to 2147483647 decimal Note The AD command cannot have more than 1argument USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Controller Usage ALL CONTROLLERS ...

Page 31: ...FA n where n 1 Enables analog feedback n 0 Disables analog feedback and switches to digital feedback n Returns the state of analog feedback for the specified axes 0 disabled 1 enabled USAGE DEFAULTS While Moving No Default Value 0 0 0 0 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _AFx contains a 1 if analog feedback is enabled and 0 if not enable...

Page 32: ... AG n n n n n n n n where AMP 430x0 SDM 44140 SDM 44040 n 0 0 4 A V n 0 0 5 A n 0 0 5 A n 1 0 7 A V n 1 1 0 A n 1 0 75 A n 2 1 0 A V n 2 2 0 A n 2 1 0 A n 3 3 0 A n 3 1 4 A n Returns the value of the amplifier gain USAGE DEFAULTS While Moving No Default Value 1 1 1 1 1 1 1 1 In a Program Yes Default Format Command Line Yes Controller Usage DMC 40x0 D430x0 DMC 40x0 D4140 DMC 40x0 D4040 RELATED COMM...

Page 33: ...gative it waits for n to go low USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS IN n Function to read input 1 through 96 II Input interrupt ININT Label for input interrupt EXAMPLES A Begin Program AI 8 Wait until input 8 is high SP 10000 Speed is 10000 counts sec AC 20000 Acceleration is 20000 counts s...

Page 34: ...d or a zero after the latch has occurred The CN command can be used to change the polarity of the latch function ARGUMENTS AL nnnnnnnn or AL n n n n n n n n where n can be A B C D E F G or H specifying the main encoder for the axis to be latched n can be SA SB SC SD SE SF SG or SH specifying the auxiliary encoder n can be TA TB TC TD TE TF TG or TH specifying the main encoder is latched from the i...

Page 35: ...ED COMMANDS BG _BGn contains a 0 if motion complete MC Motion Complete EXAMPLES MOVE Program MOVE PR 5000 5000 5000 5000 Position relative moves BG A Start the A axis AM A After the move is complete on A BG B Start the B axis AM B After the move is complete on B BG C Start the C axis AM C After the move is complete on C BG D Start the D axis AM D After the move is complete on D EN End of Program H...

Page 36: ...mation in the DMC 40x0 User Manual USAGE While Moving Yes In a Program Yes Command Line No Controller Usage ALL RELATED COMMANDS TA Tell amplifier status CN Configure I O OE Off on error EXAMPLES AMPERR Amplifier error routine MG AMPERR RE1 Send Message Return to main Program NOTE Unlike previous controllers thread 0 does not have to be running in order for the AMPERR routine to trigger NOTE Use R...

Page 37: ...he range 1 to 8 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS AQ Analog Range IN n Read digital input OUT n Read digital output SB Set digital output bit CB Clear digital output bit OF Set analog output offset EXAMPLES MG AN 1 print analog input 1 1 7883 x AN 1 assign analog input 1 to a variable ...

Page 38: ...lave devices connected to it and specified as Addresses 0 to 255 Please note that the use of slave devices for modbus are very rare and this number will usually be 0 HandleNum is the handle specifier from A to F Module is the position of the module in the rack from 1 to 16 BitNum is the I O point in the module from 1 to 4 n the voltage which ranges from 9 99 to 9 99 USAGE DEFAULTS While Moving Yes...

Page 39: ...units of the command are quadrature counts Only one axis may be specified at a time AP can only be used when there s commanded motion on the axis ARGUMENTS AP n n n n n n n n or APA n where n is a signed integer in the range 2147483648 to 2147483647 decimal USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Controller Usage ALL CONTROLLERS RELATED COMMAND...

Page 40: ...ut channel m is an integer from 1 4 that designates the analog range m Analog Range Position Range 12 bit 16 bit 1 5V 2048 to 2047 32 768 to 32767 2 10V 2048 to 2047 32 768 to 32767 3 0 5V 0 to 4095 0 to 65535 4 0 10V 0 to 4095 0 to 65535 USAGE DEFAULTS While Moving Yes Default Value n 2 In a Program Yes Default Format 1 0000 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _AQn hol...

Page 41: ...e starting point for the trippoint is reinitialized to the point at which the motion reversed The units of the command are quadrature counts Only one axis may be specified at a time AR can only be used when there s commanded motion on the axis Note AR will be affected when the motion smoothing time constant IT is not 1 See IT command for further information ARGUMENTS AR n n n n n n n n or ARA n wh...

Page 42: ...riggered after the speed begins diverging from the AS value ARGUMENTS AS nnnnnnnnnn where n is A B C D E F G H S or T or any combination to specify the axis or sequence USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Controller Usage ALL CONTROLLERS EXAMPLES SPEED Program A PR 100000 Specify position SP 10000 Specify speed BGA Begin A ASA After speed i...

Page 43: ...RGUMENTS ASIN n where n is a signed number in the range 1 to 1 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS ACOS n Arc cosine SIN n sine ATAN n Arc tangent COS n Cosine TAN n Tangent EXAMPLES MG ASIN 1 90 0000 MG ASIN 0 0 0000 MG ASIN 1 90 0000 ...

Page 44: ... defines a reference time at current time n 0 specifies a wait time of n msec from the reference time n 0 specifies a wait time of n msec from the reference time and re sets the reference time when the trippoint is satisfied AT n is equivalent to AT n AT old reference n USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Command Line No Controller Usage ALL CONTROLLERS ...

Page 45: ...UMENTS ATAN n n is a signed number in the range 2147483647 to 2147483647 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS ASIN n Arc sine SIN n sine ACOS n Arc cosine COS n Cosine TAN n Tangent EXAMPLES MG ATAN 10 84 2894 MG ATAN 0 0 0000 MG ATAN 10 84 2894 ...

Page 46: ...or normal current loop gain 0 5 for chopper mode and normal loop gain 1 for higher current loop gain 1 5 for chopper mode and higher current loop gain USAGE DEFAULTS While Moving No Default Value 0 In a Program Yes Default Format Command Line Yes Controller Usage DMC 40x0 D430x0 RELATED COMMANDS TA Tell Amplifier AG Amplifier Gain BS Brushless Setup AW Amplifier Bandwidth EXAMPLE AU1 0 Sets X axis...

Page 47: ...n no host software is used with the controller AUTO and the BP command are required to run an application program on the controller USAGE While Moving Yes In a Program Yes Command Line No Controller Usage ALL RELATED COMMANDS BP Burn program EN End program EXAMPLES AUTO Move the x axis upon power up PRX 1000 Move 1000 counts BGX Begin Motion AMX Wait until motion is complete EN End program NOTE Us...

Page 48: ...PROM is considered corrupt if the checksum calculated on the bytes in the EEPROM do not match the checksum written to the EEPROM The type of checksum error can be queried with _RS USAGE While Moving Yes In a Program Yes Command Line No Controller Usage ALL RELATED COMMANDS _RS Checksum error code EN End program EXAMPLES AUTO WT 2000 MG AUTO JP AUTO EN AUTOERR WT500 MG AUTOERR _RS EN NOTE Use EN to...

Page 49: ...d t represents the vector distance to be executed in the T coordinate system USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Command Line No Controller Usage ALL CONTROLLERS OPERAND USAGE _AVS contains the vector distance from the start of the sequence in the S coordinate system and _AVT contains the vector distance from the start of the sequence in the T coordinate...

Page 50: ...e transfer function for the AMP 430x0 for the calculation of the bandwidth ARGUMENTS AWx v l n where x Axis designator v Drive voltage in Volts l Motor inductance in millihenries n optional current loop gain setting 1 or 0 USAGE DEFAULTS While Moving No Default Value 0 0 0 In a Program Yes Default Format Command Line Yes Controller Usage DMC 40x0 D430x0 RELATED COMMANDS TA Tell Amplifier AG Amplif...

Page 51: ...E axes respectively ARGUMENTS BA xxxxxxxxxx where n is A B C D E F G or any combination to specify the axis axes for sinusoidal commutation brushless axes No argument removes all axes configured for sinusoidal commutation USAGE DEFAULTS While Moving No Default Value 0 In a Program Yes Default Format 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _BAn indicates the axis number of...

Page 52: ...ples of 30 n returns the hall offset for the specified axis USAGE DEFAULTS While Moving No Default Value 0 In a Program Yes Default Format 0 Command Line Yes Controller Usage ALL CONTROLLERS EXAMPLES BB 30 60 The offsets for the Y and W axes are 30 and 60 respectively OPERAND USAGE _BBn contains the position offset between the Hall transition and θ 0 for the specified axis RELATED COMMANDS BA Brus...

Page 53: ... determined by the hall sensors ARGUMENTS BC nnnnnnn where n is A B C D E F G or any combination to specify the axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _BCn contains the state of the Hall sensor inputs This value should be between 1 and 6 RELATED COMMANDS BA Brushless Axis BB Brushless Ph...

Page 54: ... initialization procedure ARGUMENTS BD n n n n n n n n or BDA n where n is an integer between 0 360 n Returns the current brushless motor angle between 0 360 USAGE DEFAULTS While Moving No Default Value 0 In a Program Yes Default Format 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _BDn contains the commutation phase of the specified axis RELATED COMMANDS BA Brushless Axis BB B...

Page 55: ...BG ABD Start the A B and D motors moving HM Set up for the homing BGA Start only the A axis moving JG 1000 4000 Set up for jog BGY Start only the B axis moving BSTATE _BGB Assign a 1 to BSTATE if the B axis is performing a move VP 1000 2000 Specify vector position VS 20000 Specify vector velocity BGS Begin coordinated sequen0ce VMAB Vector Mode VP 4000 1000 Specify vector position VE Vector End PR...

Page 56: ... the hall sensors ARGUMENTS BI n n n n n n n n or BIA n where n is an unsigned integer which represent the first digital input to be used for hall sensor input n 0 Clear the hall sensor configuration for the axis n Returns the starting input used for Hall sensors for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 0 Command Line Yes Controller Usa...

Page 57: ...GUMENTS BK n m where n is an integer in the range 0 to 1999 which is the line number to stop at n must be a valid line number in the chosen thread m is an integer in the range 0 to 7 The thread USAGE DEFAULTS While Moving Yes Default Value of m 0 In a Program No Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _BK will tell whether a breakpoint has been armed whether it has been enc...

Page 58: ...quadrature counts n 2147483648 Turns off the reverse limit n Returns the reverse software limit for the specified axes USAGE DEFAULTS While Moving Yes Default Value 214783648 In a Program Yes Default Format Position format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _BLn contains the value of the reverse software limit for the specified axis RELATED COMMANDS FL Forward Limit PF...

Page 59: ...ult Value 0 In a Program Yes Default Format 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _BMn indicates the cycle length in counts for the specified axis RELATED COMMANDS BA Brushless Axis BB Brushless Phase Begins BC Brushless Commutation BD Brushless Degrees BI Brushless Inputs BO Brushless Offset BS Brushless Setup BZBZ Brushless Zero EXAMPLES BM 60000 Set brushless modulo ...

