Galil Motion Control DMC-40x0 Series, Command Reference Manual

Page: 12 / 280

2 ● Parameter Arguments DMC-40x0 Command Reference
As a brief introduction, the following table lists the available commands and their basic usages:
AD after distance
AI after input
AM after move
AP after absolute position
AR after relative position
AS at speed
AT at time relative to a reference time
AV after vector distance
MC motion complete and “in position”
MF after motion forward
MR after motion reverse
WT wait for time
Command Descriptions
Each executable instruction is listed in the following section in alphabetical order. Below is a description
of the information which is provided for each command.
The two-letter Opcode for each instruction is placed in the upper left corner. Below the opcode is a
description of the command and required arguments.
Axes Arguments
Some commands require 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 command by a single space. When an argument is not required and is not
given, the command is executed for all axes.
Valid syntax
SH A Servo Here, A only
SH ABD Servo Here, A,B and D axes
SH ACD Servo Here, A,C and D axes
SH ABCD Servo Here, A,B, C and D axes
SH BCAD Servo Here, A,B,C and D axes
SH ADEG Servo Here, A,D,E and G axes
SH H Servo Here, H axis only
SH Servo Here, all axes
Parameter Arguments
Some commands require numerical arguments to be specified following the instruction. In the argument
description, these commands are followed by lower case n,n,n,n,n,n,n,n, where the letter, n, represents the