Galil DMC-1000 series Command Reference Manual Download Page 164

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Index

DMC-1000/1500 Command Reference

Electronic Cam 51, 63, 66

Echo 61, 140
Edit Mode 53, 102, 173
EEPROM 22, 39, 133
Electronic Cam 51, 63, 66
Electronic Gearing 73, 75
Ellipse Scale 65
Encoder

Auxiliary Encoder 29, 44, 73

Dual Encoder

44, 50

Index Pulse 69, 76
Quadrature 7, 13, 14, 18, 21, 28, 36, 47, 64, 83, 107,

110, 118, 121, 131, 150, 155, 165

Error

Codes 141, 142

Error Code 2, 11, 29, 44, 50, 64, 68, 73, 76, 82, 105,

107, 110, 136, 156

Error Handling 128
Error Limit 64, 152

Off-On-Error 5, 114

Execute Program 173

Feedforward Acceleration 67

Feedrate

168

Filter Parameter

Gain 74, 90
Integrator 81
Stability 50

Find Edge 68
Formatting 104
Frequency 92

Sample Time 148

Function 58

Gain 74, 90
Gear Ratio 73, 75
Gearing 73, 75

Halt 10, 12, 78, 139

Abort 5
Off-On-Error 5, 114
Stop Motion 139

Hardware 21, 71, 133

Address 125, 157
Clear Bit 26
Jumper 33, 111
Set Bit 26, 135
Torque Limit 147

Home Input 68

Homing 68, 76

Find Edge 68

I/O

Clear Bit 26
DB-10096 117
Home Input 68
Set Bit 26, 135

Independent Motion

Jog 43, 83, 86, 138

Index Pulse 69, 76
ININT 10, 60, 79, 129
Input Interrupt 60, 79, 140

ININT 10, 60, 79, 129

Integrator 81
Internal Variable 12
Interrogation 83, 104
Interrupt 22, 55–57, 60, 79, 82, 124, 128, 140, 157, 175
Invert 29, 111

Jog 43, 83, 86, 138
Jumper 33, 111

Keyword 95, 101, 146

TIME 146

KS 92

Label 45, 79, 87, 102, 105, 128, 133, 156–57, 173

Special Label 105, 156

Latch 11, 33, 130

Arm Latch 11
Data Capture 124
Position Capture 11
Record 124
Teach 124

Limit Switch 33, 70, 75, 82, 95, 101, 128, 136, 140
LIMSWI 128
Linear Interpolation 94, 96, 165

Clear Sequence 38

Logical Operator 87

Master Reset 4, 133, 134, 146
Math Function

Absolute Value 58
Logical Operator 87

Summary of Contents for DMC-1000 series

Page 1: ...REFERENCE Manual Rev 1 0g 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...

Page 2: ......

Page 3: ...ontrollers from the DMC 1500 series 1 8 axes When the corresponding box entry is dark the command is not valid for that controller Removing Non Applicable Commands Since there may be commands which ar...

Page 4: ...XZW Servo Here X Z and W axes SH XYZW Servo Here X Y Z and W axes SH BCAD Servo Here A B C and D axes Note ABCD IS the same as XYZW SH ADEG Servo Here A D E and G axes Note AD is the same as XW SH H...

Page 5: ...perand the user could use the command MG operand All of the command operands begin with the underscore character _ For example the value of the current position on the X axis can be assigned to the va...

Page 6: ...the derivative constant is 64 If this parameter is not set by using the command KD the controller will automatically set this value to 64 for each axis If the Derivative Constant is changed but not s...

Page 7: ...SAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _AB gives state of Abort Input RELATED COMMAND...

Page 8: ...Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _ACx contains the value of acceleration for the specified axis RELATED COMMANDS DC Specifies deceleration rate FA Feedforward Acc...

Page 9: ...ically be satisfied Note AD will be affected when the motion smoothing time constant IT is not 1 See IT command for further information ARGUMENTS AD x or AD y or AD z or AD w ADX x AD a b c d e f g h...

Page 10: ...e Hint The AD command is accurate to the number of counts that occur in 2 msec Multiply your speed by 2 msec to obtain the maximum position error in counts Remember AD measures incremental distance fr...

Page 11: ...of 32 768 counts ARGUMENTS AF x y z w AFX x AF a b c d e f g h where x y z w are integers 1 Enables analog feedback 0 Disables analog feedback and switches to digital feedback returns a 0 or 1 which...