Page 60: ...V VS BO FL LC PF YA BR FV LD PL YB BW GA LZ PW YC CB GM MO SB USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _BN contains the serial number of the controller RELATED COMMANDS BP Burn Program BV Burn Variables EXAMPLES KD 100 Set damping term for A axis KP 10 Set proportional gain term for A axis KI 1 Set...

Page 61: ...r the specified axis USAGE DEFAULTS While Moving No Default Value 0 In a Program Yes Default Format 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _BOn contains the offset voltage on the DAC for the specified axis RELATED COMMANDS BA Brushless Axis BB Brushless Phase Begins BC Brushless Commutation BD Brushless Degrees BI Brushless Inputs BM Brushless Modulo BS Brushless Setup B...

Page 62: ...EEPROM memory This command typically takes up to 10 seconds to execute and must not be interrupted The controller returns a when the Burn is complete ARGUMENTS None USAGE DEFAULTS While Moving No Default Value In a Program Yes Not in a Program Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS BN Burn Parameters BV Burn Variable ...

Page 63: ...he axis USAGE DEFAULTS While Moving Yes Default Value 0 0 0 0 0 0 0 0 In a Program Yes Default Format Command Line Yes Controller Usage DMC 40x0 D430x0 RELATED COMMANDS OE Off On Error TA Tell Amplifier QH Hall State EXAMPLE BR 1 0 0 Sets X axis to brush type Y and Z to brushless Note If an axis has Off On Error OE set to 1 an amplifier error will occur if there are no halls and BR is set to 0 Wit...

Page 64: ...re issued The configuration is saved by using the burn command BN Note In order to properly conduct the brushless setup the motor must be allowed to move a minimum of one magnetic cycle in both directions ARGUMENTS BSA v n where v is a real number between 0 and 10 v represents the voltage level to be applied to each phase n is a positive integer between 100 or 1000 n represents the duration in mil...

Page 65: ...ns the number of controller axes RELATED COMMANDS BN Burn Parameters BP Burn Program Note 1 This command will store the ECAM table values in non volatile EEPROM memory Note 2 This command may cause the Galil software to issue the following warning A time out occurred while waiting for a response from the controller This warning is normal and is designed to warn the user when the controller does no...

Page 66: ...xes A H where output 1 is the brake for axis A and output 2 is the brake for axis B and so on Note The Brake Wait does not apply when the motor is shut off due to OE1 Off on Error In this case position error exceeded or Abort triggered the motor off and brake output will be applied simultaneously ARGUMENTS BW n n n n n n n n or BWA n where n specifies the brake wait time in samples n ranges from 1...

Page 67: ...ent samples sampling rate 1000 μsec by default to settle the motor at the zero magnetic phase The t parameter should be specified prior to issuing the BZ command Note The BZ command causes instantaneous movement of the motor It is recommended to start with small voltages and increase as needed Note Always use the Off On Error function OE command to avoid motor runaway whenever testing sinusoidal c...

Page 68: ...he T coordinate system is active OPERAND USAGE _CA contains a 0 if the S coordinate system is active and a 1 if the T coordinate system is active USAGE DEFAULTS While Moving Yes Default Value CAS In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS VP Vector Position VS Vector Speed VD Vector Deceleration VA Vector Acceleration VM Vector Mode VE End Ve...

Page 69: ...s an integer corresponding to a specific output on the controller to be cleared set to 0 The first output on the controller is denoted as output 1 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS SB Set Bit OB Output Bit OP Define output port byte wise EXAMPLES CB 7 Clear output bit 7 CB 16 Clear output...

Page 70: ...0 38400 or 115200 n Handshake 0 for handshake off 1 for handshake on r Mode 0 disabled 1enabled p Echo 0 for echo off 1 for echo on Note echo only active when daisy chain feature is off USAGE DEFAULTS While Moving Yes Default Value 115200 0 1 0 In a Program Yes Default Format Command Line Yes Controller Usage DMC 40x0 RELATED COMMANDS CI Configure Communication Interrupt EXAMPLES CC 9600 0 0 0 960...

Page 71: ...milar to VE and LE Once executed by the controller CD 0 0 0 will terminate the contour mode Note2 The command CD0 0 will assign a variable CD0 the value of 0 In this case the user must have a space after CD in order to terminate the Contour Mode correctly Example CD 0 0 will terminate the contour mode for the X axis USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Comm...

Page 72: ...100 100 100 New position data CD 0 0 0 1 Pause countour buffer set DT to resume CD 100 100 100 New position data CD 100 100 100 New position data CD 0 0 0 0 0 Wait JP Wait _CM 511 End of Contour Buffer Sequence Wait until path is done EN ...

Page 73: ...oders The values of M and N are M Main encoder type N Auxiliary encoder type 0 Normal quadrature 0 Normal quadrature 1 Normal pulse and direction 4 Normal pulse and direction 2 Reversed quadrature 8 Reversed quadrature 3 Reversed pulse and direction 12 Reversed pulse and direction For example n 10 implies M 2 and N 8 thus both encoders are reversed quadrature n Returns the value of the encoder con...

Page 74: ... or Aux Serial Port or Handles A H ARGUMENTS CF n where n is A thru H for Ethernet handles 1 thru 8 S for Main serial port T for Aux serial port or I is to set to the port that issues the CF command USAGE While Moving Yes Default Value S In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _CF contains the decimal value of the ASCII letter RELATED COMMAND...

Page 75: ...ived can be accessed via the internal variables P2CH P2ST P2NM P2CD For more see Operator Data Entry Mode in chapter 7 of the user manual ARGUMENTS CI n m PARAMETER EXPLANATION n 0 Do not interrupt n 1 Interrupt on carriage return n 2 Interrupt on any character n 1 Clear interrupt data buffer USAGE DEFAULTS While Moving Yes Default Value n 0 m 0 In a Program Yes Default Format Command Line Yes Con...

Page 76: ...e of 511 indicates that the Contour Buffer is empty ARGUMENTS CM nnnnnnnnnn where n is A B C D E F G H or any combination to specify the axis axes for contour mode n Returns a 0 if the contour buffer is full and 511 if the contour buffer is empty USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 3 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _CM c...

Page 77: ...er Usage ALL RELATED COMMANDS TC Tell Error Code _ED Last program line with an error EN End program EXAMPLES BEGIN Begin main program IN ENTER SPEED Speed Prompt for speed JG Speed BGX Begin motion EN End main program CMDERR Command error utility JP DONE _ED 2 Check if error on line 2 JP DONE _TC 6 Check if out of range MG SPEED TOO HIGH Send message MG TRY AGAIN Send message ZS1 Adjust stack JP B...

Page 78: ...elective abort inputs for axes A B C D E F G and H respectively Will also trigger POSERR automatic subroutine if program is running 0 Inputs 5 6 7 8 13 14 15 16 are configured as general use inputs q 1 Abort input will not terminate program execution 0 Abort input will terminate program execution USAGE DEFAULTS While Moving Yes Default Value 1 1 1 0 0 In a Program Yes Default Format 2 0 Command Li...

Page 79: ...l value can be calculated by the following formula n n2 2 n3 4 n4 8 n5 where nx represents the bank To configure a bank as outputs substitute a one into that nx in the formula If the nx value is a zero then the bank of 8 I O points will be configured as inputs For example if banks 3 and 4 are to be configured as outputs CO 6 is issued USAGE DEFAULTS While Moving Yes Default Value In a Program Yes ...

Page 80: ... ARGUMENTS COM n where n is a signed integer in the range 2147483647 to 2147483647 The integer is interpreted as a 32 bit field USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS Logical operators AND and OR EXAMPLES MG 8 0 COM 0 FFFFFFFF MG 8 0 COM FFFFFFFF 00000000 ...

Page 81: ...L RELATED COMMANDS P2CD Serial port 2 code P2CH Serial port 2 character P2NM Serial port 2 number P2ST Serial port 2 string CI Configure COMINT CC Configure serial port 2 EN End subroutine EXAMPLES A Program Label CC9600 0 1 0 CI2 interrupt on any character Loop MG Loop print a message every second WT 1000 JP Loop COMINT MG COMINT print a message when a character is received EN1 1 NOTE An applicat...

Page 82: ...n the range of 32768 to 32767 with a fractional resolution of 16 bit USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS ASIN n Arc sine SIN n sine ATAN n Arc tangent ACOS n Arc cosine TAN n Tangent EXAMPLES MG COS 0 1 0000 MG COS 90 0 0000 MG COS 180 1 0000 MG COS 270 0 0000 MG COS 360 1 0000 ...

Page 83: ...0 decimal angle in degrees n specifies a vector speed to be taken into effect at the execution of the vector segment n is an unsigned even integer between 0 and 22 000 000 for servo motor operation and between 0 and 6 000 000 for stepper motors o specifies a vector speed to be achieved at the end of the vector segment o is an unsigned even integer between 0 and 8 000 000 Note The product r Δθ must...

Page 84: ...n a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _CSn contains the segment number in the sequence specified by n S or T This operand is valid in the Linear mode LM Vector mode VM RELATED COMMANDS CR Circular Interpolation Segment LI Linear Interpolation Segment LM Linear Interpolation Mode VM Vector Mode VP Vector Position EXAMPLES CLEAR Label CAT Spec...

Page 85: ...Causes the controller to not set the MSB of unsolicited characters n Returns the copyright information for the controller m is optional m 0 Causes the controller to pause program execution when output FIFO is full and to resume execution when FIFO is no longer full m 1 Causes the controller to continue program execution when output FIFO is full Characters output after FIFO is full will be lost USA...

Page 86: ...the controller USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _DA contains the total number of arrays available For example before any arrays have been defined the operand _DA is 30 If one array is defined the operand _DA will return 29 RELATED COMMANDS DM Dimension Array EXAMPLES Cars and Sales are arra...

Page 87: ...ified axes USAGE DEFAULTS While Moving Yes Default Value 256000 In a Program Yes Default Format 10 0 Command Line Yes Controller Usage ALL CONTROLLERS When moving the DC command can only be specified while in the jog mode OPERAND USAGE _DCn contains the deceleration rate for the specified axis RELATED COMMANDS AC Acceleration PR Position Relative PA Position Absolute SP Speed JG Jog SD Limit Switc...

Page 88: ...0 This will not effect the DE value To set the DE value when in stepper mode use the DP command USAGE DEFAULTS While Moving Yes Default Value 0 0 0 0 In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _DEn contains the current position of the specified auxiliary encoder RELATED COMMANDS DP Define main encoder position 777TD Tell Dual Enc...

Page 89: ...t Command Line Yes Controller Usage DMC 4000 RELATED COMMANDS IA IP Address EXAMPLES DH 1 Sets the DHCP function on IA assignment will no longer work IP address cannot be burned Controller will receive its IP address from the DHCP server on the network DH 0 Sets the DHCP function off and the Boot P function on Note 1 Galil Tools software can assign an IP address to a controller with DH1 enabled in...

