DMC-1400 Series DMC-1400 Series Command Reference Manual Rev. 2.8 By Galil Motion Control, Inc. Galil Motion Control, Inc. 3750 Atherton Road Rocklin, California 95765 Phone: (916) 626 0101 Fax: (916) 626-0102 Internet Address: support@galilmc.com URL: www.galilmc.
ARRAYS CONTROL FEEDBACK DA deallocate DV dual loop AF analog feedback _DA arrays left FA accel feedfwd AL arm latch define FV speed feedfwd _AL DM _DM space left LA list latch occurred? IL integrator limit CE configure KD derivative gain OC output compare QD download QU print/upload RA record MO motor off _RL RC begin _MO motor off? TD tell dual _RC KP integral gain proportional gain _OC PROGRAM BK breakpoint @ACOS[n] arccos DL download VECTOR @ASIN[
Contents CONTENTS ......................................................................................................................................................................... I OVERVIEW.........................................................................................................................................................................1 CONTROLLER NOTATION ...................................................................................................................
BI................................................................................................................................................. 38 BK ............................................................................................................................................... 39 BL................................................................................................................................................ 40 BM...........................................................
ER................................................................................................................................................ 86 ES ................................................................................................................................................ 87 ET................................................................................................................................................ 88 FA...........................................................
MF............................................................................................................................................. 139 MG ............................................................................................................................................ 140 MO ............................................................................................................................................ 141 MR..................................................................
@SQR[n] .................................................................................................................................. 187 ST .............................................................................................................................................. 188 @TAN[n] .................................................................................................................................. 189 TB..........................................................................
Overview Controller Notation This command reference is a supplement to the Galil Motion Control User Manual. For proper controller operation, consult the Users Manual. This manual describes commands to be used with the Galil Econo Series Motion Controllers: DMC-1410, DMC-1411, DMC-1412, DMC-1414, DMC1415, DMC-1416, DMC-1417, and DMC-1425. Commands are listed in alphabetical order. This command summary includes all executable commands, which can be used with the DMC-1400 series motion controller.
Arguments As arguments, some commands require actual values to be specified following the instruction. These commands are followed by lower case n where n is replaced by an actual value. A “?” returns the specified value for that axis. For example, AC? returns the acceleration of the axis. Other commands require action on the axis to be specified. These commands do not have an operand action for the axis or are specified by writing the command only, such as BG or ST.
power up of the controller. If this value is set and saved in non-volatile memory, it will be restored upon reset until a master reset is given to the controller. The default format describes the format for numerical values, which are returned when the command is interrogated. The format value represents the number of digits before and after the decimal point. Controller Usage The controller usage indicates which models within the DMC-1400 Econo Series line support the current command.
# FUNCTION: Label (subroutine) DESCRIPTION: The # operator denotes the name of a program label (for example #Move). Labels can be up to seven characters long and are often used to implement subroutines or loops. Labels are divided into (a) user defined and (b) automatic subroutines. User defined labels can be printed with LL and the number of labels left available can be queried with MG _DL. The automatic subroutines include #CMDERR, #LIMSWI, #POSERR, #ININT, #AUTO, and #MCTIME.
$ FUNCTION: Hexadecimal DESCRIPTION: The $ operator denotes that the following string is in hexadecimal notation ARGUMENTS: $nnnnnnnn.mmmm n is up to eight hexadecimal digits (denoting 32 bits of integer) m is up to four hexadecimal digits (denoting 16 bits of fraction) USAGE: DEFAULTS: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Controller Usage ALL RELATED COMMANDS: * Multiply (shift left) / Divide (shift right) MG {$8.
&| FUNCTION: Bitwise Logical Operators AND and OR DESCRIPTION: The operators & and | are typically used with IF, JP, and JS to perform conditional jumps; however, they can also be used to perform bitwise logical operations. ARGUMENTS: n & m or n | m where n and m are signed numbers in the range -2147483648 to 2147483647.
() FUNCTION: Parentheses (order of operations) DESCRIPTION: The parentheses denote the order of math and logical operations. Note that the controller DOES NOT OBEY STANDARD OPERATOR PRECEDENCE. For example, multiplication is NOT evaluated before addition. Instead, the controller follows left-toright precedence. Therefore, it is recommended to use parenthesis as much as possible.
; FUNCTION: Semicolon (Command Delimiter) DESCRIPTION: The semicolon operator allows multiple Galil commands to exist on a single line. It is used for the following three reasons: (1) To put comments on the same line as the command (BGX ;’begin motion) (2) To compress DMC programs to fit within the program line limit (Note: use a compression utility to do this. Do not program this way because it is hard to read.) (3) To give higher priority to a thread.
[] FUNCTION: Square Brackets (Array Index Operator) DESCRIPTION: The square brackets are used to denote the array index for an array, or to denote an array name.
+-*/ FUNCTION: Math Operators DESCRIPTION: The addition, subtraction, multiplication, and division operators are binary operators (they take two arguments and return one value) used to perform mathematical operations on variables, constants, and operands.
<, >, =, <=, >=, <> FUNCTION: Comparison Operators DESCRIPTION: The comparison operators are as follows: < less than > greater than = equals <= less than or equal >= greater than or equal <> not equals These are used in conjunction with IF, JP, JS, ( ), &, and | to perform conditional jumps. The result of a comparison expression can also be printed with MG or assigned to a variable.
= FUNCTION: Equals (Assignment Operator) DESCRIPTION: The assignment operator is used for three reasons: (1) to define and initialize a variable (x = 0) before it is used (2) to assign a new value to a variable (x = 5) (3) to print a variable or array element (x= which is equivalent to MG x). MG is the preferred method of printing.
AB FUNCTION: Abort DESCRIPTION: AB (Abort) stops a motion instantly without a controlled deceleration. If there is a program operating, AB also aborts the program unless a 1 argument is specified. The command, AB, will shut off the motors for any axis in which the off-on-error function is enabled (see command "OE"). ARGUMENTS: AB n where n = no argument or 1 1 aborts motion without aborting program, 0 aborts motion and program AB aborts motion on all axes in motion and cannot stop individual axes.
@ABS[n] FUNCTION: Absolute value DESCRIPTION: Takes the absolute value of the given number. Returns the value if positive, and returns -1 times the value if negative. ARGUMENTS: @ABS[n] where n is a signed number in the range -2147483647 to 2147483647 USAGE: DEFAULTS: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Controller Usage ALL RELATED COMMANDS: @SQR Square Root EXAMPLES: :MG @ABS[-2147483647] 2147483647.