Page 12: ...t Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS IN n Function to read input 1 through 8 II Input interrupt ININT Label for input interrupt EXAMPLES A Begin Prog...

Page 13: ...specified axes When interrogated the AL command will return a 1 if the latch for that axis is armed or a zero after the latch has occurred The CN command will change the polarity of the latch ARGUMENT...

Page 14: ...ormat 1 0 Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS BG _BGx contains a 0 if motion complete EXAMPLES MOVE Program MOVE PR 5000 5000 5000 5000 Position relative mov...

Page 15: ...will automatically be satisfied ARGUMENTS APx or AP y or AP z or AP w APX x AP abcdefgh where x y z w are signed integers in the range 2147483648 to 2147483647 decimal USAGE DEFAULTS While Moving Yes...

Page 16: ...tomatically be satisfied Note AR will be affected when the motion smoothing time constant IT is not 1 See IT command for further information ARGUMENTS ARx or AR y or AR z or AR w ARX X AR abcdefgh whe...

Page 17: ...riggered after the motion is stopped after deceleration ARGUMENTS AS X or AS Y or AS Z or AS W or AS S AS ABCDEFGH where XYZWS specifies X Y Z W axis or sequence USAGE DEFAULTS While Moving Yes Defaul...

Page 18: ...n the range 0 to 2 Billion n 0 defines a reference time at current time positive n waits n msec from reference negative n waits n msec from reference and sets new reference after elapsed time period A...

Page 19: ...ere n is an unsigned integer in the range 0 to 2147483647 decimal USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Ope...

Page 20: ...a relative move BG XYW Start the X Y and W motors moving HM Set up for the homing BGX Start only the X axis moving JG 1000 4000 Set up for jog BGY Start only the Y axis moving YSTATE _BGY Assign a 1 t...

Page 21: ...Subroutine ARGUMENTS BL x y z w BLX x BL a b c d e f g h where x y z w are signed integers in the range 2147483648 to 2147483647 214783648 turns off the reverse limit returns the reverse software lim...

Page 22: ...P VD DV MO MOTOR OFF or ON VF DC MT VS EO OE VT PL OP ER PF ARGUMENTS None USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as...

Page 23: ...es Can be Interrogated No Used in an Operand No RELATED COMMANDS BN Burn Parameters BV Burn Variable Note This command may cause the Galil software to issue the following warning A time out occurred w...

Page 24: ...ogated No Used in an Operand No RELATED COMMANDS BN Burn Parameters BP Burn Program Note This command may cause the Galil software to issue the following warning A time out occurred while waiting for...

Page 25: ...as outputs ARGUMENTS CB n where n is an integer corresponding to the output bit to be cleared The first output bit is specified as 1 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Def...

Page 26: ...shake off 1 for handshake on r Mode 0 for daisy chain off and operator data entry mode 0 1 for daisy chain on p Echo 0 for echo off 1 for echo on Note echo only active when daisy chain feature is off...

Page 27: ...oving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS CM Contour Mode WC Wait for Contour DT Time Increment CS _CS is t...

Page 28: ...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 x 1...

Page 29: ...ter on Port 1 m 2 Interrupt on any character Port 1 m 1 Clear interrupt data buffer n 0 Do not interrupt Port 2 n 1 Interrupt on carriage return character on Port 2 n 2 Interrupt on any character Port...

Page 30: ...tour Buffer is full A value of 0 indicates that the Contour Buffer is empty ARGUMENTS CM XYZW CM ABCDEFGH where the argument specifies the axes to be affected CM returns a 1 if the contour buffer is f...

Page 31: ...1 Home switch configured to drive motor in reverse direction when input is high See HM and FE commands o 1 Latch input is active high 1 Latch input is active low Note The latch function will occur wit...

Page 32: ...decimal value can be calculated by the following formula n n1 2 n2 4 n3 8 n4 16 n5 32 n6 where nx represents the block If the nx value is a one then the block of 8 I O points is to be configured as an...

Page 33: ...n the range 0 to 32000 decimal starting angle in degrees is a signed real number in the range 0 0001 to 32000 decimal angle in degrees n specifies a vector speed to be taken into effect at the executi...

Page 34: ...Command Reference CR 1000 0 360 40000 Generate circle with radius of 1000 counts start at 0 degrees and complete one circle in counterclockwise direction and use a vector speed of 40000 VE End Sequen...