Page 90: ... program in RAM Using Galil DOS Terminal Software The ED command puts the controller into the Edit subsystem In the Edit subsystem programs can be created changed or destroyed The commands in the Edit subsystem are cntrl D Deletes a line cntrl I Inserts a line before the current one cntrl P Displays the previous line cntrl Q Exits the Edit subsystem return Saves a line ARGUMENTS DL n where n no ar...

Page 91: ...elements n Returns the number of array elements available USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _DM contains the available array space For example before any arrays have been defined the operand _DM will return 16000 If an array of 100 elements is defined the operand _DM will return 15900 RELATE...

Page 92: ...No Default Value 0 0 0 0 In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _DPn contains the current position of the specified axis RELATED COMMANDS PF Position Formatting EXAMPLES DP 0 100 200 400 Sets the current position of the A axis to 0 the B axis to 100 the C axis to 200 and the D axis to 400 DP 50000 Sets the current position of...

Page 93: ...ff or n must be an integer in the range of 2 to 30 000 m specifies the Ethernet handle on which to periodically send the Data Record 0 is handle A 1 is B 7 is H The handle must be UDP not TCP USAGE DEFAULTS While Moving Yes Default Value DR0 off In a Program Yes Default Format Command Line Yes Controller Usage DMC 40x0 OPERAND USAGE _DR contains the data record update rate RELATED COMMANDS QZ Sets...

Page 94: ...nterval for contour mode USAGE DEFAULTS While Moving Yes Default Value 1 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _DT contains the value for the time interval for Contour Mode RELATED COMMANDS CM Contour Mode CD Contour Data EXAMPLES DT 4 Specifies time interval to be 16 msec DT 7 Specifies time interval to be 128 msec Cont0 Define label C...

Page 95: ...r CD 200 100 Countour Data pre loaded in buffer CD 300 50 Countour Data pre loaded in buffer AI 1 Wait for Analog input 1 to go low DT 8 Set positive DT to start contour mode CD 0 0 0 0 0 Wait JP Wait _CM 511 End of Contour Buffer Sequence Wait until path is done EN End program ...

Page 96: ...Enables the dual loop mode USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _DVn contains the state of dual velocity mode for specified axis 0 disabled 1 enabled RELATED COMMANDS EXAMPLES DV 1 1 1 1 Enables dual loop on all axes DV 0 Disables DV on A axis DV 1 1 Enables dual loop on C axis and D axis Oth...

Page 97: ...one of the axis specified as A B C D E F G H M or N USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS EB Enable ECAM EC Set ECAM table index EG Engage ECAM EM Specify ECAM cycle EP Specify ECAM table intervals staring point EQ Disengage ECAM ET ECAM table EXAMPLES EAB Select B as a master for ECAM ...

Page 98: ...mode n Returns 0 if ECAM is disabled and a 1 if enabled USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _EB contains the state of Ecam mode 0 disabled 1 enabled RELATED COMMANDS EA Choose ECAM master EC Set ECAM table index EG Engage ECAM EM Specify ECAM cycle EP Specify ECAM table intervals staring...

Page 99: ...lue of the index into the ECAM table USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _EC contains the current value of the index into the ECAM table RELATED COMMANDS EA Choose ECAM master EB Enable ECAM EG Engage ECAM EM Specify ECAM cycle EP Specify ECAM table intervals staring point EQ Disengage E...

Page 100: ...its the Edit subsystem return Saves a line Using Galil Windows Terminal Software The ED command causes the Windows terminal software to open the terminal editor OPERAND USAGE _ED contains the line number of the last line to have an error _ED1 contains the number of the thread where the error occurred for multitasking EXAMPLES ED 0 START 1 PR 2000 2 BGA 3 SLKJ Bad line 4 EN 5 CMDERR Routine which o...

Page 101: ...e Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _EGn contains ECAM status for specified axis 0 axis is not engaged 1 axis is engaged RELATED COMMANDS EA Choose ECAM master EB Enable ECAM EC Set ECAM table index EM Specify ECAM cycle EP Specify ECAM table intervals staring point EQ Disengage ECAM ET ECAM table EXAMPLES...

Page 102: ...ger mask between 0 and 65535 and is used to select the interrupt condition s to be used 0 the default means don t interrupt and clears the queue when issued bit m 2 bit Status byte Condition 0 0001 1 D0 208 Axis A profiled motion complete _BGA 0 1 0002 2 D1 209 Axis B profiled motion complete _BGB 0 2 0004 4 D2 210 Axis C profiled motion complete _BGC 0 3 0008 8 D3 211 Axis D profiled motion compl...

Page 103: ...specified by h is not UDP or not initialized an error will occur TC1 A 1 disables the interrupt dispatch GalilTools software will auto configure h allowing the user to ignore its use in most cases USAGE DEFAULTS While Moving Yes Default Value 0 0 1 In a Program Yes Default Format Command Line Yes Controller Usage DMC 4000 OPERAND USAGE _EI contains the interrupt mask m RELATED COMMANDS UI User Int...

Page 104: ...and ARGUMENTS ELSE USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Controller Usage ALL CONTROLLERS RELATED COMMANDS ENDIF End of IF conditional Statement EXAMPLES A IF IN 1 0 IF conditional statement based on input 1 IF IN 2 0 2nd IF conditional statement executed if 1st IF conditional true MG INPUT 1 AND INPUT 2 ARE ACTIVE Message to be executed if 2...

Page 105: ... n n n n n or EMA n where n is a positive integer in the range between 1 and 8 388 607 for the master axis and between 1 and 2 147 483 647 for a slave axis USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _EMn contains the cycle of the specified axis RELATED COMMANDS EA Choose ECAM master EB Enable ECAM EC...

Page 106: ...routine without restoring trippoint m 1 Return from subroutine and restore trippoint n 0 Return from COMINT without restoring CI interrupt trigger n 1 Return from COMINT and restore CI interrupt trigger r anyvalue Return a value from a subroutine accessible to the calling stack in _JS Note 1 The default value for the argument is 0 Note 2 Use the RE command to return from the interrupt handling sub...

Page 107: ...Program Yes Command Line No Controller Usage ALL CONTROLLERS RELATED COMMANDS IF Command to begin IF conditional statement ELSE Optional command to be used only after IF command JP Jump command JS Jump to subroutine command EXAMPLES A IF IN 1 0 IF conditional statement based on input 1 IF IN 2 0 2nd IF conditional statement executed if 1st IF conditional true MG INPUT 1 AND INPUT 2 ARE ACTIVE Mess...

Page 108: ... echo is off characters input over the bus will not be echoed back ARGUMENTS EO n where n 0 0 turns echo off n 1 1 turns echo on USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS EXAMPLES EO 0 Turns echo off EO 1 Turns echo on ...

Page 109: ...be specified ARGUMENTS EP m n where m is a positive integer in the range between 1 and 32 767 m Returns the value of the interval m n is an integer between 2 147 483 648 and 2 147 483 647 n is the offset USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _EP contains the value of the interval m RELATED COMMA...

Page 110: ...ngaged USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _EQn contains 1 if engage command issued and axis is waiting to engage 2 if disengage command issued and axis is waiting to disengage and 0 if ECAM engaged or disengaged RELATED COMMANDS EA Choose ECAM master EB Enable ECAM EC Set ECAM table index EG ...

Page 111: ... the specified axis USAGE DEFAULTS While Moving Yes Default Value 16384 In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _ERn contains the value of the Error limit for the specified axis RELATED COMMANDS OE Off On Error POSERR Automatic Error Subroutine EXAMPLES ER 200 300 400 600 Set the A axis error limit to 200 the B axis error limi...

Page 112: ...multiplied by n m The resolution change applies for the purpose of generating the VP and CR commands effectively changing the axis with the lower resolution to match the higher resolution The ES command will apply to the selected coordinate system S or T To select the coordinate system use the command CAS or CAT ARGUMENTS ES m n where m and n are positive integers in the range between 1 and 65 535...

Page 113: ...atically increment the index count by 1 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS EA Choose ECAM master EB Enable ECAM EC Set ECAM table index EG Engage ECAM EM Specify ECAM cycle EP Specify ECAM table intervals staring point EQ Disengage ECAM EXAMPLES ET 0 0 0 Specifies the position of the slave...

Page 114: ...is the index of the second widened segment m2 is a positive integer between 3 and 255 n2 is the length of the second widened segment in master counts n2 is an integer between 1 and 2 147 483 647 If m1 or m2 is set to 1 there is no widened segment The segment number m2 must be greater than m1 and m2 may not be used unless m1 is used USAGE DEFAULTS While Moving No Default Value 1 0 1 0 In a Program ...

Page 115: ...exceeds its modulus in the negative direction EY can be used to calculate the absolute position of an axis with the following equation Absolute position EY EM TP ARGUMENTS EY n where n is a signed integer in the range 2147483648 to 2147483647 decimal n returns the current cycle count USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL...

Page 116: ... is an unsigned number in the range 0 to 8191 decimal with a resolution of 0 25 n Returns the value of the feedforward acceleration coefficient for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 4 2 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _FAn contains the value of the feedforward acceleration coefficient for the specified...

Page 117: ...ny combination to specify the axis or axes No argument specifies all axes USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS FI Find Index HM Home BG Begin AC Acceleration Rate DC Deceleration Rate SP Speed for search EXAMPLES FE Set find edge mode BG Begin all axes FEA Only find edge on A BGA FEB Only fin...

Page 118: ...se at the speed set by the HV command ARGUMENTS FI nnnnnnnnnn where n is A B C D E F G or H or any combination to specify the axis or sequence No argument specifies all axes USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS FE Find Edge HM Home BG Begin AC Acceleration Rate DC Deceleration Rate SP Search ...

Page 119: ...483647 n represents the absolute position of axis n 2147483647 turns off the forward limit n Returns the value of the forward limit switch for the specified axis USAGE DEFAULTS While Moving Yes Default Value 2147483647 In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _FLn contains the value of the forward software limit for the specifi...

Page 120: ...nal part of the given number ARGUMENTS FRAC n n is a signed number in the range 2147483648 to 2147483647 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS INT n Integer part EXAMPLES MG FRAC 1 2 0 2000 MG FRAC 2 4 0 4000 ...

Page 121: ...elocity feedforward bias equals 2 44 volts ARGUMENTS FV n n n n n n n n or FVA n where n is an unsigned numbers in the range 0 to 8191 decimal n Returns the feedforward velocity for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 4 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _FVn contains the feedforward velocity for the spec...

Page 122: ...position of the argument The first position of the argument corresponds to the A axis the second position corresponds to the B axis etc A comma must be used in place of an argument if the corresponding axes will not be a slave n can be CA CB CC CD CE CF CG or CH The value of x is used to set the commanded position of the specified axis as the gearing master n can be S or T S and T are used to spec...