AC FUNCTION: Acceleration DESCRIPTION: The Acceleration (AC) command sets the linear acceleration rate for independent moves, such as PR, PA and JG moves. The parameters input will be rounded down to the nearest factor of 1024. The units of the parameters are counts per second squared. The acceleration rate may be changed during motion. The DC command is used to specify the deceleration rate.
@ACOS[n] FUNCTION: Inverse cosine DESCRIPTION: Returns in degrees the arc cosine of the given number. ARGUMENTS: @ACOS[n] where n is a signed number in the range -1 to 1. USAGE: DEFAULTS: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Controller Usage ALL RELATED COMMANDS: @ASIN Arc sine @SIN sine @ATAN Arc tangent @COS Cosine @TAN Tangent EXAMPLES: :MG @ACOS[-1] 180.0000 :MG @ACOS[0] 90.0000 :MG @ACOS[1] 0.
AD FUNCTION: After Distance DESCRIPTION: The After Distance (AD) command is a trippoint used to control the timing of events. This command will hold up the execution of the following command until one of the following conditions have been met: 1. The commanded motor position crosses the specified relative distance from the start of the move. 2. The motion profiling on the axis is complete. 3. The commanded motion is in the direction which moves away from the specified position.
AF FUNCTION: Analog Feedback DESCRIPTION: The Analog Feedback (AF) command is used to set an axis with analog feedback instead of digital feedback (quadrature/pulse dir). As the analog feedback is decoded by a 12-bit A/D converter, an input voltage of 10 volts is decoded as a position of 2047 counts and a voltage of -10 volts corresponds to a position of -2048 counts. When using Analog Feedback mode, X axis feedback must be wired to analog input 1 and Y axis feedback must be wired to analog input 2.
AI FUNCTION: After Input DESCRIPTION: The AI command is used in motion programs to wait until after the specified input has occurred. If n is positive, it waits for the input to go high. If n is negative, it waits for n to go low. ARGUMENTS: AI +/-n where n is an integer in the range 1 to 7 decimal for DMC-1410/1411/1417/1415/1416 and 0 to 3 decimal for the DMC-1425.
AL FUNCTION: Arm Latch DESCRIPTION: The AL command enables the latching function (high speed position capture) of the controller. When the AL command is used to arm the position latch, the encoder position of the main encoder input will be captured upon a low going signal on Input 1. The command RL returns the captured position value. When interrogated or used in an operand the AL command will return a 1 if the latch is armed or a zero after the latch has occurred.
AM FUNCTION: After Move DESCRIPTION: The AM command is a trippoint used to control the timing of events. This command will hold up execution of the following commands until the current move on the specified axis or axes is completed. AM occurs when the profiler is finished generating the last position command. However, the servo motor may not be in the final position. Use TE to verify position error for servos, or use the MC trippoint to wait until final actual position is recorded.
@AN[n] FUNCTION: Read analog input DESCRIPTION: Returns the value of the given analog input in volts ARGUMENTS: @AN[n] where n is an unsigned integer in the range 1 to 8 USAGE: DEFAULTS: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Controller Usage ALL RELATED COMMANDS: @IN Read digital input @OUT Read digital output SB Set digital output bit CB Clear digital output bit OF Set analog output offset EXAMPLES: :MG @AN[1] ;'print analog input 1 1.
AO FUNCTION: Analog Out DESCRIPTION: The AO command sets the analog output voltage of Modbus Devices connected via Ethernet. ARGUMENTS: AO m, n where m is the I/O number calculated using the following equations: m = (SlaveAddress*10000) + (HandleNum*1000) + ((Module-1)*4) + (Bitnum-1) Slave Address is used when the Modbus device has slave devices connected to it and Addresses 0 to 255. Please note that the use of slave devices specified as for Modbus are very rare and this number will usually be 0.
AP FUNCTION: After Absolute Position DESCRIPTION: The After Position (AP) command is a trippoint used to control the timing of events. This command will hold up the execution of the following command until one of the following conditions have been met: 1. The commanded motor position crosses the specified absolute position. 2. The motion profiling on the axis is complete. 3. The commanded motion is in the direction which moves away from the specified position.
AR FUNCTION: After Relative Distance DESCRIPTION: The After Relative (AR) command is a trippoint used to control the timing of events. This command will hold up the execution of the following command until one of the following conditions have been met: 1. The commanded motor position crosses the specified relative distance from either the start of the move or the last AR or AD command. 2. The motion profiling on the axis is complete. 3.
AS FUNCTION: At Speed DESCRIPTION: The AS command is a trippoint that occurs when the generated motion profile has reached the specified speed. This command will hold up execution of the following command until the speed is reached. The AS command will operate after either accelerating or decelerating. If the speed is not reached, the trippoint will be triggered after the speed begins diverging from the AS value.
@ASIN[n] FUNCTION: Inverse sine DESCRIPTION: Returns in degrees the arc sine of the given number. ARGUMENTS: @ASIN[n] where n is a signed number in the range -1 to 1. USAGE: DEFAULTS: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Controller Usage ALL RELATED COMMANDS: @ACOS Arc cosine @SIN sine @ATAN Arc tangent @COS Cosine @TAN Tangent EXAMPLES: :MG @ASIN[-1] -90.0000 :MG @ASIN[0] 0.0000 :MG @ASIN[1] 90.
AT FUNCTION: At Time DESCRIPTION: The AT command is a trippoint which is used to hold up execution of the next command until after the specified time has elapsed. The time is measured with respect to a defined reference time. AT 0 establishes the initial reference. AT n specifies n msec from the reference. AT -n specifies n msec from the reference and establishes a new reference after the elapsed time period.
@ATAN[n] FUNCTION: Inverse tangent DESCRIPTION: Returns in degrees the arc tangent of the given number. ARGUMENTS: @ATAN[n] n is a signed number in the range -2147483647 to 2147483647 USAGE: DEFAULTS: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Controller Usage ALL RELATED COMMANDS: @ASIN Arc sine @SIN sine @ACOS Arc cosine @COS Cosine @TAN Tangent EXAMPLES: :MG @ATAN[-10] -84.2894 :MG @ATAN[0] 0.0000 :MG @ATAN[10] 84.
#AUTO FUNCTION: Subroutine to run automatically upon power up DESCRIPTION: #AUTO denotes code to run automatically when power is applied to the controller, or after the controller is reset. When no host software is used with the controller, #AUTO and the BP command are required to run an application program on the controller.
#AUTOERR FUNCTION: Automatic subroutine for notification of EEPROM checksum errors DESCRIPTION: #AUTOERR will run code upon power up if data in the EEPROM has been corrupted. The EEPROM is considered corrupt if the checksum calculated on the bytes in the EEPROM do not match the checksum written to the EEPROM.