Page 35: ...o Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE When used as an operand _CS contains the number of the segment in the seque...

Page 36: ...oller to not set the MSB of unsolicited characters returns the copyright information for the controller m is 0 or 1 optional 0 causes the controller to pause program execution when output FIFO is full...

Page 37: ...t Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _DA contains the total number of arrays available For example before any arrays ha...

Page 38: ...or the specified axes USAGE DEFAULTS While Moving Yes Default Value 256000 In a Program Yes Default Format 8 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes When moving the DC comman...

Page 39: ...e x y z w are signed integers in the range 2147483647 to 2147483648 decimal returns the position of the auxiliary encoders for the specified axes USAGE EFAULTS While Moving Yes Default Value 0 0 0 0 I...

Page 40: ...after a label specify the label name following DL The argument may be used with DL to append a file at the end of the program in RAM ARGUMENTS DL n where n no argument Downloads program beginning at...

Page 41: ...Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _DM contains the available array space For example before any arrays have be...

Page 42: ...lue 0 0 0 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _DPx contains the current position of the specified axis RELAT...

Page 43: ...The default time interval is n 1 or 2 msec for a sample period of 1 msec DT returns the value for the time interval for contour mode USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes De...

Page 44: ...l loop returns a 0 if dual velocity mode is disabled and 1 if enabled for the specified axes USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Can be...

Page 45: ...y axis may be chosen ARGUMENTS EA p where p is XYZW or EFGH USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No...

Page 46: ...s cam mode and n 0 stops cam mode EB returns the a 0 if ecam disabled and a 1 if enabled USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interroga...

Page 47: ...previous line cntrl Q Exits 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 USAGE Used as...

Page 48: ...DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _EGx contains ecam status for specified axis 0 axi...

Page 49: ...T NO m 2BIT NO CONDITION 0 1 X motion complete 8 256 All axes motion complete 1 2 Y motion complete 9 512 Excess position error 2 4 Z motion complete 10 1024 Limit switch 3 8 W motion complete 11 2048...

Page 50: ...MANDS UI User interrupt EXAMPLES 1 Specify interrupts for all axes motion complete and limit switch Enable bits 8 and 10 m 28 210 256 1024 1280 EI 1280 2 Specify interrupt on Input 3 Enable bit 15 on...

Page 51: ...z w EMX x EM a b c d e f g h where the parameters are positive integers 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 M...

Page 52: ...Return from communications interrupt COMINT and restore interrupt Note1 The default values for the arguments are 0 For example EN 1 and EN0 1 have the same effect Note2 Trippoints cause a program to w...

Page 53: ...program until the X axis completes the motion AMX Move X axis forward 1000 counts PR 1000 Set another Position Relative move BGX Begin motion EN End of Program Note Instead of EN use the RE command to...

Page 54: ...the echo is off characters input over the bus will not be echoed back ARGUMENTS EO n where n 0 or 1 0 turns echo off 1 turns echo on USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes D...

Page 55: ...eger in the range between 1 and 32 767 master counts m cannot be changed while ECAM is running m Returns the value of the interval m n is the phase shift and is an integer between 2 147 483 648 and 2...

Page 56: ...s Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _EQx contains 1 if engage command issued and axis is waiting to engage 2 i...

Page 57: ...ition Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _ERx contains the value of the Error limit for the specified axis RELATED COMMANDS OE Off On Error POSERR Aut...

Page 58: ...of the second axis Y in the example will be divided by n m The resolution change applies for the purpose of generating the VP and CR commands Note that this command results in one axis moving a distan...

Page 59: ...Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS EA Choose ECAM master EB Enable ECAM EG Engage ECAM EP Specify ECAM tab...

Page 60: ...w where x y z w are unsigned numbers in the range 0 to 8191 decimal with a resolution of 0 25 returns the value of the feedforward acceleration coefficient for the specified axis USAGE DEFAULTS While...

Page 61: ...X Y Z W specify XYZ or W axis No argument specifies all axes USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No...

Page 62: ...he sign of the JG command ARGUMENTS FI XYZW Where X Y Z W specify XYZ or W axis No argument specifies all axes USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line...

Page 63: ...x y z w FLX x FL a b c d e f g h where x y z w are signed integers in the range 2147483648 to 2147483647 2147483647 turns off the forward limit returns the value of the forward limit switch for the sp...