Page 123: ...contains the distance the master axis will travel for the specified slave axis to fully engage disengage or change ratios RELATED COMMANDS EXAMPLES A GA X Sets the X axis as the gearing master for the Y axis GD 5000 Set distance over which gearing is engaged to 5000 counts of the master axis JG5000 Set the X axis jog speed to 5000 cts sec BGX Begin motion on the X axis ASX Wait until X axis reache...

Page 124: ...axis 0 gantry mode disabled 1 gantry mode enabled USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _GMn contains the state of gantry mode for the specified axis 0 gantry mode disabled 1 gantry mode enabled RELATED COMMANDS GR Gear Ratio GA Gear Axes EXAMPLES GM 1 1 1 1 Enable GM on all axes GM 0 Disa...

Page 125: ... the gearing master for the X axis This axis does not have to be under servo control In this example the axis is connected to a conveyor operating open loop GD1000 Set the distance that the master will travel to 1000 counts before the gearing is fully engaged for the X axis slave AI 1 Wait for input 1 to go low In this example this input is representing a sensor that senses an object on a conveyor...

Page 126: ...onal resolution of 16 2 1 n 0 Disables gearing n Returns the value of the gear ratio for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 3 4 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _GRn contains the value of the gear ratio for the specified axis RELATED COMMANDS GA Master Axis GM Gantry Mode EXAMPLES GEAR MOB Turn off servo...

Page 127: ...ected the motor is stopped instantaneously At the third stage the motor moves forward at the speed set with the HV command until it detects an index pulse from the encoder It latches to this point and defines it as position 0 For stepper mode operation the sequence consists of the first two stages The frequency of the motion in stage 2 is set with the HV command USAGE DEFAULTS While Moving No Defa...

Page 128: ...ed ARGUMENTS HSh i where h is the first handle of the switch A through H S i is the second handle of the switch A through H S S is used to represent the current handle executing the command USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS IH Internet Handle EXAMPLES HSC D Connection for handle C is assi...

Page 129: ...er second OR n is an unsigned number in the range 2 to 6 000 000 for stepper motors n Returns the speed for the specified axis USAGE DEFAULTS While Moving Yes Default Value 256 In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _HVn contains the homing speed for the specified axis RELATED COMMANDS HM Home FI Find index EXAMPLES A HVX 100...

Page 130: ... Yes Default Value n 0 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE When used as an operand _HXn contains the running status of thread n with 0 Thread not running 1 Thread is running 2 Thread has stopped at trippoint RELATED COMMANDS XQ Execute program HX Stop all threads of motion EXAMPLES XQ A Execute program A thread zero XQ B 3 Execute program...

Page 131: ...ies the multicast IP address where u is an integer between 0 and 63 UDP IP connection only IA will return the IP address of the controller USAGE DEFAULTS While Moving No Default Value n 0 t 250 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _IA0 contains the IP address representing a 32 bit signed number Two s complement _IA1 contains the value for ...

Page 132: ...ations board followed by the amplifier for axes 1 4 and then axes 5 8 if any are attached ARGUMENTS None USAGE DEFAULTS While Moving Yes Default Value In a Program No Default Format Command Line Yes Controller Usage ALL CONTROLLERS EXAMPLES ID Connector J3 Communications Board CMB 41012 3 3 volt i o Connector P1 Stepper Amplifier Board AMP 44040 Connector P2 Stepper Amplifier Board AMP 44040 ...

Page 133: ...ommand occurs in the program ARGUMENTS IF condition where Conditions are tested with the following logical operators less than or equal to greater than equal to less than or equal to greater than or equal to not equal Note Bit wise operators and can be used to evaluate multiple conditions USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Controller Usage...

Page 134: ...etween 2147483648 and 2147483647 This value is the 32 bit IP address and can be used instead of specifying the 4 address fields IHS r closes the handle that sent the command where r 1 for UDP IP or r 2 for TCP IP IHT r closes all handles except for the one sending the command where r 1 UDP or r 2 TCP p specifies the port number of the slave where p is an integer between 0 and 65535 This value is n...

Page 135: ...lave after issuing a command contains a 4 if the master controller timed out while waiting for a response from the slave after issuing a command USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS IA Internet Address EXAMPLES IHA 251 29 51 1 Open handle A at IP address 251 29 51 1 IHA 2095238399 Open handle...

Page 136: ...ange with m n If m and n are specified o will be ignored The argument o is an integer value and represents a binary number For example if o 15 the binary equivalent is 00001111 where the bottom 4 bits are 1 bit 0 through bit 3 and the top 4 bits are 0 bit 4 through bit 7 Each bit represents an interrupt to be enabled bit0 for interrupt 1 bit 1 for interrupt 2 etc If o 15 the inputs 1 2 3 and 4 wou...

Page 137: ...ommand Reference II 127 STA MG INTERRUPT AMA Stop A print message wait for motion to complete CLEAR JP CLEAR IN 1 0 Check for interrupt clear BGA Begin motion RI0 Return to main program don t re enable trippoints ...

Page 138: ... receive Ethernet packets on any port n 1 blocks controller from receiving Ethernet packets on all ports lower than 1000 except for 0 23 68 and 502 n queries controller for value of IK USAGE DEFAULTS In a Program Yes Default Value n 1 Command Line Yes OPERAND USAGE _IK can not be used as an operand RELATED COMMANDS TH Tell Handles IH Open new Ethernet handle EXAMPLES IK1 Blocks undesirable port co...

Page 139: ...s that level will be maintained through the move Note however that the KD and KP terms remain active in any case ARGUMENTS IL n n n n n n n n or ILA n where n is a number in the range 10 to 10 Volts with a resolution of 0 0003 n Returns the value of the integrator limit for the specified axis USAGE DEFAULTS While Moving Yes Default Value 9 9982 In a Program Yes Default Format 1 4 Command Line Yes ...

Page 140: ...nd may only be used in thread 0 ARGUMENTS IN m n where m is prompt message n is the variable name The total number of characters for n and m must be less than 80 characters Note Do not include a space between the comma at the end of the input message and the variable name USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Position Format Command Line No Controller Usage ...

Page 141: ...e range 1 to 96 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS AN n Read analog input OUT n Read digital output SB Set digital output bit CB Clear digital output bit OF Set analog output offset EXAMPLES MG IN 1 1 0000 x IN 1 x 1 000 print digital input 1 assign digital input 1 to a variable query variable ...

Page 142: ...runs in thread 0 USAGE While Moving Yes In a Program Yes Command Line No Controller Usage ALL RELATED COMMANDS II Input interrupt IN n Read digital input RI Return from interrupt EXAMPLES A II1 arm digital input 1 MAIN print message every second MG MAIN WT1000 JP MAIN ININT runs when input 1 goes low MG ININT AI1 RI NOTE The automatic subroutine runs in thread 0 NOTE Use RI to end the routine ...

Page 143: ...in the range 2147483648 to 2147483647 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS FRAC n Fractional part EXAMPLES MG INT 1 2 1 0000 MG INT 2 4 2 0000 AUTO modulus example x 10 prepare arguments y 3 JS mod call modulus MG z print return value EN subroutine integer remainder of x y 10 mod 3 1 arguments are x and...

Page 144: ...rvo to a position which is the current instantaneous position plus the specified increment position The SP and AC parameters have no effect This command is useful when synchronizing 2 axes in which one of the axis speed is indeterminate due to a variable diameter pulley Warning When the mode is in jog mode an IP will create an instantaneous position error In this mode the IP should only be used to...

Page 145: ...he profile prior to the IT filter and therefore can be satisfied before the actual distance has been reached if IT is NOT 1 ARGUMENTS IT n n n n n n n n or ITA n where n is a positive numbers in the range between 0 004 and 1 0 with a resolution of 1 256 n Returns the value of the independent time constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value 1 In a Program Yes Defau...

Page 146: ...the specified axis USAGE DEFAULTS While Moving Yes Default Value 25000 In a Program Yes Default Format 8 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _JGn contains the absolute value of the jog speed for the specified axis RELATED COMMANDS BG Begin ST Stop AC Acceleration DC Deceleration IP Increment Position TV Tell Velocity EXAMPLES JG 100 500 2000 5000 Set for jog mode with...

Page 147: ...dition must be placed in parenthesis for proper evaluation by the controller ARGUMENTS JP location condition where location is a program line number or label condition is a conditional statement using a logical operator The logical operators are less than greater than equal to less than or equal to greater than or equal to not equal to USAGE DEFAULTS While Moving Yes Default Value In a Program Yes...

Page 148: ...ed DMC programmers familiar with the concept of passing arguments by value and by reference Up to 8 parameters can be passed on the subroutine stack One value can be returned from a subroutine More returns are possible with pass by reference and array passing Using subroutine stacks and passing parameters in a subroutine has many advantages including 1 Code flexibility reuse A single subroutine ca...

Page 149: ...ination is a line number or label An expression such as LABEL 4 is also valid param1 param8 are optional parameters to pass to the subroutine s stack referenced from within the subroutine as a h respectively Condition is a conditional statement using a logical operator USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Controller Usage ALL CONTROLLERS OPE...

Page 150: ...th a resolution of 1 8 n Returns the value of the derivative constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value 64 In a Program Yes Default Format 4 2 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _KDn contains the value of the derivative constant for the specified axis RELATED COMMANDS KI Integrator KP Proportional EXAMPLES KD 100 200 300 400 25 Specif...

Page 151: ...in the range 0 to 255 with a resolution of 0 001 n Returns the value for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 4 4 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _KIn contains the value of the integral gain for the specified axis RELATED COMMANDS KP Proportional Constant KD Derivative Constant IL Integrator Limit EXAMPLE...

Page 152: ...he specified axis USAGE DEFAULTS While Moving Yes Default Value 6 In a Program Yes Default Format 4 2 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _KPn contains the value of the proportional constant for the specified axis RELATED COMMANDS KD Derivative Constant KI Integrator Constant IL Integrator Limit EXAMPLES KP 12 14 16 20 Specify a b c d axis proportional KP 7 Specify a ax...

Page 153: ... delay in the generation of output steps ARGUMENTS KS n n n n n n n n or KSA n where n is a positive number in the range between 0 25 and 64 with a resolution of 1 32 n Returns the value of the smoothing constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value 2 000 In a Program Yes Default Format 2 3 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _KSn contain...

Page 154: ...n alphabetical order The size of each array will be included next to each array name in square brackets ARGUMENTS None USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS LL List Labels LS List Program LV List Variable EXAMPLES LA CA 10 LA 5 NY 25 VA 17 ...

Page 155: ...optional backlight on USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 8 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _LB contains setting of the LB command RELATED COMMANDS MG Message Lx LU LCD Update EXAMPLES LB0 Set the LCD Bias Contrast to minimum LB15 Set the LCD Bias Contrast to maximum LB 8 Set the LCD Bias Contrast to default and turn on ...