AV FUNCTION: After Vector Distance DESCRIPTION: The AV command is a trippoint which is used to hold up execution of the next command during coordinated moves such as VP,CR or LI. This trippoint occurs when the path distance of a sequence reaches the specified value. The distance is measured from the start of a coordinated move sequence or from the last AV command. The units of the command are quadrature counts. ARGUMENTS: AV s,t where s and t are unsigned integers in the range 0 to 2147483647 decimal.
BA FUNCTION: Brushless Axis DESCRIPTION: The BA command sets the controller up for sinusoidal commutation of the axis. This command enables the second DAC for use as the second phase of commutation. ARGUMENTS: BAX where X specifies sinusoidal commutation for the axis. No argument clears all axes configured for sinusoidal commutation.
BB FUNCTION: Brushless Phase Begins DESCRIPTION: The BB function describes the position offset between the Hall transition point and θ = 0, for sinusoidally commutated motor. This command must be saved in non-volatile memory to be effective upon reset. ARGUMENTS: BB x where x represents the phase offset of the brushless motor, expressed in multiples of 30°.
BC FUNCTION: Brushless Calibration DESCRIPTION: The function BC monitors the status of the Hall sensors of a sinusoidally commutated motor, and upon transition, replaces the estimated value of a commutated phase by an exact value. ARGUMENTS: BC USAGE: While Moving Yes Default Value 0 In a Program Yes Default Format 0 Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage DMC-1412/1415/1410/1417 OPERAND USAGE: _BC contains the state of the Hall sensor inputs.
BD FUNCTION: Brushless Degrees DESCRIPTION: This command sets the commutation phase of a sinusoidally commutated motor. When using hall effect sensors, a more accurate value for this parameter can be set by using the command, BC. This command should not be used except when the user is creating a specialized phase initialization procedure. ARGUMENTS: BDx where x sets the commutation phase in degrees within 0-360°.
BG FUNCTION: Begin DESCRIPTION: The BG command starts a motion. When Used as an Operand, the BG command will return a 1 if there is a commanded motion in progress, a 0 otherwise. ARGUMENTS: BG USAGE: While Moving Yes Default Value --- In a Program Yes Default Format --- Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE: _BGx contains a ‘0’ if motion complete on the axis, otherwise contains a ‘1’.
BI FUNCTION: Brushless Inputs DESCRIPTION: The BIx indicates the starting number for the input lines to which the Hall sensors have been wired for sinusoidally commutated motors. These inputs must be the general use inputs (bits 1-7). The Hall sensors of the motor must be connected with consecutive numbers of input lines. The brushless setup command, BS, can be used to determine the proper wiring of the hall sensors. ARGUMENTS: BIx where x indicates the starting input line.
BK FUNCTION: Breakpoint DESCRIPTION: For debugging. Causes the controller to pause execution of the given thread at the given program line number (which is not executed). All other threads continue running. Only one breakpoint may be armed at any time. After a breakpoint is encountered, a new breakpoint can be armed (to continue execution to the new breakpoint) or BK will resume program execution. The SL command can be used to single step from the breakpoint.
BL FUNCTION: Reverse Software Limit DESCRIPTION: The BL command sets the reverse software limit. If this limit is exceeded during a commanded motion, the motion will decelerate to a stop. Reverse motion beyond this limit is not permitted. The reverse limit is activated at position n-1. To disable the reverse limit, set n to -2147483648. The units are in quadrature counts.
BM FUNCTION: Brushless Modulo DESCRIPTION: The BM command defines the length of the magnetic cycle in encoder counts. ARGUMENTS: BMx where x is a decimal value between 1 and 1000000 with a resolution of 1/10 that represents the magnetic cycles of the brushless motor. This value can also be specified as a fraction with a resolution of 1/16.
BN FUNCTION: Burn DESCRIPTION: The BN command saves certain controller parameters in non-volatile EEPROM memory. This command typically takes 1 second to execute and must not be interrupted. The controller returns a: when the Burn is complete.
BO FUNCTION: Brushless Offset DESCRIPTION: The BOx sets a fixed offset on the DAC's of a sinusoidally commutated motor. This may be used to offset any bias in the amplifier, or can be used for phase initialization. ARGUMENTS: BOx,x where x specifies the voltage as a real value between -10 and 10. x=? Returns the brushless offset for the ‘x’ axis.
BP FUNCTION: Burn Program DESCRIPTION:: The BP command saves the application program in non-volatile EEPROM memory. This command typically takes up to 10 seconds to execute and must not be interrupted. The controller returns a : when the Burn is complete.
BS FUNCTION: Brushless Setup DESCRIPTION: The command BS tests the wiring of a sinusoidally commutated brushless motor. If no Hall sensors are connected, the function tests the wiring of the DAC's. If Hall sensors are connected, the function also tests the wiring of the Hall sensors. The first parameter indicates the voltage level to be applied to each phase, and the second parameter indicates the duration in milliseconds that the voltage will be applied.
BV FUNCTION: Burn Variables and Array DESCRIPTION: The BV command saves the defined variables and arrays in non-volatile EEPROM memory. This command typically takes up to 2 seconds to execute and must not be interrupted. The controller returns a : when the Burn variables is complete. Operand returns size of installed EEPROM.
BZ FUNCTION: Brushless Zero DESCRIPTION: The BZ command is when the controller is configured for sinusoidal commutation. This command drives the motor to zero magnetic phase and then sets the commutation phase to zero. This command may be given when the motor is off. ARGUMENTS: BZ x where x is a real number between -9.998 and 9.998. The parameter x sets the voltage to be applied to the amplifier during the initialization. In order to be accurate, the BZ command must be large enough to move the motor.
CB FUNCTION: Clear Bit DESCRIPTION: The CB command clears one of three bits on the output port sets the output to logic 0. The CB and SB (Set Bit) instructions can be used to control the state of output lines. ARGUMENTS: CB n, where n is an integer corresponding to a specific output on the controller to be cleared (set to 0). The first output on the controller is denoted as output 1. A standard DMC-1400 controller has 3 TTL digital outputs.
CC FUNCTION: Configure Communications Port 2 DESCRIPTION:: The CC command configures baud rate, handshake, echo, and daisy chain features for the AUX SERIAL PORT, referred to as Port 2. This command must be given before using the MG, IN or CI commands with Port 2.
CD FUNCTION: Contour Data DESCRIPTION: The CD command specifies the incremental position. The units of the command are in quadrature counts for servo mode, steps for stepper mode. This command is used only in the Contour Mode (CM).
