Galil DMC-2010, User Manual

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Command Syntax - Binary
Some commands have an equivalent binary value. Binary communication mode can be executed much
faster than ASCII commands. Binary format can only be used when commands are sent from the PC
and cannot be embedded in an application program.
Binary Command Format
All binary commands have a 4 byte header and is followed by data fields. The 4 bytes are specified in
hexadecimal format.
Header Format:
Byte 1
Specifies the command number between 80 to FF. The complete binary command number table is
listed below.
Byte 2
Specifies the # of bytes in each field as 0,1,2,4 or 6 as follows:
00 No datafields (i.e. SH or BG)
01 One byte per field
02 One word (2 bytes per field)
04 One long word (4 bytes) per field
06 Galil real format (4 bytes integer and 2 bytes fraction)
Byte 3
Specifies whether the command applies to a coordinated move as follows:
00 No coordinated motion movement
01 Coordinated motion movement
For example, the command STS designates motion to stop on a vector motion. The third byte for the
equivalent binary command would be 01.
Byte 4
Specifies the axis # or data field as follows
Bit 7 = H axis or 8
th
data field
Bit 6 = G axis or 7
th
data field
Bit 5 = F axis or 6
th
data field
Bit 4 = E axis or 5
th
data field
Bit 3 = D axis or 4
th
data field
Bit 2 = C axis or 3
rd
data field
DMC-2X00 Chapter 5 Command Basics
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