Page 156: ...d ARGUMENTS LC n n n n n n n n where n 0 Normal stepper drive always on n 1 Stepper drive on at a reduced current n is an integer between 2 and 32767 specifying the number of samples to wait between the end of the move and when the amp enable line toggles n Returns the current value USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 5 0 Command Line Yes Controller Usag...

Page 157: ...ed ARGUMENTS LD n n n n n n n n or LDA n where n 0 enabled default n 1 forward limit disabled n 2 reverse limit disabled n 3 both disabled n returns the current setting USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _LDn contains the current value RELATED COMMANDS _LFX State of Forward limit _LRX S...

Page 158: ... total move length in encoder counts for the selected coordinate system S or T To select the coordinate system use the command CAS or CAT USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format PF Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _LEn contains the total vector move length in encoder counts RELATED COMMANDS LI Linear Distance BG BGS Begin Seque...

Page 159: ...mmand CN For CN 1 _LFn 1 when the limit switch input is inactive _LFn 0 when the limit switch input is active For CN 1 _LFn 0 when the limit switch input is inactive _LFn 1 when the limit switch input is active The term active refers to the condition when at least 1 ma of current is flowing through the input circuitry The input circuitry can be configured to sink or source current to become active...

Page 160: ...mputed from VS 2 AS 2 BS 2 CS 2 where AS BS and CS are the speed of the A B and C axes If the LI command specifies only A and B the speed of C will still be used in the vector calculations The controller always uses the axis specifications from LM not LI to compute the speed The parameter n is optional and can be used to define the vector speed that is attached to the motion segment The LI command...

Page 161: ...to the direction of motion must be tripped forward limit switch for positive motion and negative limit switch for negative motion LIMSWI interrupts thread 0 when it runs USAGE While Moving Yes In a Program Yes Command Line No Controller Usage ALL RELATED COMMANDS _LFX State of Forward limit switch _LRX State of Reverse limit switch EXAMPLES Main print a message every second MG Main WT1000 JP Main ...

Page 162: ...gram is unlocked it will remain accessible until a lock command or a reset with the locked condition burned in occurs ARGUMENTS control L control Kpassword n where When n is 1 this command will lock the application program When n is 0 the program will be unlocked USAGE DEFAULTS While Moving Yes Default Value In a Program No Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED C...

Page 163: ...memory and their associated line numbers The listing will be in alphabetical order ARGUMENTS None USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS LA List Arrays LS List Program LV List Variables EXAMPLES LL FIVE 5 FOUR 4 ONE 1 THREE 3 TWO 2 ...

Page 164: ...xample If the LI command specifies only A and B the speed of C will still be used in the vector calculations The controller always uses the axis specifications from LM not LI to compute the speed The LM command will apply to the selected coordinate system S or T To select the coordinate system use the command CAS or CAT ARGUMENTS LM nnnnnnnnnn where n is A B C D E F G or H or any combination to sp...

Page 165: ...mmand CN For CN 1 _LRn 1 when the limit switch input is inactive _LRn 0 when the limit switch input is active For CN 1 _LRn 0 when the limit switch input is inactive _LRn 1 when the limit switch input is active The term active refers to the condition when at least 1 ma of current is flowing through the input circuitry The input circuitry can be configured to sink or source current to become active...

Page 166: ... to specify the first line to be listed m is an integer in the range of 1 to 1999 or a label on the program memory m is used to specify the last line to be listed USAGE DEFAULTS While Moving Yes Default Value 0 Last Line In a Program No Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS LA List Arrays LL List Labels LV List Variables EXAMPLES LS A 6 List program star...

Page 167: ...limit switch A Abort Stopped by abort V Vector Running in Vector or Linear Interpolation Mode C Contour Running in Contour Mode H Homing Running in a Homing Rotine e ECAM Running in ECAM Mode F Fault Amplifier Fault T Stall Stepper Position Maintenance Mode Stall Detected USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTR...

Page 168: ...ram variables in memory The listing will be in alphabetical order ARGUMENTS None USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format VF Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS LA List Arrays LS List Program LL List Labels EXAMPLES LV APPLE 60 0000 BOY 25 0000 ZEBRA 37 0000 ...

Page 169: ...lt Value 1 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _LZ contains the state of the LZ function 0 is disabled and 1 is enabled EXAMPLES LZ 0 Disable the LZ function TPA Interrogate the controller for current position of A axis 0000021645 0000 Value returned by the controller VAR1 Request value of variable VAR1 previously set to 10 0000000010 000...

Page 170: ... Coil Write One Bit 06 Preset Single Register Write One Word 07 Read Exception Status Read Error Code 15 Force Multiple Coils Write Multiple Bits 16 Preset Multiple Registers Write Words 17 Report Slave ID Note For those command formats that have addr this is the slave address The slave address may be designated or defaulted to the device handle number Note All the formats contain an h parameter T...

Page 171: ...rray is where the returned data is stored one byte per element MBh addr 15 m n array where m is the starting bit number n is the number of bits array contains the data one byte per element MBh addr 16 m n array where m is the starting register number n is the number of registers array contains the data one 16 bit word per element MBh addr 17 array where array is where the returned data is stored U...

Page 172: ...eding commands until the controller has generated the same number of steps as specified in the commanded position The actual number of steps that have been generated can be monitored by using the interrogation command TD Note The MC command is recommended when operating with stepper motors since the generation of step pulses can be delayed due to the stepper motor smoothing function KS In this cas...

Page 173: ...W USAGE While Moving Yes In a Program Yes Command Line No Controller Usage ALL RELATED COMMANDS MC Wait for motion complete trip point TW MC timeout EXAMPLES BEGIN Begin main program TWX 1000 Set the time out to 1000 ms PRX 10000 Position relative BGX Begin motion MCX Motion Complete trip point EN End main program MCTIME Motion Complete Subroutine MG X fell short Send out a message EN1 End subrout...

Page 174: ...of the User Manual Stepper Motor Operation ARGUMENTS MF n n n n n n n n or MFA n where n is a signed integer in the range 2147483648 to 2147483647 decimal USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Controller Usage ALL CONTROLLERS RELATED COMMANDS AR Trippoint for after Relative Distances AP Trippoint for after Absolute Position EXAMPLES TEST Prog...

Page 175: ... the message out the Serial port n where n is 1 or 2 denoting Main or Auxilary Lx Sends the message to the LCD where x is 1 or 2 for the top or bottom line of the LCD The message cannot be more than 8 characters when sent to the LCD screen excess characters will not be shown or stored The LU command must be set to 0 for user messages sent to the LCD to appear Note Multiple text variables and ASCII...

Page 176: ...efault Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _MOn contains the state of the motor for the specified axis RELATED COMMANDS SH Servo Here EXAMPLES MO Turn off all motors MOA Turn off the A motor Leave the other motors unchanged MOB Turn off the B motor Leave the other motors unchanged MOCA Turn off the C and A motors Leave the other motors unchanged SH Turn all m...

Page 177: ... 6 of the User Manual Stepper Motor Operation ARGUMENTS MR n n n n n n n n or MRA n where n is a signed integers in the range 2147483648 to 2147483647 decimal USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Controller Usage ALL CONTROLLERS RELATED COMMANDS AR Trippoint for Relative Distances AP Trippoint for after Absolute Position EXAMPLES TEST Progra...

Page 178: ...5 Specifies PWM Sign servo drive with reversed polarity n 2 Specifies Step motor with active high step pulses n 2 Specifies Step motor with active low step pulses n 2 5 Specifies Step motor with reversed direction and active high step pulses n 2 5 Specifies Step motor with reversed direction and active low step pulses n Returns the value of the motor type for the specified axis USAGE DEFAULTS Whil...

Page 179: ...USAGE DEFAULTS While Moving Yes Default Value 1 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE MW contains the state of the Modbus Wait _MW contains returned function code _MW1 contains returned error code RELATED COMMANDS MB Modbus EXAMPLES MW1 Enables Modbus Wait SB1001 Set Bit 1 on Modbus Handle A CB1001 Clear Bit 1 on Modbus Handle A Hint Th...

Page 180: ... Yes Default Value 0 5 In a Program Yes Default Format 3 1 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _NBn contains the value of the notch bandwidth for the specified axis RELATED COMMANDS NF Notch Filter NZ Notch Zeros EXAMPLES _NBA 10 Sets the real part of the notch pole to 10 2 Hz notch _NBA Sets the variable notch equal to the notch bandwidth value for the A axis Note TM i...

Page 181: ... to 1 4 TM Hz where TM is the update rate default TM is 1000 n Returns the value of the Notch filter for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 3 1 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _NFn contains the value of notch filter for the specified axis RELATED COMMANDS NB Notch bandwidth NZ Notch Zero EXAMPLES NF 20 ...

Page 182: ...characters can follow the NO command USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _NO returns a bit field indicating which threads are running For example 0 means no threads are running 1 means only thread 0 is running 3 means threads 0 and 1 are running and 255 means all 8 threads are running EXAMPLES...

Page 183: ...the Notch filter zero for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 5 In a Program Yes Default Format 3 1 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _NZn contains the value of the Notch filter zero for the specified axis RELATED COMMANDS 1NB Notch Bandwidth NF Notch Filter EXAMPLES NZA 10 Sets the real part of the notch pole to 10 2 Hz Note TM in secon...

Page 184: ...he OA command works like the OE command if OA is set to 1 and an encoder failure occurs the axis goes into the motor off MO state and the stop code SC is set to 12 ARGUMENTS OAn n n n n n n n where n is 0 or 1 with 1 enabling this feature returns the last value set USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS ...

Page 185: ...otes the output bit expression is any valid logical expression variable or array element USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS EXAMPLES OB 1 POS 1 If POS 1 is non zero Bit 1 is high If POS 1 is zero Bit 1 is low OB 2 IN 1 IN 2 If Input 1 and Input 2 are both high then Output 2 is set high OB 3 COUNT 1 If the ...

Page 186: ...o be used m Absolute position for first pulse Integer between 2 109 and 2 109 n Incremental distance between pulses Integer between 65535 and 65535 0 one shot when moving in the forward direction 65536 one shot when moving in the reverse direction OCA 0 will disable the Circular Compare function on axes A D OCE 0 will disable the Circular Compare function on axes E H The sign of the parameter n wi...

Page 187: ...tion n 1 Motor shut off MO by position error TE ER or abort input n 2 Motor shut off MO by limit switch n 3 Motor shut off MO either by position error TE ER limit switch or abort input USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _OEn contains the status of the off on error function for the speci...

Page 188: ...003 n Returns the offset for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 4 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _OFn contains the offset for the specified axis EXAMPLES OF 1 2 3 5 Set A axis offset to 1 the B axis offset to 2 the C axis to 3 and the D axis to 5 OF 3 Set A axis offset to 3 Leave other axes unchanged...