CE FUNCTION: Configure Encoder DESCRIPTION: The CE command configures the encoder inputs to the quadrature type or the pulse and direction type. It also allows inverting the polarity of the encoders. The configuration applies independently to the main axis encoder and the auxiliary encoder inputs. ARGUMENTS: CE n where n is an integer in the range of 0 to 15. Each integer is the sum of two integers r and s which configure the main and the auxiliary encoders.
CF FUNCTION: Configure DESCRIPTION: The CF command is used to specify the communication port to which unsolicited responses are sent. By default, the DMC-1415/1416/1425 will send unsolicited responses to the serial port. ARGUMENTS: CF n where n is A thru F for Ethernet handles 1 thru 6, S for Main serial port.
CI FUNCTION: Communication Interrupt DESCRIPTION: The CI command configures a program interrupt based on characters received on either Port 1, the MAIN serial port, or Port 2, the AUX serial port. An interrupt causes program flow to jump to the #COMINT subroutine label. If multiple program threads are used, the #COMINT subroutine runs in thread 0 and thread 1 continues to run in the background without interruption. The characters received on the serial port are stored in internal variables such as P2CH.
CM FUNCTION: Contouring Mode DESCRIPTION: The Contour Mode is initiated by the instruction CM. This mode allows the generation of an arbitrary motion trajectory. The CD command specifies the position increment, and the DT command specifies the time interval. The CM? or _CM commands can be used to check the status of the Contour Buffer. A value of 1 returned indicates that the Contour Buffer is full. A value of 0 indicates that the Contour Buffer is empty.
#CMDERR FUNCTION: Command error automatic subroutine DESCRIPTION: Without #CMDERR defined, if an error (see TC command) occurs in an application program running on the Galil controller, the program (all threads) will stop. #CMDERR allows the programmer to handle the error by running code instead of stopping the program.
CN FUNCTION: Configure DESCRIPTION: The CN command configures the polarity of the limit switches, the home switch and the latch input. ARGUMENTS: CN m,n,o where m,n,o are integers with values 1 or -1. m= n= o= 1 Limit switches active high -1 Limit switches active low 1 Home switch configured to drive motor in forward direction when input is high. See HM and FE commands -1 Home switch configured to drive motor in reverse direction when input is high.
CO FUNCTION: Configure Outputs DESCRIPTION: The CO command configures the extended I/O in blocks of 8. ARGUMENTS: CO n where n is a decimal value which represents a binary number. Each bit of the binary number represents one block of extended I/O. When set to 1, the corresponding block is configured as an output. The least significant bit represents block 2 and the most significant bit represents block 9. The decimal value can be calculated by the following formula.
@COM[n] FUNCTION: Bitwise complement DESCRIPTION: Performs the bitwise complement (NOT) operation to the given number ARGUMENTS: @COM[n] where n is a signed integer in the range -2147483647 to 2147483647. The integer is interpreted as a 32-bit field. USAGE: DEFAULTS: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Controller Usage ALL RELATED COMMANDS: &| Logical operators AND and OR EXAMPLES: :MG {$8.0} @COM[0] $FFFFFFFF :MG {$8.
#COMINT FUNCTION: Communication interrupt automatic subroutine DESCRIPTION: #COMINT can be configured by the CI command to run either when any character or a carriage return is received on the auxiliary serial port. CI,1 must be issued to use #COMINT.
@COS[n] FUNCTION: Cosine DESCRIPTION: Returns the cosine of the given angle in degrees ARGUMENTS: @COS[n] where n is a signed number in degrees in the range -2147483648 to 2147483647. USAGE: DEFAULTS: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Controller Usage ALL RELATED COMMANDS: @ASIN Arc sine @SIN sine @ATAN Arc tangent @ACOS Arc cosine @TAN Tangent EXAMPLES: :MG @COS[0] 1.0000 :MG @COS[90] 0.0000 :MG @COS[180] -1.0000 :MG @COS[270] 0.
CR FUNCTION: Circle DESCRIPTION: The CR command specifies a 2-dimensional arc segment of radius, r, starting at angle, θ, and traversing over angle ∆θ. A positive ∆θ denotes counterclockwise traverse, negative ∆θ denotes clockwise. The VE command must be used to denote the end of the motion sequence after all CR and VP segments are specified. The BG (Begin Sequence) command is used to start the motion sequence. All parameters, r, θ, ∆θ, must be specified. Radius units are in quadrature counts.
CS FUNCTION: Clear Sequence DESCRIPTION: The CS command will remove VP, CR or LI commands stored in a motion sequence for the coordinate system. After a sequence has been executed, the CS command is not necessary to put in a new sequence. This command is useful when you have incorrectly specified VP, CR or LI commands.
CW FUNCTION: Copyright information / Data Adjustment bit on/off DESCRIPTION: The CW command has a dual usage. The CW command will return the copyright information when the argument, n is 0. Otherwise, the CW command is used as a communications enhancement for use by the Servo Design Kit software. When turned on, the communication enhancement sets the MSB of unsolicited, returned ASCII characters to 1.
DA FUNCTION: Deallocate the Variables & Arrays DESCRIPTION: The DA command frees the array and/or variable memory space. In this command, more than one array or variable can be specified for memory de-allocation. Different arrays and variables are separated by commas when specified in one command. The * argument deallocates all the variables, and *[0] deallocates all the arrays. ARGUMENTS: DA c[0],d,etc.
DC FUNCTION: Deceleration DESCRIPTION: The Deceleration command (DC) sets the linear deceleration rate for independent moves such as PR, PA and JG moves. The parameters will be rounded down to the nearest factor of 1024 and have units of counts per second squared. ARGUMENTS: DC n where n is an unsigned numbers in the range 1024 to 67107840 “?” returns the value USAGE: While Moving Yes* Default Value 256000 In a Program Yes Default Format 8.
DE FUNCTION: Dual (Auxiliary) Encoder Position DESCRIPTION: The DE n command defines the position of the auxiliary encoder. The DE n command defines the encoder position when used with stepper motors. Note: The auxiliary encoder is not available for the stepper axis.
DL FUNCTION: Download DESCRIPTION: The DL command transfers a data file from the host computer to the DMC-14XX. Instructions in the file will be accepted as a datastream without line numbers. The file is terminated using Z, Q, D, or \. DO NOT insert spaces before each command. If no parameter is specified, downloading a data file will clear any programs in the DMC14XX RAM. The data is entered beginning at line 0.
