Galil Motion Control DMC-42 0 Series, User Manual

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Example - Printing a Variable and an Array element
Instruction Interpretation
#DISPLAY Label
DM posA[7] Define Array posA with 7 entries
PR 1000 Position Command
BGX Begin
AMX After Motion
v1=_TPA Assign Variable v1
posA[1]=_TPA Assign the first entry
v1=
Print v1
Interrogation Commands
The DMC-42x0 has a set of commands that directly interrogate the controller. When these command are entered, the
requested data is returned in decimal format on the next line followed by a carriage return and line feed. The format of
the returned data can be changed using the Position Format (PF), and Leading Zeros (LZ) command. For a complete
description of interrogation commands, see
363H
Chapter 5.
Using the PF Command to Format Response from Interrogation Commands
The command, PF, can change format of the values returned by theses interrogation commands:
BL ? LE ?
DE ? PA ?
DP ? PR ?
EM ? TN ?
FL ? VE ?
IP ? TE
TP
The numeric values may be formatted in decimal or hexadecimal with a specified number of digits to the right and
left of the decimal point using the PF command.
Position Format is specified by:
PF m.n
where m is the number of digits to the left of the decimal point (0 thru 10) and n is the number of digits to the right
of the decimal point (0 thru 4) A negative sign for m specifies hexadecimal format.
Hex values are returned preceded by a $ and in 2's complement. Hex values should be input as signed 2's
complement, where negative numbers have a negative sign. The default format is PF 10.0.
If the number of decimal places specified by PF is less than the actual value, a nine appears in all the decimal
places.
Example
Instruction Interpretation
:DP21 Define position
:TPA
Tell position
0000000021 Default format
:PF4 Change format to 4 places
:TPA Tell position
0021 New format
:PF-4 Change to hexadecimal format
:TPA Tell Position
$0015 Hexadecimal value
:PF2
Format 2 places
:TPA Tell Position
99 Returns 99 if position greater than 99
Chapter 7 Application Programming ▫ 133 DMC-42x0 User Manual