Page 189: ...ill be ignored The following table describes the arguments used to set the state of outputs Arguments Blocks Bits Description m 0 1 8 General Outputs 1 4 axes controllers m 0 1 1 16 General Outputs 5 8 axes controllers a 2 3 17 32 Extended I O b 4 5 33 48 Extended I O m returns the value of the argument where n is any of the above arguments USAGE DEFAULTS While Moving Yes Default Value 0 In a Prog...

Page 190: ...vel OV for a specified time OT Note that for this function to work properly it is necessary to have a non zero value for KI ARGUMENTS OTn n n n n n n n where n is the number of samples between 2 and 32000 returns the last value set USAGE DEFAULTS While Moving Yes Default Value 30 In a Program Yes Default Format 5 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _OTn contains the O...

Page 191: ...integer in the range 1 to 80 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS AN n Read analog input IN n Read digital input SB Set digital output bit CB Clear digital output bit OF Set analog output offset EXAMPLES MG OUT 1 print digital output 1 1 0000 x OUT 1 assign digital output 1 to a variable ...

Page 192: ...lts The value should be high enough to guarantee that the motor would overcome any static friction If it is too low there will be false triggering of the error condition The OV value may not be higher than the TL value ARGUMENTS OTn n n n n n n n where where n is a positive voltage between 0 001 and 9 9 volts returns the last value set USAGE DEFAULTS While Moving Yes Default Value 0 9438 In a Prog...

Page 193: ... CONTROLLERS OPERAND USAGE _PAn contains the last commanded position at which motion stopped RELATED COMMANDS PR Position relative SP Speed AC Acceleration DC Deceleration BG Begin PF Position Formatting EXAMPLES PA 400 600 500 200 A axis will go to 400 counts B axis will go to 600 counts C axis will go to 500 counts D axis will go to 200 counts BG AM Execute Motion and Wait for Motion Complete PA...

Page 194: ...9 99 999 8000 or 7FF The PF command can be used to format values returned from the following commands BL LE DE PA DP PR EM TN FL VE IP TE TP ARGUMENTS PF m n where m is an integer between 8 and 10 which represents the number of places preceding the decimal point A negative sign for m specifies hexadecimal representation n is an integer between 0 and 4 which represent the number of places after the...

Page 195: ...Serial port 2 character P2NM Serial port 2 number P2ST Serial port 2 string CI Configure COMINT CC Configure serial port 2 COMINT Communication interrupt automatic subroutine EXAMPLES R V DMC4040 Rev 1 0 R S CC 9600 0 1 0 MG TEST P2 send a message to the hand terminal MG P2CD no characters entered on hand terminal 0 0000 MG P2CD the number 6 was pushed on the hand terminal 1 0000 MG P2CD enter key...

Page 196: ...ram Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS P2CD Serial port 2 code P2NM Serial port 2 number P2ST Serial port 2 string CI Configure COMINT CC Configure serial port 2 COMINT Communication interrupt automatic subroutine EXAMPLES R V DMC4040 Rev 1 0 R S CC 9600 0 1 0 MG TEST P2 send a message to the hand terminal MG P2CH S1 the 6 button was pushed on the...

Page 197: ...turn sent to auxiliary serial port port 2 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS P2CD Serial port 2 code P2CH Serial port 2 character P2ST Serial port 2 string CI Configure COMINT CC Configure serial port 2 COMINT Communication interrupt automatic subroutine EXAMPLES R V DMC4040 Rev 1 0 R S CC...

Page 198: ...FAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS P2CD Serial port 2 code P2CH Serial port 2 character P2NM Serial port 2 number CI Configure COMINT CC Configure serial port 2 COMINT Communication interrupt automatic subroutine EXAMPLES CC 9600 0 1 0 MG TEST P2 send a message to the hand terminal MG P2ST S3 the ...

Page 199: ...is the crossover frequency in Hertz Example fc 36Hz TM 1000 n e 0 001 36 2π 0 8 n 0 0 2 0 4 0 6 0 8 0 999 Fc HZ off 256 145 81 36 0 ARGUMENTS PL n n n n n n n n or PLA n where n is a positive number in the range 0 to 0 9999 n Returns the value of the pole filter for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 0 In a Program Yes Default Format 1 4 Not in a Program Yes Control...

Page 200: ... to notify a host computer The POSERR label causes the statements following to be automatically executed if error on any axis exceeds the error limit specified by ER The error routine must be closed with the RE command The RE command returns from the error subroutine to the main program USAGE While Moving Yes In a Program Yes Command Line No Controller Usage ALL RELATED COMMANDS OE Off on error TE...

Page 201: ...Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _PRn contains the current incremental distance for the specified axis RELATED COMMANDS PA Position Absolute BG Begin AC Acceleration DC Deceleration SP Speed IP Increment Position PF Position Formatting EXAMPLES PR 100 200 300 400 On the next move the A axis will go 100 counts BG the B axis will go to 20...

Page 202: ... Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL RELATED COMMANDS PA Position Absolute AC Acceleration DC Deceleration SP Speed EXAMPLES A PT1 1 1 1 Enable the position tracking mode for axes X Y Z and W LOOP Create label LOOP in a program This small program will update the absolute position at 100 Hz Note that the user must update the variables V1 V2 V3 and V4 from the host P...

Page 203: ...gated If you forget the password you must master reset the controller to gain access ARGUMENTS PW n n where n is a string from 0 to 8 characters in length USAGE DEFAULTS While Moving Yes Default Value null string In a Program No Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS control L control K Lock Unlock ED Edit program UL Upload program LS List program TR Trac...

Page 204: ...by a ARGUMENTS QD array start end where array is valid array name start is index of first element of array default 0 end is index of last element of array default size 1 USAGE DEFAULTS While Moving Yes Default Value start 0 end size 1 In a Program No Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS QU Upload array HINT Using Galil terminal software the command can ...

Page 205: ...defined set to 0 03 Undefined set to 0 02 Hall C State 01 Hall B State 00 Hall A State ARGUMENTS QHn returns the Hall sensor input byte where n A B C D E F G H USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage DMC 40x0 D430x0 OPERAND USAGE _QHn Contains the state of the Hall sensor inputs RELATED COMMANDS PA Position Absolute BS B...

Page 206: ... of the user s manual ARGUMENTS QR nnnnnnnnnn where n is A B C D E F G H S T or I or any combination to specify the axis axes sequence or I O status S and T represent the S and T coordinated motion planes I represents the status of the I O Chapter 4 of the users manual provides the definition of the data record information USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Form...

Page 207: ...tep Motor Resolution YC Encoder Resolution YR Error Correction YS Stepper Position Maintenance Mode Enable Status EXAMPLES 1 For an SDM 44140 microstepping drive query the error of B axis QSB 253 This shows 253 step counts of error The SDM 44140 resolution is 64 microsteps per full motor step nearly four full motor steps of error 2 Query the value of all axes QS 0 253 0 0 0 0 0 0 Response shows al...

Page 208: ...rker ARGUMENTS QU array start end delim where array is a valid array name start is the first element of the array default 0 end is the last element of the array default last element delim specifies the character used to delimit the array elements If delim is 1 then the array elements will be separated by a comma Otherwise the elements will be separated by a carriage return USAGE DEFAULTS While Mov...

Page 209: ... represent the following First field returns the number of axes Second field returns the number of bytes to be transferred for general status Third field returns the number bytes to be transferred for coordinated move status Fourth field returns the number of bytes to be transferred for axis specific information ARGUMENTS QZ USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Fo...

Page 210: ...ULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS DM Dimension Array RD Record Data RC Record Interval EXAMPLES Record Label DM POS 100 Define array RA POS Specify Record Mode RD _TPA Specify data type for record RC 1 Begin recording at 2 msec intervals PR 1000 BG Start motion EN End Hint The record array mode is ...

Page 211: ...or the array element for the next recording can be interrogated with _RD n Returns status of recording 1 if recording 0 if not recording USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _RC contains status of recording 1 if recording 0 if not recording RELATED COMMANDS DM Dimension Array RD Record Data QZ ...

Page 212: ...d for torque are in the range of 32767 where 0 is 0 torque 32767 is 10 volt command output and 32767 is 10 volt where n is the axis specifier A H ARGUMENTS RD m1 m2 m3 m4 m5 m6 m7 m8 where the arguments are data types to be captured using the record Array feature The order is important Each data type corresponds with the array specified in the RA command USAGE DEFAULTS While Moving Yes Default Val...

Page 213: ... condition is preserved on the return to the program if RE1 is used A motion trippoint such as MF or MR requires the axis to be actively profiling in order to be restored with RE1 RE0 clears the trippoint To avoid returning to the main program on an interrupt use the ZS command to zero the subroutine stack ARGUMENTS RE n where n 0 Clears the interrupted trippoint n 1 Restores state of trippoint no...

Page 214: ... comments are recovered Thus the uploaded program is less readable with REM 4 NO comments take up program line space and REM lines don t 5 REM comments must be the first and only thing on a line whereas NO can be used to place comments to the right of code on the same line NO or should be used instead of REM unless speed or program space is an issue ARGUMENTS REM n where n is a text string comment...

Page 215: ... to be restored with RI1 RI0 clears the trippoint To avoid returning to the main program on an interrupt use the command ZS to zero the subroutine stack This turns the jump subroutine into a jump only ARGUMENTS RI n where n 0 Clears the interrupted trippoint n 1 Restores state of trippoint no argument clears the interrupted trippoint USAGE DEFAULTS While Moving No Default Value In a Program Yes De...

Page 216: ...can be used to capture the stepper position To do this place a wire from the controller Step PWM output into the main encoder input channel A Connect the Direction sign output into the channel B input Configure the main encoder for Step Direction using the CE command The latch will now capture the stepper position based on the pulses generated by the controller ARGUMENTS RL nnnnnnnnnn where n is X...

Page 217: ... signed number in the range 2147483648 to 2147483647 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS INT n Truncates to the nearest integer EXAMPLES MG RND 1 2 1 0000 MG RND 5 7 6 0000 MG RND 1 2 1 0000 MG RND 5 7 6 0000 MG RND 5 5 6 0000 MG RND 5 5 5 0000 ...

Page 218: ...n RP TP and TE TEA equals the difference between the reference position RPA and the actual position TPA EXAMPLES Assume that ABC and D axes are commanded to be at the positions 200 10 0 110 respectively The returned units are in quadrature counts PF 7 Position format of 7 LZ0 RP Turn leading zeroes on 0000200 0000010 0000000 0000110 Return A B C D reference positions RPA 0000200 Return the A motor...

Page 219: ... restore EEPROM settings use RS with no arguments USAGE DEFAULTS While Moving Yes Default Value 0 In a Program No Default Format 3 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _RS returns the state of the processor on its last power up condition The value returned is the decimal equivalent of the 4 bit binary value shown below Bit 3 For master reset error there should be no pr...

Page 220: ...ings and erases EEPROM A master reset can also be performed by installing a jumper on the controller at the location labeled MRST and resetting the controller power cycle or pressing the reset button Remove the jumper after this procedure USAGE DEFAULTS While Moving Yes Default Value In a Program No Default Format Command Line Yes Controller Usage ALL CONTROLLERS ...