DM FUNCTION: Dimension DESCRIPTION: The DM command defines a single dimensional array with a name and n total elements. The first element of the defined array starts with element number 0 and the last element is at n-1. ARGUMENTS: DM c[n] where c is a name of up to eight alphanumeric characters, starting with an uppercase alphabetic character. n is the number of entries from 1 to 1000 (1 to 2000 for the DMC1415/1416/1425). DM? Returns the number of array elements available.
DP FUNCTION: Define Position DESCRIPTION: The DP command sets the current motor position and current command positions to a user specified value. The units are in quadrature counts. This command will set both the TP and RP values. The DP command sets the commanded reference position in stepper mode. The units are in steps. Example: DP0. This will set the DE value to zero, but will not effect the TP value.
DT FUNCTION: Delta Time DESCRIPTION: The DT command sets the time interval for Contouring Mode. Sending the DT command once will set the time interval for all following contour data until a new DT command is sent. 2n samples is the time interval. Sending DT0 followed by CD0 command terminates the Contour Mode. ARGUMENTS: DT n where n is an integer in the range 0 to 8. 0 terminates the Contour Mode. n=1 thru 8 specifies the time interval of 2n samples.
DV FUNCTION: Dual Velocity (Dual Loop) DESCRIPTION: The DV function changes the operation of the PID servo filter. It causes the KD (derivative) term to operate on the dual encoder instead of the main encoder. To take advantage of this mode, mount the main encoder to the load and the dual encoder to the motor. ARGUMENTS: DVn where n may be 0 or 1. 0 disables the function. 1 enables the dual loop. “?” returns a 0 if dual velocity mode is disabled and 1 if enabled for the specified axis.
EA FUNCTION: Choose ECAM master DESCRIPTION: The EA command selects the master axis for the electronic cam mode. Any axis may be chosen. Note: This command is only used with the DMC-1425. All other Econo series controllers use the auxiliary encoder as the master automatically. ARGUMENTS: EA x where x is one of the axis specified as X or Y.
EB FUNCTION: Enable ECAM DESCRIPTION: The EB function enables or disables the cam mode. In this mode, the starting position of the master axis is specified within the cycle. When the EB command is given, the master axis is modularized. ARGUMENTS: EB n where n = 1 starts cam mode and n = 0 stops cam mode. EB? Returns a 0 if ECAM is disabled and 1 if enable.
EC FUNCTION: ECAM Counter DESCRIPTION: The EC function sets the index into the ECAM table. This command is only useful when entering ECAM table values without index values and is most useful when sending commands in binary. See the command, ET. ARGUMENTS: EC n where n is an integer between 0 and 256. n=? Returns the current value of the index into the ECAM table.
ED FUNCTION: Edit DESCRIPTION: Using Galil DOS Terminal Software: The ED command puts the controller into the Edit subsystem. In the Edit subsystem, programs can be created, changed or destroyed.
EG FUNCTION: ECAM go (engage) DESCRIPTION: The EG command engages an ECAM operation at a specified position of the master encoder. If a value is specified outside of the master’s range, the slave will engage immediately. Once a slave motor is engaged, its position is redefined to fit within the cycle. ARGUMENTS: EG n where n is the master position at which the slave axis must be engaged.
EI FUNCTION: Enable Interrupts DESCRIPTION: The EI command enables an ISA, PC/104 or PCI bus interrupt on conditions such as motion complete or excess positional error. The conditions are selected by the parameter m where m is the bit mask for the selected conditions as shown below. Prior to using the EI command, one IRQ line must be jumpered on the DMC-141X. An interrupt service routine must also be incorporated in your host program. See Chapter 4 in the product manual for details.
ELSE FUNCTION: Else function for use with IF conditional statement DESCRIPTION: The ELSE command is an optional part of an IF conditional statement. The ELSE command must occur after an IF command and it has no arguments. It allows for the execution of a command only when the argument of the IF command evaluates False. If the argument of the IF command evaluates false, the controller will skip commands until the ELSE command.
EM FUNCTION: Cam cycles DESCRIPTION: The EM command is part of the ECAM mode. It is used to define the change in position over one complete cycle of the master. The field for the master axis is the cycle of the master position. For the slave, the field defines the net change in one cycle. If a slave will return to its original position at the end of the cycle, the change is zero. If the change is negative, specify the absolute value.
EN FUNCTION: End DESCRIPTION: The EN command is used to designate the end of a program or subroutine. If a subroutine was called by the JS command, the EN command ends the subroutine and returns program flow to the point just after the JS command. The EN command is also used to end the automatic subroutines #MCTIME, #CMDERR, and #COMINT.
EXAMPLES: #A Program A PR 500 Move X axis forward 500 counts BGX Pause the 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 end the error subroutine and limit subroutine. Use the RI command to end the input interrupt (ININT) subroutine.
ENDIF FUNCTION: End of IF conditional statement DESCRIPTION: The ENDIF command is used to designate the end of an IF conditional statement. An IF conditional statement is formed by the combination of an IF and ENDIF command. An ENDIF command must always be executed for every IF command that has been executed. It is recommended that the user not include jump commands inside IF conditional statements since this causes re-direction of command execution.
EO FUNCTION: Echo DESCRIPTION: The EO command turns the echo on or off. If 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: While Moving Yes Default Value (DMC-1410/1411/1417) 0 In a Program Yes Default Value (All others) 1.0 Command Line Yes Default Format 1.
EP FUNCTION: Cam table master interval and phase shift DESCRIPTION: The EP command defines the ECAM table master interval and phase shift. The interval m is the difference in master position between table entries. The phase shift n instantaneously moves the graph of slave position versus master position left (negative) or right (positive) and is used to make on-the-fly corrections to the slaves. Up to 257 points may be specified.
EQ FUNCTION: ECAM quit (disengage) DESCRIPTION: The EQ command disengages an electronic cam slave axis at the specified master position. If a value is specified outside of the master’s range, the slave will disengage immediately. ARGUMENTS: EQ n where n is the master position at which the axis is to be disengaged. “?” contains a 1 if engage command issued and slave is waiting to engage, 2 if disengage command issued and slave is waiting to disengage, and 0 if ECAM engaged or disengaged.
ER FUNCTION: Error Limit DESCRIPTION: The ER command sets the magnitude of the position error that will trigger an error condition. When the limit is exceeded, the Error output will go low (true). If the Off-On-Error (OE1) command is active, the motors will be disabled. The units of ER are quadrature counts. ARGUMENTS: ER nwhere n is an unsigned number in the range 1 to 32767. “?” returns the value of the Error limit.