Page 64: ...44 volts ARGUMENTS FV x y z w FVX x FV a b c d e f g h where x y z w are unsigned numbers in the range 0 to 8191 decimal returns the feedforward velocity for the specified axis USAGE DEFAULTS While Mo...

Page 65: ...nd ratios are specified with the GR command and gearing is turned off by the command GR0 ARGUMENTS GA n where n X or Y or Z or W or A B C D E F G H for main encoder as axis master n CX or CY or CZ or...

Page 66: ...s USAGE DEFAULTS While Moving Yes Default Value 70 In a Program Yes Default Format 4 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _GNx contains the value of the gain f...

Page 67: ...de has been enabled ARGUMENTS GR x y z w GRX x GR a b c d e f g h where x y z w are signed numbers in the range 127 with a fractional resolution of 0001 0 disables gearing returns the value of the gea...

Page 68: ...s detected the motor is stopped instantaneously The third stage consists of the motor slowly moving forward until it detects an index pulse from the encoder It stops at this point and defines it as po...

Page 69: ...ad number n is an integer in the range of 0 to 3 USAGE DEFAULTS While Moving Yes Default Value n 0 In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAN...

Page 70: ...mp to the subroutine with label ININT Any trippoints set by the program will be cleared but can be re enabled by the proper termination of the interrupt subroutine using RI The RI command is used to r...

Page 71: ...DMC 100 1500 Command Reference II 69 BGX Begin motion RI0 Return to main program don t re enable trippoints...

Page 72: ...hat level will be maintained through the move Note however that the KD and KP terms remain active in any case ARGUMENTS IL x y z w ILX x IL a b c d e f g h where x y z w are numbers in the range 9 998...

Page 73: ...till be active The IN command may only be used in thread ARGUMENTS IN m n where m is prompt message n is the variable name The limit on the number of characters for n and m are such that the total num...

Page 74: ...o instantly try to servo to a position x y z w from the present instantaneous position The SP and AC parameters have no effect This command is useful when synchronizing 2 axes in which one of the axis...

Page 75: ...points AR AD monitor the profile prior to the IT filter and therefore can be satisfied before the distance has been reached if IT is not 1 ARGUMENTS IT x y z w ITX x IT a b c d e f g h where x y z w a...

Page 76: ...absolute value of the jog speed for the specified axis USAGE DEFAULTS While Moving Yes Default Value 16385 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used...

Page 77: ...s that only one statement be true for the combined statement to be true Note Each condition must be placed in parenthesis for proper evaluation by the controller ARGUMENTS JP location condition where...

Page 78: ...operand between any two conditions requires that only one statement be true for the combined statement to be true Note Each condition must be placed in parenthesis for proper evaluation by the contro...

Page 79: ...f g h where x y z w are unsigned numbers in the range 0 to 4095 875 with a resolution of 1 8 returns the value of the derivative constant for the specified axis USAGE DEFAULTS While Moving Yes Defaul...

Page 80: ...range 0 to 2047 875 with a resolution of 1 8 returns the value of the derivative constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 4 0 Co...

Page 81: ...z w KPX x KP a b c d e f g h where x y z w are unsigned numbers in the range 0 to 1023 875 with a resolution of 1 8 returns the value of the proportional constant for the specified axis USAGE DEFAULT...

Page 82: ...full or half step mode Note KS will delay the step output ARGUMENTS KS x y z w KSX x KS a b c d e f g h where x y z w are positive integers in the range between 5 and 8 with a resolution of 1 32 retu...

Page 83: ...e in 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...

Page 84: ...ommand ARGUMENTS LE returns the length of the vector in counts USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand...

Page 85: ...ontains the state of the forward limit switch for the specified axis _LFx where x is the specified axis 1 inactive w CN 1 1_LFX 1 when not closed w CN 1 1_LFX 0 when closed 0 active w CN 1 _LFX 0 when...

Page 86: ...ditional segments can be sent It should be noted that the controller computes the vector speed based on the axes specified in the LM mode For example LM XYZ designates linear interpolation for the X Y...

Page 87: ...E Linear end BG BGS Begin sequence LM Linear Interpolation Mode CS Clear Sequence VS Vector Speed VA Vector Acceleration VD Vector Deceleration EXAMPLES LM XYZ Specify linear interpolation mode LI 100...

Page 88: ...of the program labels in memory 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 Can be Interroga...

Page 89: ...d of these axes will be computed from VS 2 XS 2 YS 2 ZS 2 where XS YS and ZS are the speed of the X Y and Z axes If the LI command specifies only X and Y the speed of Z will still be used in the vecto...