Page 221: ...ol V FUNCTION Revision Information DESCRIPTION The Revision Information command causes the controller to return firmware revision information USAGE DEFAULTS While Moving Yes Default Value In a Program No Default Format Command Line Yes Controller Usage ALL CONTROLLERS ...

Page 222: ...E DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _SAhn gives the value of the response to the command sent with an SA command The h value represents the handle A thru H and the n value represents the specific field returned from the controller 0 7 If the specific field is not used the operand will be 2 31 RELA...

Page 223: ...NTS SB n where n is an integer which represents a specific controller output bit to be set high output 1 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMAND CB Clear Bit EXAMPLES SB 5 Set output line 5 SB 1 Set output line 1 ...

Page 224: ... Decelerating or stopped by Stop Command ST 16 Stepper Position Maintenance Mode error exceeded QS 6 Stopped by Abort input 50 Contour running 7 Stopped by Abort command AB 51 Contour Stop 8 Decelerating or stopped by Off on Error OE1 99 MC timeout 9 Stopped after Finding Edge FE 100 Motors are running vector sequence 101 Motors stopped at commanded vector ARGUMENTS SC nnnnnnnnnn where n is A B C ...

Page 225: ...or the specified axes USAGE DEFAULTS While Moving Yes Default Value 256000 In a Program Yes Default Format 10 0 Command Line Yes Controller Usage ALL CONTROLLERS SD command cannot be specified while moving OPERAND USAGE _SDn contains the deceleration rate for the specified axis RELATED COMMANDS AC Acceleration DC Deceleration PR Position Relative PA Position Absolute SP Speed EXAMPLES PR 10000 Spe...

Page 226: ...s USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS MO Motor off EXAMPLES SH Servo A B C D motors SHA Only servo the A motor the B C and D motors remain in its previous state SHB Servo the B motor leave the A C and D motors unchanged SHC Servo the C motor leave the A B and D motors unchanged SHD Servo the...

Page 227: ...the range of 32768 to 32767 with a fractional resolution of 16 bit USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS ASIN n Arc sine COS n Cosine ATAN n Arc tangent ACOS n Arc cosine TAN n Tangent EXAMPLES MG SIN 0 0 0000 MG SIN 90 1 0000 MG SIN 180 0 0000 MG SIN 270 1 0000 MG SIN 360 0 0000 ...

Page 228: ... The BK command resumes normal program execution ARGUMENTS SL n where n is an integer representing the number of lines to execute before pausing again USAGE DEFAULTS While Moving Yes Default Value 1 In a Program No Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS BK Breakpoint TR Trace EXAMPLES BK 3 Pause at line 3 the 4th line in thread 0 BK 5 Continue to line 5 SL Execute the n...

Page 229: ...mbers 0 to 255 separated by commas and represent the individual fields of the subnet mask n is the subnet mask for the controller which is specified as an integer representing the signed 32 bit number two s complement SM will return the subnet mask of the controller USAGE DEFAULTS While Moving Yes Default Value SM 0 0 0 0 In a Program Yes Default Format Command Line Yes OPERAND USAGE _SM0 contains...

Page 230: ...0 000 for stepper motors n Returns the speed for the specified axis USAGE DEFAULTS While Moving Yes Default Value 25000 In a Program Yes Default Format 8 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _SPn contains the speed for the specified axis RELATED COMMANDS AC Acceleration DC Deceleration PA Position Absolute PR Position Relative BG Begin EXAMPLES PR 2000 3000 4000 5000 S...

Page 231: ...umber is negative the absolute value is taken first ARGUMENTS SQR n where n is a signed number in the range 2147483648 to 2147483647 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS ABS n Absolute value EXAMPLES MG SQR 2 1 4142 MG SQR 2 1 4142 ...

Page 232: ...uence If the specific axis or sequence is specified program execution will not stop No argument will stop motion on all axes USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS BG Begin Motion AB Abort Motion DC Deceleration rate EXAMPLES ST A Stop A axis motion ST S Stop coordinated sequence ST ABCD Stop ...

Page 233: ...k Current D Axis 1 Bit 3 0 Bit 2 Over Temperature 1 3 A D Axes Bit 2 Hall Error C Axis 1 Bit 2 Peak Current C Axis 1 Bit 2 0 Bit 1 Over Voltage 1 A D Axes Bit 1 Hall Error B Axis 1 Bit 1 Peak Current B Axis 1 Bit 1 ELO Active 1 2 3 4 E H Axes Bit 0 Over Current 1 3 4 A D Axes Bit 0 Hall Error A Axis 1 Bit 0 Peak Current A Axis 1 Bit 0 ELO Active 1 2 3 4 A D Axes ARGUMENTS TA n returns the amplifie...

Page 234: ...in degrees in the range of 32768 to 32767 with a fractional resolution of 16 bit USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS ASIN n Arc sine COS n Cosine ATAN n Arc tangent ACOS n Arc cosine SIN n Sine EXAMPLES MG TAN 90 2147483647 0000 MG TAN 0 0 0000 MG TAN 90 2147483647 0000 ...

Page 235: ...ting application program Bit 6 N A Bit 5 Contouring Bit 4 Executing error or limit switch routine Bit 3 Input interrupt enabled Bit 2 Executing input interrupt routine Bit 1 N A Bit 0 Echo on ARGUMENTS TB returns the status byte USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 3 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TB Contains the status b...

Page 236: ... too many lines 6 Number out of range 61 Duplicate or bad label 7 Command not valid while running 62 Too many labels 8 Command not valid when not running 63 IF statement without ENDIF 9 Variable error 65 IN command must have a comma 10 Empty program line or undefined label 66 Array space full 11 Invalid label or line number 67 Too many arrays or variables 12 Subroutine more than 16 deep 71 IN only...

Page 237: ...th LI commands 112 BZ command timeout 41 Contouring record range error 113 No movement in BZ command 42 Contour data being sent too slowly 114 BZ command runaway 46 Gear axis both master and follower 119 Not valid for axis configured as stepper 50 Not enough fields 133 Command not valid when locked 51 Question mark not valid 134 All motors must be in MO for this command 52 Missing or string too lo...

Page 238: ...TCP acknowledgement for example because the Ethernet cable was disconnected Handle A is closed in this case TCPERR allows the application programmer to run code for example to reestablish the connection when error 123 occurs USAGE While Moving Yes In a Program Yes Command Line No Controller Usage DMC 40x0 RELATED COMMANDS TC Tell error code _IA4 Last dropped handle MG Print message SA Send ASCII c...

Page 239: ...ontroller ARGUMENTS TD nnnnnnnn where n is A B C D E F G or H or any combination to specify the axis or axes No argument will provide the dual encoder position for all axes USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Not in a Program Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TDn contains value of dual encoder register RELATED COMMANDS D...

Page 240: ...s Default Value 0 In a Program Yes Default Format Position Format Not in a Program Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TEn contains the current position error value for the specified axis RELATED COMMANDS OE Off On Error ER Error Limit POSERR Error Subroutine PF Position Formatting EXAMPLES TE Return all position errors 5 2 0 6 TEA Return the A motor position error 5 TEB Return the...

Page 241: ...ue In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS IH Internet Handle WH Which Handle EXAMPLES TH Tell current handle configuration CONTROLLER IP ADDRESS 10 51 0 87 ETHERNET ADDRESS 00 50 4C 08 01 1F IHA TCP PORT 1050 TO IP ADDRESS 10 51 0 89 PORT 1000 IHB TCP PORT 1061 TO IP ADDRESS 10 51 0 89 PORT 1001 IHC TCP PORT 1012 TO IP ADDRESS 10 51 0 93 ...

Page 242: ...ugh 88 auxiliary encoder inputs n 11 Return Input Status for Inputs 89 through 96 auxiliary encoder inputs no argument will return the Input Status for Inputs 1 through 8 n returns the Input Status for Inputs 1 through 8 note 1 Applies only to controllers with more than 4 axes note 2 These arguments only apply when using extended I O configured as inputs USAGE DEFAULTS While Moving Yes Default Val...

Page 243: ... 1000 With this update rate the operand TIME will increase by 1 count every update of approximately 1000usec Note that a value of 1000 for the update rate TM command will actually set an update rate of 976 microseconds Thus the value returned by the TIME operand will be off by 2 4 of the actual time The clock is reset to 0 with a standard reset or a master reset The keyword TIME does not require a...

Page 244: ...he maximum command output under all circumstances ARGUMENTS n is an unsigned number in the range of 0 to 9 99 volts n 0 disables the peak torque limit n returns the value of the peak torque limit for the specified axis USAGE While Moving Yes Default Value 0 In a Program Yes Default Format 1 4 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TKn contains the value of the peak torque...

Page 245: ... 0 to 9 998 volts with resolution of 0 0003 volts n Returns the value of the torque limit for the specified axis USAGE DEFAULTS While Moving Yes Default Value 9 998 In a Program Yes Default Format 1 4 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TLn contains the value of the torque limit for the specified axis EXAMPLES TL 1 5 9 7 5 Limit A axis to 1 volt Limit B axis to 5 volts...

Page 246: ...lowing Accelera Controllers with 1 2 axes 31 25 μsec Accelera Controllers with 3 4 axes 62 5 μsec Accelera Controllers with 5 6 axes 93 75 μsec Accelera Controllers with 7 8 axes 125 μsec With the normal firmware Using the normal firmware the minimum sample times are the following Accelera Controllers with 1 2 axes 62 5 μsec Accelera Controllers with 3 4 axes 125 μsec Accelera Controllers with 5 6...

Page 247: ...Returns the first position value for the tangent axis When operating with stepper motors m is the scale factor in steps degree n is the absolute position at which the tangent angle is zero in the range between 8388608to 8388607 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format PF Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TN contains the first posi...

Page 248: ...AND USAGE _TPx contains the current position value for the specified axis RELATED COMMANDS PF Position Formatting EXAMPLES Assume the A axis is at the position 200 decimal the B axis is at the position 10 decimal the C axis is at position 0 and the D axis is at 110 decimal The returned parameter units are in quadrature counts TP Return A B C D positions 200 10 0 110 TPA Return the A motor position...

Page 249: ...resents thread 0 and the most significant bit represents thread 7 The decimal value can be calculated by the following formula n n0 2 n1 4 n2 8 n3 16 n4 32 n5 64 n6 128 n7 where nx represents the thread To turn tracing on for a thread substitute a one into that nx in the formula If the nx value is a zero then tracing will be off for that thread For example if threads 3 and 4 are to be traced TR24 ...

Page 250: ...limit switch bits are 1 when the switch is inactive and 0 when active ARGUMENTS TS nnnnnnnnnn where n is A B C D E F G or H or any combination to specify the axis or axes No argument will provide the status for all axes USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 3 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TS contains the current status of...