ES FUNCTION: Ellipse Scale DESCRIPTION: The ES command divides the resolution of one of the axes in a vector mode (VM). This function allows for the generation of circular motion when encoder resolutions differ. It also allows for the generation of an ellipse instead of a circle. The command has two parameters, m and n. The arguments, m and n apply to the axes designated by the command VM. When m>n, the resolution of the first axis, x, will be divided by the ratio m/n.
ET FUNCTION: Electronic cam table DESCRIPTION: The ET command sets the ECAM table entries for the slave axis. The values of the master are not required. The slave entry (n) is the position of the slave when the master is at the point (n ∗ i) + o, where i is the interval and o is the offset as determined by the EP command.
FA FUNCTION: Acceleration Feedforward DESCRIPTION: The FA command sets the acceleration feedforward coefficient, or returns the previously set value. This coefficient, when scaled by the acceleration, adds a torque bias voltage during the acceleration phase and subtracts the bias during the deceleration phase of a motion. Acceleration Feedforward Bias = FA ⋅ AC ⋅ 1.5 ⋅ 10-7 Deceleration Feedforward Bias = FA ⋅ DC ⋅ 1.5 ⋅ 10-7 The Feedforward Bias product is limited to 10 Volts.
FE FUNCTION: Find Edge DESCRIPTION: The FE command moves a motor until a transition is seen on the homing input for that axis. The direction of motion depends on the initial state of the homing input (use the CN command to configure the polarity of the home input). Once the transition is detected, the motor decelerates to a stop. This command is useful for creating your own homing sequences.
FI FUNCTION: Find Index DESCRIPTION: The FI and BG commands move the motor until an encoder index pulse is detected. The controller looks for a transition from low to high. When the transition is detected, motion stops and the position is defined as zero. To improve accuracy, the speed during the search should be specified as 500 counts/s or less. The FI command is useful in custom homing sequences. The direction of motion is specified by the sign of the JG command.
FL FUNCTION: Forward Software Limit DESCRIPTION: The FL command sets the forward software position limit. If this limit is exceeded during motion, the motor will decelerate to a stop. Forward motion beyond this limit is not permitted. The forward limit is activated at position n + 1. The forward limit is disabled at position 2147483647. The units are in counts.
@FRAC[n] FUNCTION: Fractional part DESCRIPTION: Returns the fractional part of the given number ARGUMENTS: @FRAC[n] n is a signed number in the range -2147483648 to 2147483647. USAGE: DEFAULTS: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Controller Usage ALL RELATED COMMANDS: @INT Integer part EXAMPLES: :MG @FRAC[1.2] 0.2000 :MG @FRAC[-2.4] -0.
FV FUNCTION: Velocity Feedforward DESCRIPTION: The FV command sets the velocity feedforward coefficient, or returns the previously set value. This coefficient generates an output bias signal in proportion to the commanded velocity. Velocity feedforward bias = 1.22 ⋅ 10-6 ⋅ FV ⋅ Velocity [in ct/s]. For example, if FV=10 and the velocity is 200,000 count/s, the velocity feedforward bias equals 2.44 volts.
GA FUNCTION: Master Axis for Gearing DESCRIPTION: The GA command specifies the master axes for electronic gearing. Note: This command is only valid for the DMC-1425. All other Econo series controllers must use the auxiliary encoder as the master. The master axis of the DMC-1425 must be either the X or Y axis. These may be specified as either the commanded position or the actual position. When the master is a simple axis, it may move in any direction and the slave follows.
GN FUNCTION: Gain DESCRIPTION: The GN command sets the gain of the control loop or returns the previously set value. It fits in the z-transform control equation as follows: D(z) = GN(z-ZR)/z ARGUMENTS: GN n where n is an unsigned integer in the range 0 to 2047 decimal. "?" returns the value of the gain.
GM FUNCTION: Gantry mode DESCRIPTION: The GM command specifies the axes in which the gearing function is performed in the Gantry mode. In this mode, the gearing will not stop by the ST command or by limit switches. Only GR0 will stop the gearing in this mode.
GR FUNCTION: Gear Ratio DESCRIPTION: GR specifies the Gear Ratios for the slave axis in the electronic gearing mode. The master axis for the DMC-1425 is specified with the GA command. For all 141X controllers, the master axis need not be set. Simply assign a ratio GRN to gear the x axis to the dual encoder. The master axis for all other Econo series controllers is the auxiliary encoder in servo mode, the main encoder input in stepper mode. Gear ratio may range between +/127.9999.
HM FUNCTION: Home DESCRIPTION: The HM command performs a three-stage homing sequence for servo systems and two stage sequence for stepper motor operation. For servo motor operation, the first stage consists of the motor moving at the user programmed speed until detecting a transition on the homing input for that axis. The direction for this first stage is determined by the initial state of the Homing Input. Once the homing input changes state, the motor decelerates to a stop.
HX FUNCTION: Halt Execution DESCRIPTION: The HX command halts the execution of any of the two programs that may be running independently in multitasking. The parameter n specifies either program to be halted.
IA FUNCTION: IP Address DESCRIPTION: The IA command assigns the controller with an IP address. The IA command may also be used to specify the time out value. This is only applicable when using the TCP/IP protocol. The IA command can only be used via RS-232. Since it assigns an IP address to the controller, communication with the controller via internet cannot be accomplished until after the address has been assigned.
IF FUNCTION: IF conditional statement DESCRIPTION: The IF command is used in conjunction with an ENDIF command to form an IF conditional statement. The arguments are one or more conditional statements. If the conditional statement(s) evaluates true, the command interpreter will continue executing commands which follow the IF command. If the conditional statement evaluates false, the controller will ignore commands until the associated ENDIF command OR an ELSE command occurs in the program.
IH FUNCTION: Open Internet Handle DESCRIPTION: The IH command is used when the DMC-1415, DMC-1416 or DMC-1425 is operated as a master (also known as a client). This command opens a handle and connects to a slave. Each controller may have 6 handles open at any given time. They are designated by the letters A through F. To open a handle, the user must specify: 1. The IP address of the slave 2. The type of session: TCP/IP or UDP/IP 3. The port number of the slave.
_Ihh4 contains a 1 if waiting for a slave response contains 2 if transmission is successful contains 3 if transmission error occurs contains 4 if transmission timeout USAGE: While Moving No Default Value In a Program Yes Default Format Command Line Yes Controller Usage DMC-1415/1416/1425 - RELATED COMMANDS: IA Internet Address EXAMPLES: IHA=251,29,51,1 Open handle A at IP address 251.29.51.1 IHA= -2095238399 Open handle A at IP address 251.29.51.
II FUNCTION: Input Interrupt DESCRIPTION: The II command enables the interrupt function for the specified inputs. This function triggers when the controller sees a logic change from high to low on a specified input. If any of the specified inputs go low during program execution, the program will jump 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.