Page 90: ...88 LM DMC 1000 1500 Command Reference LI 200 300 400 500 Specify linear distance LE BGS Last vector then begin motion...

Page 91: ...tains the state of the reverse limit switch for the specified axis _LRx where x is the specified axis 1 inactive w CN 1 1_LFX 1 when not closed w CN 1 1_LFX 0 when closed 0 active w CN 1 _LFX 0 when o...

Page 92: ...e number or label If no parameter is specified the listing will go to the last line of the program ARGUMENTS LS n m where n and m are valid numbers from 0 to 999 or labels n is the first line to be li...

Page 93: ...program labels in memory 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 Can be Interrogated Ye...

Page 94: ...efault Value 0 In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _LZ contains the state of the LZ function 0 is disabled and 1 is enabled EX...

Page 95: ...de the controller will hold up execution of the proceeding commands until the controller has generated the same number of steps as specified in the commanded position The actual number of steps that h...

Page 96: ...on W EN End of Program F DP 0 0 0 0 Program F Position PR 5000 6000 7000 8000 relative moves BG Start X Y Z and W axes MC After motion complete on all axes MG DONE TP Print message EN End of Program H...

Page 97: ...in the range 2147483648 to 2147483647 decimal USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMA...

Page 98: ...as a string of length n where n is 1 thru 6 N Suppress carriage return line feed For DMC 1500 only Pn Specifies which serial port to send the message 1 main port 2 auxiliary port Note Multiple text va...

Page 99: ...Default Format 1 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _MOx contains the state of the motor for the specified axis RELATED COMMANDS SH Servo Here EXAMPLES MO...

Page 100: ...egers in the range 2147483648 to 2147483647 decimal USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED C...

Page 101: ...active high step pulses 2 5 Step motor with reversed direction and active low step pulses 2 5 Step motor with reversed direction and active high step pulses returns the value of the motor type for the...

Page 102: ...ram ARGUMENTS NO m where m is any group of letter number symbol or cntrl G For DMC 1000 up to 37 characters can follow the NO command USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Def...

Page 103: ...here n denotes 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 Can be...

Page 104: ...the argument may be 0 or 1 0 disables function 1 enables off on error function returns the state of the Off on Error function for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In...

Page 105: ...tion of 0 0003 returns the offset for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated Yes Used as an Operand...

Page 106: ...nteger in the range 0 to 65535 decimal or 0 to FF hexadecimal 0 to 255 for 4 axes or less n is an integer in the range 0 to 16772215 OP returns the value of the first argument m OP returns the value o...

Page 107: ...ata fields define the outputs as follows FIELD MOST SIGNIFICANT TO LEAST SIGNIFICANT BYTE m block 2 to 1 n block 4 to 3 o block 6 to 5 For example the command OQ 259 followed by the command MG OQ1 wil...

Page 108: ...No Default Value In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _PAx contains current destination current command positio...

Page 109: ...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 re...

Page 110: ...While Moving No Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _PRx contains the current incremental dist...

Page 111: ...l Q control D or ARGUMENTS QD array start end where array is valid array name start is first element of array default 0 end is last element of array default last element USAGE DEFAULTS While Moving No...

Page 112: ...herwise the elements will be separated by a carriage return The uploaded array will be followed by a control Z as an end of text marker ARGUMENTS QU array start end delim where array is a valid array...

Page 113: ...DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS DM Dimension Array RD Record Data RC Record Inter...

Page 114: ...s for the array element for the next recording can be interrogated with _RD RC returns status of recording 1 if recording 0 if not recording USAGE DEFAULTS While Moving Yes Default Value In a Program...

Page 115: ...32767 is 10 volt where x is the axis specifier 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 ty...

Page 116: ...he error interrupt the trippoint condition is preserved on the return to the program if RE1 is used RE0 clears the trippoint To avoid returning to the main program on an interrupt use the ZS command t...

Page 117: ...g 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 or 1 0 clears interrupt trippoint 1 resto...

Page 118: ...latch can be configured using the CN command ARGUMENTS RL XYZW RL ABCDEFGH where the argument specifies the axes to be affected USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default...

Page 119: ...lationship between RP TP and TE TEX equals the difference between the reference position RPX and the actual position _TPX EXAMPLES Assume that XYZ and W axes are commanded to be at the positions 200 1...