Page 251: ... any combination to specify the axis or axes No argument will provide the torque for all axes USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 1 4 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TTn contains the value of the torque for the specified axis RELATED COMMANDS TL Torque Limit EXAMPLES V1 _TTA Assigns value of TTA to variable V1 TTA Report to...

Page 252: ... the velocity for all axes USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 8 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TVn contains the value of the velocity for the specified axis EXAMPLES VELA _TVA Assigns value of A axis velocity to the variable VELA TVA Returns the A axis velocity 3420 Note The TV command is computed using a special averag...

Page 253: ...to the special label MCTIME The RE command should be used to return from the MCTIME subroutine ARGUMENTS TW n n n n n n n n or TWA n where n specifies the timeout in samples msec for TM1000 n ranges from 0 to 32767 msec n 1 Disables the timeout n Returns the timeout in samples msec for TM1000 for the MC command for the specified axis USAGE DEFAULTS While Moving Yes Default Value 32766 In a Program...

Page 254: ...ell Inputs SB CB Set Clear output bits OP Output port CO Configure I O EXAMPLES TZ Tell current master I O status BLOCK 0 8 1 dedicated as input value 255 1111_1111 BLOCK 0 8 1 dedicated as output value 0 0000_0000 BLOCK 2 24 17 configured as input value 255 1111_1111 BLOCK 3 32 25 configured as input value 255 1111_1111 BLOCK 4 40 33 configured as input value 255 1111_1111 BLOCK 5 48 41 configure...

Page 255: ... valid UDP port set by the host not the DMC code is recommended before any interrupt packet will be dispatched ARGUMENTS UI n where n is an integer between 0 and 15 corresponding to status bytes F0 to FF 240 255 status byte Condition F0 240 UI or UI0 was executed F1 241 UI1 was executed F2 242 UI2 was executed F3 243 UI3 was executed F4 244 UI4 was executed F5 245 UI5 was executed F6 246 UI6 was e...

Page 256: ...6 UI DMC 40x0 Command Reference RELATED COMMANDS EI Event interrupts MG Message EXAMPLES JG 5000 Jog at 5000 counts s BGA Begin motion ASA Wait for at speed UI 1 Cause an interrupt with status byte F1 241 ...

Page 257: ...s an end of text marker ARGUMENTS None USAGE DEFAULTS While Moving Yes Default Value 0 In a Program No Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE When used as an operand _UL gives the number of available variables The number of available variables is 510 RELATED COMMAND DL Download EXAMPLES UL Begin upload A Line 0 NO This is an Example Line 1 NO Program Line 2 ...

Page 258: ... of the vector acceleration for the S coordinate plane t Returns the value of the vector acceleration for the T coordinate plane USAGE DEFAULTS While Moving Yes Default Value 256000 In a Program Yes Default Format 10 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _VAx contains the value of the vector acceleration for the specified axis RELATED COMMANDS VS Vector Speed VP Vector ...

Page 259: ... coordinate plane t Returns the value of the vector deceleration for the T coordinate plane USAGE DEFAULTS While Moving No Default Value 256000 In a Program Yes Default Format 10 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _VDn contains the value of the vector deceleration for the specified coordinate system S or T RELATED COMMANDS VA Vector Acceleration VS Vector Speed VP Ve...

Page 260: ...rns the length of the vector in counts USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format PF Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _VEn contains the length of the vector in counts for the specified coordinate system S or T RELATED COMMANDS VM Vector Mode VS Vector Speed VA Vector Acceleration VD Vector Deceleration CR Circle VP Vector Position B...

Page 261: ...adecimal the string will be preceded by a and Hex numbers are displayed as 2 s complement with the first bit used to signify the sign n represents the number of digits after the decimal point m Returns the value of the format for variables and arrays USAGE DEFAULTS While Moving Yes Default Value 10 4 In a Program Yes Default Format 2 1 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAG...

Page 262: ...dinate system S or T To select the coordinate system use the command CAS or CAT ARGUMENTS VM nmp where n and m specify plane of vector motion and can be any two axes Vector Motion can be specified for one axis by specifying 2nd parameter m as N Specifying one axis is useful for obtaining sinusoidal motion on 1 axis p is the tangent axis and can be specified as any axis except the imaginary axes M ...

Page 263: ... in units of counts per sample p specifies a vector speed to be achieved at the end of the vector segment p is an unsigned even integer between 0 and 8 000 000 p is in units of counts per sample USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _VPn contains the absolute coordinate of the axes at the last i...

Page 264: ...o the T coordinate system s Returns the value of the vector speed ratio for the S coordinate plane t Returns the value of the vector speed ratio for the T coordinate plane USAGE DEFAULTS While Moving Yes Default Value 1 In a Program Yes Default Format 2 4 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _VRn contains the vector speed ratio of the specified coordinate system S or T R...

Page 265: ...ly to the T coordinate system The units are counts per second s Returns the value of the vector speed for the S coordinate plane t Returns the value of the vector speed for the T coordinate plane USAGE DEFAULTS While Moving Yes Default Value 25000 In a Program Yes Default Format 8 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _VSn contains the vector speed of the specified coor...

Page 266: ...e speed as an unsigned even number in the range 2 to 22 000 000 for servo motors and 2 to 6 000 000 for stepper motors VVS is the speed to apply to the S coordinate system and VVT is the speed to apply to the T coordinate system The units are in counts per second VVS Returns the value of the vector speed variable for the S coordinate plane VVT Returns the value of the vector speed variable for the...

Page 267: ...NTS None USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _WH contains the numeric representation of the handle in which a command is executed Handles A through H are indicated by the value 0 7 while a 1 indicates the serial port RELATED COMMANDS TH Tell Handle EXAMPLES WH Request handle identification IHC...

Page 268: ...ned even number in the range 0 to 2 000 000 000 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Controller Usage ALL CONTROLLERS EXAMPLES Assume that 10 seconds after a move is over a relay must be closed A Program A PR 50000 Position relative move BGA Begin the move AMA After the move is over WT 10000 Wait 10 seconds SB 0 Turn on relay EN End Program ...

Page 269: ...range of 0 to 7 NOTE The arguments for the command XQ are optional If no arguments are given the first program in memory will be executed as thread 0 USAGE DEFAULTS While Moving Yes Default Value of n 0 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _XQn contains the current line number of execution for thread n and 1 if thread n is not running RELA...

Page 270: ... YA command configures the actual resolution of the stepper driver USAGE DEFAULTS While Moving No Default Value 2 In a Program Yes Default Format 1 4 Command Line Yes OPERAND USAGE _YAn contains the resolution for the specified axis RELATED COMMANDS QS Error Magnitude YS Stepper Position Maintenance Mode Enable Status YB Step Motor Resolution YC Encoder Resolution YR Error Correction EXAMPLES 1 Se...

Page 271: ...t Value 200 In a Program Yes Default Format 1 4 Command Line Yes OPERAND USAGE _YBn contains the stepmotor resolution for the specified axis RELATED COMMANDS QS Error Magnitude YS Stepper Position Maintenance Mode Enable Status YA Step Drive Resolution YC Encoder Resolution YR Error Correction EXAMPLES 1 Set the step motor resolution of the A axis for a 1 8 step motor YBA 200 2 Query the A axis va...

Page 272: ...000 In a Program Yes Default Format 1 4 Command Line Yes OPERAND USAGE _YCn contains the encoder resolution for the specified axis RELATED COMMANDS QS Error Magnitude YS Stepper Position Maintenance Mode Enable Status YA Step Drive Resolution YB Step Motor Resolution YR Error Correction EXAMPLES 1 Set the encoder resolution of the D axis for a 4000 count rev encoder YC 4000 2 Query the D axis valu...

Page 273: ... Yes OPERAND USAGE None RELATED COMMANDS QS Error Magnitude YA Step Drive Resolution YB Step Motor Resolution YR Error Correction YS Stepper Position Maintenance Mode Enable Status EXAMPLES 1 Using an SDM 20620 microstepping drive query the error of the B axis QSB 253 This shows 253 step counts of error The SDM 20620 resolution is 64 microsteps per full motor step nearly 4 full motor steps of erro...

Page 274: ...lt Format 1 4 Command Line Yes OPERAND USAGE _YSn contains the status of the mode for the specified axis RELATED COMMANDS QS Error Magnitude YA Step Drive Resolution YB Step Motor Resolution YC Encoder Resolution YR Error Correction EXAMPLES 1 Enable the mode YSH 1 2 Query the value YS 0 0 0 0 0 0 0 1 Response shows H axis is enabled Notes 1 Ensure the axis is energized and stable before enabling ...

Page 275: ...ere n is an integer and can be a number controller operand variable mathematical function or string The range for numeric values is 4 bytes of integer 2 147 483 648 to 2 147 483 647 The maximum number of characters for a string is 4 characters Strings are identified by quotations n returns the current value USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 10 0 Comman...

Page 276: ... use II command again The status of the stack can be interrogated with the operand _ZSn see operand usage below ARGUMENTS ZS n where n 0 Returns stack to original condition n 1 Eliminates one return on stack USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 3 0 Command Line No Controller Usage ALL CONTROLLERS OPERAND USAGE _ZSn contains the stack level for the specifi...

Page 277: ...pdate Rate 233 Code 2 Command Syntax 3 Communication Problems CW Command 75 Compare Function 78 229 Conditional jump 137 Configure Communication 75 Master Reset 210 Motor Type 168 Configure Encoders CE Command 63 Configure System CN Command 68 Contour Mode 61 66 Time Interval 84 Coordinate Axes 58 65 Coordinated Motion 248 49 253 Circular 252 Contour Mode 61 66 Ecam 95 Electronic Cam 87 Vector Mod...

Page 278: ...e 48 Set Bit 213 Torque Limit 235 Home Input 107 Home Switch Configure 68 Homing Find Edge 107 Find Index 108 I O Clear Bit 59 Set Bit 213 IF conditional 123 IF Conditional Statements ELSE 94 IF Statement ENDIF 97 Independent Motion Deceleration 30 77 Jog 134 136 Independent Motion Deceleration 215 Independent Time Constant 135 ININT 23 126 Input Interrupt 126 225 ININT 23 126 Integral Gain 141 In...

Page 279: ...peed 119 220 Stack Zeroing 266 Status 76 120 177 225 Stop Code 214 Tell Inputs 232 Tell Status 240 Step Drive Resolution 260 Step Motor Resolution 261 Stepper Position Maintenance 264 Stop Abort 16 Stop Code 2 214 Stop Motion 222 Subroutine 126 138 243 244 Syntax 3 Tangent 237 252 Teach Data Capture 200 Record 200 Theory 140 Time Clock 233 Sample Time 236 Update Rate 233 Timeout 56 162 243 MCTIME ...

Page 280: ...270 Index DMC 40x0 Command Reference Vector Motion 252 Circle 73 Vector Position 253 Vector Speed Ratio 254 XQ Execute Program 259 Zero Stack 266 ...

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