Example 9 - Interrogation
The values of the parameters may be interrogated. Some examples …
Instruction Interpretation
KP ?
Return gain of X axis.
KP ,,?
Return gain of Z axis.
KP ?,?,?,?
Return gains of all axes.
Many other parameters such as KI, KD, FA, can also be interrogated. The command reference
denotes all commands which can be interrogated.
Example 10 - Operation in the Buffer Mode
The instructions may be buffered before execution as shown below.
Instruction Interpretation
PR 600000
Distance
SP 10000
Speed
WT 10000
Wait 10000 milliseconds before reading the next instruction
BG X
Start the motion
Example 11 - Using the On-Board Editor
Motion programs may be edited and stored in the controller’s on-board memory. When the
command, ED is given from the Galil DOS terminal (such as DMCTERM), the controller’s editor
will be started.
The instruction
ED Edit
mode
moves the operation to the editor mode where the program may be written and edited. The editor
provides the line number. For example, in response to the first ED command, the first line is zero.
Line #
Instruction
Interpretation
000 #A
Define
label
001 PR
700
Distance
002 SP
2000
Speed
003
BGX
Start X motion
004 EN
End
program
To exit the editor mode, input <cntrl>Q. The program may be executed with the command.
XQ #A
Start the program running
If the ED command is issued from the Galil Windows terminal software (such as DTERM32), the
software will open a Windows based editor. From this editor a program can be entered, edited,
downloaded and uploaded to the controller.
Example 12 - Motion Programs with Loops
Motion programs may include conditional jumps as shown below.
Instruction Interpretation
#A Label
DMC-1600
Chapter 2 Getting Started
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