EXAMPLES: #A Program A II 1 Specify interrupt on input 1 JG 5000 Specify jog speed BG Begin motion #LOOP;JP #LOOP Loop EN End Program #ININT Interrupt subroutine ST;MG "INTERRUPT" Stop X, print message AM After stopped #CLEAR;JP#CLEAR,@IN[1]=0 Check for interrupt clear BG Begin motion RI Return to main program NOTE: An application program must be running on the controller for the Input Interrupt function to work.
IL FUNCTION: Integrator Limit DESCRIPTION: The IL command limits the effect of the integrator function in the filter to a certain voltage. For example, IL 2 limits the output of the integrator to the +/-2 Volt range. A negative parameter also freezes the effect of the integrator during the move. For example, IL -3 limits the integrator output to +/-3V. If, at the start of the motion, the integrator output is 1.6 Volts, that level will be maintained through the move.
IN FUNCTION: Input Variable DESCRIPTION: The IN command allows a variable to be input from a keyboard. When the IN command is executed in a program, the prompt message is displayed. The operator then enters the variable value followed by a carriage return. The entered value is assigned to the specified variable name. The IN command holds up execution of following commands in a program until a carriage return or semicolon is detected.
EXAMPLES: Operator specifies length of material to be cut in inches and speed in inches/sec (2 pitch lead screw, 2000 counts/rev encoder).
@IN[n] FUNCTION: Read digital input DESCRIPTION: Returns the value of the given digital input (either 0 or 1) ARGUMENTS: @IN[n] where n is an unsigned integer in the range 1 to 96 USAGE: DEFAULTS: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Controller Usage ALL RELATED COMMANDS: @AN Read analog input @OUT Read digital output SB Set digital output bit CB Clear digital output bit OF Set analog output offset EXAMPLES: :MG @IN[1] ;'print digital in
#ININT FUNCTION: Input interrupt automatic subroutine DESCRIPTION: #ININT runs upon a state transition of digital inputs 1 to 8 and is configured with II. #ININT runs in thread 0 and requires something running in thread 0 to be active.
@INT[n] FUNCTION: Integer part DESCRIPTION: Returns the integer part of the given number. Note that the modulus operator can be implemented with @INT (see example below). ARGUMENTS: @INT[n] n is a signed number in the range -2147483648 to 2147483647. USAGE: DEFAULTS: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Controller Usage ALL RELATED COMMANDS: @FRAC Fractional part EXAMPLES: :MG @INT[1.2] 1.0000 :MG @INT[-2.4] -2.
IP FUNCTION: Increment Position DESCRIPTION: The IP command allows for a change in the command position while the motor is moving. This command does not require a BG. The command has three effects depending on the motion being executed. The units of this are quadrature. Case 1: Motor is standing still An IP n command is equivalent to a PR n and BG command. The motor will move to the specified position at the requested slew speed and acceleration.
IT FUNCTION: Independent Time Constant - Smoothing Function DESCRIPTION: The IT command filters the acceleration and deceleration functions in independent moves of JG, PR, PA type to produce a smooth velocity profile. The resulting profile, known as Scurve, has continuous acceleration and results in reduced mechanical vibrations. IT sets the bandwidth of the filter where 1 means no filtering and 0.004 means maximum filtering. Note that the filtering results in longer motion time.
IV FUNCTION: Interrogate Interrupt DESCRIPTION: The IV command interrogates and clears the interrupt. When an interrupt occurs, the IV command is sent from the host PC. The meaning is read and the interrupt condition is cleared. The responses to the IV command are as follows.
JG FUNCTION: Jog DESCRIPTION: The JG command sets the jog mode. The parameters following the JG set the slew speed and direction of motion. Use of the question mark returns the previously entered value or default value. The units of this are counts/second.
JP FUNCTION: Jump to Program Location DESCRIPTION: The JP command causes a jump to a program location on a specified condition. The program location may be any program line number or label. The condition is a conditional statement which uses a logical operator such as equal to or less than. A jump is taken if the specified condition is true. Multiple conditions can be used in a single jump statement. The conditional statements are combined in pairs using the operands “&” and “|”.
JS FUNCTION: Jump to Subroutine DESCRIPTION: The JS command will change the sequential order of execution of commands in a program. If the jump is taken, program execution will continue at the line specified by the destination parameter, which can be either a line number or label. The line number of the JS command is saved and after the next EN command is encountered (End of subroutine), program execution will continue with the instruction following the JS command.
KD FUNCTION: Derivative Constant DESCRIPTION: KD designates the derivative constant in the controller filter. The filter transfer function is ⋅ ⋅ D(z) = 4 KP + 4 KD(z-1)/z + KIz/2 (z-1) For further details on the filter see the section Theory of Operation in the product manual. ARGUMENTS: KD n where n is an unsigned number in the range 0 to 4095.875 with a resolution of .
KI FUNCTION: Integrator DESCRIPTION: The KI command sets the integral gain of the control loop. It fits in the control equation as follows: D(z) = 4 ⋅ KP + 4 ⋅ KD(z-1)/z + KI z/2(z-1) The integrator term will reduce the position error at rest to zero. ARGUMENTS: KI n where n in an unsigned number in the range 0 to 2047.875 with a resolution of 1/128 “?” returns the value of the integrator USAGE: While Moving Yes Default Value 0 In a Program Yes Default Format 4.
KP FUNCTION: Proportional Constant DESCRIPTION: KP designates the proportional constant in the controller filter. The filter transfer function is ⋅ ⋅ D(z) = 4 KP + 4 KD(z-1)/z + KI z/2(z-1) For further details see the section Theory of Operation in the product manual. ARGUMENTS: KP n where n is an unsigned number in the range 0 to 1023.875 with a resolution of .125. “?” returns the value of the proportional constant USAGE: While Moving Yes Default Value 6 In a Program Yes Default Format 4.
KS FUNCTION: Step Motor Smoothing DESCRIPTION: The KS parameter smoothes the frequency of the step motor pulses. Larger values of KS provide greater smoothness. This parameter will also increase the motion time by 3KS sampling periods. KS adds a single pole low pass filter onto the output of the motion profiler. This function smoothes out the generation of step pulses and is most useful when operating in full or half step mode. Note: The KS will cause the step output to be delayed.
LA FUNCTION: List Arrays DESCRIPTION: The LA command returns a list of all arrays in memory. The listing will be in alphabetical order. The size of each array will be included next to each array name in square brackets.