Page 120: ...sets the state of the processor to its power on condition The previously saved state of the controller along with parameter values and saved sequences are restored USAGE DEFAULTS While Moving Yes Defa...

Page 121: ...factory default settings and erases EEPROM For the DMC 1500 A master reset can also be performed by setting the MRST dipswitch and resetting the controller power cycle or pressing the reset button Re...

Page 122: ...ontrol R control V FUNCTION Revision Information DESCRIPTION This command causes the controller to return firmware revision information USAGE DEFAULTS While Moving Yes Default Value In a Program No De...

Page 123: ...ght bits on the output port ARGUMENTS SB n where n is an integer in the range 1 to 8 decimal USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Inter...

Page 124: ...ting or stopped by REV limit switch or soft limit BL 51 Contour Stop 4 Decelerating or stopped by Stop Command ST 99 MC timeout 6 Stopped by Abort input 100 Motors are running vector sequence 7 Stoppe...

Page 125: ...be affected USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS MO Motor off EXAMPLES SH Servo X...

Page 126: ...s in the range 0 to 2 000 000 for stepper motors x y z w or a b c d e f g h are unsigned numbers in the range 0 to 3 000 000 for stepper motors returns the speed for the specified axis USAGE DEFAULTS...

Page 127: ...pecifies the axes to be affected No parameters will stop motion on all axes and stop program USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Inter...

Page 128: ...d Bit 2 Executing input interrupt routine Bit 1 0 Reserved Bit 0 Echo on Bit 7 will always be high when not operating in a daisy chain When operating in a daisy chain bit 7 will be high when commands...

Page 129: ...full 54 Question mark part of string 6 Number out of range 55 Missing or 7 Command not valid while running 56 Array index invalid or out of range 8 Command not valid when not running 57 Bad function o...

Page 130: ...2 No master axis defined for ECAM 31 Total move distance in a sequence 2 billion 103 Master axis modulus greater than 256 EP value 32 More than 511 segments in a sequence 104 Not valid when axis perfo...

Page 131: ...have been output by the controller ARGUMENTS TD XYZW TD ABCDEFGH where the argument specifies the axes to be affected USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Po...

Page 132: ...s Default Format Position Format Command Line Yes Can be Interrogated No Used in an Operand Yes OPERAND USAGE _TEn where n axis specific Returns specific error RELATED COMMANDS OE Off On Error ER Erro...

Page 133: ...nput 3 Input 11 Input 19 LSB Bit 1 Input 2 Input 10 Input 18 LSB Bit 0 Input 1 Input 9 Input 17 ARGUMENTS TIn where n equals 0 1 or 2 TI returns the status byte of input block 0 USAGE DEFAULTS While M...

Page 134: ...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 1024 micr...

Page 135: ...s in the range 0 to 9 998 volts with resolution of 0 003 volts returns the value of the torque limit for the specified axis USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Forma...

Page 136: ...375 sec for the DMC 1020 or DMC 1520 500 sec for the DMC 1030 or DMC 1530 500 sec for the DMC 1040 or DMC 1540 625 sec for the DMC 1050 or DMC 1550 750 sec for the DMC 1060 or DMC 1560 875 sec for the...

Page 137: ...0 004 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 2 109 TN returns the first position va...

Page 138: ...current position value for the specified axis RELATED COMMANDS PF Position Formatting EXAMPLES Assume the X axis is at the position 200 decimal the Y axis is at the position 10 decimal the Z axis is...

Page 139: ...the communications port prior to execution TR1 enables this function and TR0 disables it The trace command is useful in debugging programs ARGUMENTS TR n where n 0 or 1 0 disables function 1 enables...

Page 140: ...atched ARGUMENTS TS XYZW TS ABCDEFGH where the argument specifies the axes to be affected USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 3 0 Command Line Yes Can be Inte...

Page 141: ...T ABCDEFGH where the argument specifies the axes to be affected USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 1 4 Command Line Yes Can be Interrogated No Used as an Ope...

Page 142: ...on for all axes USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 7 0 Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _TVx contains the value o...

Page 143: ...plication program will jump to the special label MCTIME The RE command should be used to return from the MCTIME subroutine ARGUMENTS TW x y z w TWX X TW a b c d e f g h where x y z w specifies timeout...

Page 144: ...your host program The interrupt condition can be read by writing a 6 to address N 1 and then reading address N 1 Refer to the user manual for additional information ARGUMENTS UI n where n is an intege...

Page 145: ...ne USAGE DEFAULTS While Moving Yes Default Value 0 In a Program No Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE When used as an operand _UL gives the num...

Page 146: ...pecified axis USAGE DEFAULTS While Moving Yes Default Value 262144 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _VAx co...

Page 147: ...r the specified axis USAGE DEFAULTS While Moving No Default Value 262144 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _...

Page 148: ...AGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _VE contains the length of the vector in count...

Page 149: ...ber will be displayed as the maximum possible positive or negative number i e 999 99 999 8000 or 7FF ARGUMENTS VF m n where m and n are unsigned numbers in the range 0 m 10 and 0 n 4 A negative m spec...

Page 150: ...that the buffer is empty and 511 segments may be sent A zero means that the buffer is full and no additional segments may be sent ARGUMENTS VM nmp where n and m specifies the plane of vector motion T...

Page 151: ...DMC 100 1500 Command Reference VM 149 EXAMPLES VM X Y Specify coordinated mode for X Y CR 500 0 180 Specify arc segment VP 100 200 Specify linear segment VE End vector BGS Begin sequence...

Page 152: ...integer between 0 and 8 000 000 for servo motor operation and between 0 and 2 000 000 for stepper motors o is not valid for DMC 1000 and DMC 1500 controllers USAGE DEFAULTS While Moving Yes Default V...

Page 153: ...0 Specify vector acceleration BGS Begin motion sequence EN End Program Hint The first vector in a coordinated motion sequence defines the origin for that sequence All other vectors in the sequence are...

Page 154: ...and 10 with a resolution of 0001 VR returns the vector speed ratio USAGE DEFAULTS While Moving Yes Default Value 1 In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an...

Page 155: ...fies the rate n is an unsigned number in the range 0 to 8 000 000 decimal for servo motors and 0 to 8 000 000 decimal for stepper motors Resolution is 2 VS returns the vector speed USAGE DEFAULTS Whil...

Page 156: ...ans no filtering and 0 004 means maximum filtering Note that the filtering results in longer motion time ARGUMENTS VT n where n is a positive number in the range between 0 004 and 1 0 with a resolutio...

Page 157: ...ffer USAGE DEFAULTS While Moving Yes Default Value 1 0 In a Program Yes Default Format 1 4 Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS CM Contour Mode CD Contour Dat...

Page 158: ...ts of the Wait command are milliseconds ARGUMENTS WT n where n is an integer in the range 0 to 2 Billion decimal USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command L...

Page 159: ...tasking n is an integer in the range of 0 to 3 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 Whil...

Page 160: ...returns the value of the compensating zero for the specified axis USAGE DEFAULTS While Moving Yes Default Value 9143 In a Program Yes Default Format 3 0 Command Line Yes Can be Interrogated Yes Used a...

Page 161: ...of the stack can be interrogated with the operand _ZSx see operand usage below ARGUMENTS ZS n where 0 returns stack to original condition 1 eliminates one return on stack USAGE DEFAULTS While Moving...

Page 162: ...160 ZS DMC 1000 1500 Command Reference THIS PAGE LEFT BLANK INTENTIONALLY...

Page 163: ...136 156 Command Syntax 2 Commanded Position 73 Communication 39 Compare Function 44 143 Compensation Backlash 50 Conditional jump 10 87 Configuration Jumper 33 111 Connector 33 111 Contour Mode 28 32...

Page 164: ...78 139 Abort 5 Off On Error 5 114 Stop Motion 139 Hardware 21 71 133 Address 125 157 Clear Bit 26 Jumper 33 111 Set Bit 26 135 Torque Limit 147 Home Input 68 Homing 68 76 Find Edge 68 I I O Clear Bit...

Page 165: ...114 128 Position Limit 70 Program Flow 54 63 Interrupt 22 55 57 60 79 82 124 128 140 157 175 Stack 79 128 172 175 Programmable EEPROM 22 39 133 Programming Halt 10 12 78 139 Protection Error Limit 64...

Page 166: ...91 Stability 50 Time Clock 146 148 Sample Time 148 Update Rate 146 TIME 146 Time Interval 32 48 124 Timeout 105 156 MCTIME 105 156 Torque Limit 147 Trigger 16 64 Trippoint 7 12 13 14 54 63 78 79 105 1...

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Galil DMC-1000 series, Command Reference Manual

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