LE FUNCTION: Linear Interpolation End DESCRIPTION: LE Signifies the end of a linear interpolation sequence. It follows the last LI specification in a linear sequence. After the LE specification, the controller issues commands to decelerate the motors to a stop. The VE command is interchangeable with the LE command. ARGUMENTS: n=? Returns the total vector move length in encoder counts for the coordinate system.
_LF* FUNCTION: Forward Limit Switch Operand (Keyword) DESCRIPTION: The _LF operand contains the state of the forward limit switch for the specified axis. The operand is specified as: _LFn where n is the specified axis.
LI FUNCTION: Linear Interpolation Distance DESCRIPTION: The LI x,y command specifies the incremental distance of travel for each axis in the Linear Interpolation (LM) mode. LI parameters are relative distances given with respect to the current axis positions. Up to 511 LI specifications may be given ahead of the Begin Sequence (BGS) command. Additional LI commands may be sent during motion when the controller sequence buffer frees additional spaces for new vector segments.
EXAMPLES: LM XY Specify linear interpolation mode LI 1000,2000 Specify distance LE Last segment BGS Begin sequence DMC-1400 Series Command Reference LI ● 127
#LIMSWI FUNCTION: Limit switch automatic subroutine DESCRIPTION: Without #LIMSWI defined, the controller will effectively issue the STn on the axis when it’s limit switch is tripped. With #LIMSWI defined, the axis is still stopped, and in addition, code is executed. #LIMSWI is most commonly used to turn the motor off when a limit switch is tripped (see example below).
LL FUNCTION: List Labels DESCRIPTION: The LL command returns a listing of all of the program labels in memory. The listing will be in alphabetical order.
LM FUNCTION: Linear Interpolation Mode DESCRIPTION: The LM command specifies the linear interpolation mode and specifies the axes for linear interpolation. Only the DMC-1425 supports the linear interpolation mode. LI commands are used to specify the travel distances for linear interpolation. The LE command specifies the end of the linear interpolation sequence. Several LI commands may be given as long as the controller sequence buffer has room for additional segments.
_LR* FUNCTION: Reverse Limit Switch Operand (Keyword) DESCRIPTION: *The _LR operand contains the state of the reverse limit switch. Note: This is not a command.
LS FUNCTION: List DESCRIPTION: The LS command sends a listing of the program memory. The listing will start with the line pointed to by the first parameter, which can be either a line number or a label. If no parameter is specified, it will start with line 0. The listing will end with the line pointed to by the second parameter--again either a line number or label. If no parameter is specified, the listing will go to the last line of the program.
LV FUNCTION: List Variables DESCRIPTION: The LV command returns a listing of all of the program labels in memory. The listing will be in alphabetical order. ARGUMENTS: None USAGE: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL RELATED COMMANDS: LL List Labels EXAMPLES: : LV APPLE = 60.0000 BOY = 25.0000 ZEBRA = 37.
LZ FUNCTION: Inhibit leading zeros DESCRIPTION: The LZ command is used for formatting the values returned from interrogation commands or interrogation of variables and arrays. By enabling the LZ function, all leading zeros of returned values will be removed. ARGUMENTS: LZ n where n is 1 to remove leading zeros 0 to disabled the leading zero removal LZ? Returns the state of the LZ function.
MB FUNCTION: Modbus DESCRIPTION: The MB command is used to communicate with I/O devices using the first two levels of the Modbus protocol. The format of the command varies depending on each function code. The function code, -1, designates that the first level of Modbus is used (creates raw packets and receives raw data). The other codes are the 10 major function codes of the second level that the DMC1415/1416/1425 supports.
n is the number of registers array[] will hold the response MBh = addr, 4, m, n, array[] where m is the starting register number n is the number of registers array[] will hold the response MBh = addr, 5, m, n where m is the starting bit number n is 0 or 1 and represents the coil set to off or on.
MC FUNCTION: Motion Complete - "In Position" DESCRIPTION: The MC command is a trippoint used to control the timing of events. This command will hold up execution of the following commands until the current move is completed and the encoder reaches or passes the specified position. TW sets the timeout to declare an error if the encoder is not in position within the specified time. If a timeout occurs, the trippoint will clear and the stopcode will be set to 99.
#MCTIME FUNCTION: MC command timeout automatic subroutine DESCRIPTION: #MCTIME runs when the MC command is used to wait for motion to be complete and the actual position TP does not reach or pass the target _PA + _PR within the specified timeout TW.
MF FUNCTION: Forward Motion to Position DESCRIPTION: The MF command is a trippoint used to control the timing of events. This command will hold up the execution of the following command until the specified motor moves forward and crosses the position specified. The units of the command are in quadrature counts. The MF command can also be used when the encoder is the master and not under servo control.
MG FUNCTION: Message DESCRIPTION: The MG command sends data out the bus. This can be used to alert an operator, send instructions or return a variable value. ARGUMENTS: MG {Pn},{Ex},{U} "m", {^n}, V {Fm.n or $m,n} {N} {Sn} "m" is a text message including letters, numbers, symbols or G. Make sure that maximum line length is not exceeded (40 characters DMC-1410/1411/1412/1414, 80 characters DMC-1415/1416/1425).
MO FUNCTION: Motor Off DESCRIPTION: The MO command shuts off the control algorithm. The controller will continue to monitor the motor position. To turn the motor back on use the Servo Here command (SH). ARGUMENTS: MO USAGE: While Moving No Default Value 0 In a Program Yes Default Format 1.0 Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE: _MO will return the state of the motor, 0 = servo loop on and 1 = servo loop off.
MR FUNCTION: Reverse Motion to Position DESCRIPTION: The MR command is a trippoint used to control the timing of events. This command will hold up the execution of the following command until the specified motor moves backward and crosses the position specified. The units of the command are in quadrature counts. The MR command can also be used when the encoder is the master and not under servo control.
MT FUNCTION: Motor Type DESCRIPTION: The MT command selects the type of the motor and the polarity of the drive signal. Motor types include standard servo motors which require a voltage in the range of +/- 10 Volts, and step motors which require pulse and direction signals. The polarity reversal inverts the analog signals for servo motors, and inverts logic level of the pulse train, for step motors.
NB FUNCTION: Notch Bandwidth DESCRIPTION: The NB command sets real part of the notch poles ARGUMENTS: NB n,n or n is ranges from 0 Hz to NBX=n where 1 (16 ⋅ TM ) USAGE: While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage DMC-1415/1416/1425 0.5 RELATED COMMANDS: NOTE: This command is only valid for the DMC – 1415, 1416, and 1425 controllers.
NF FUNCTION: Notch Frequency DESCRIPTION: The NF command sets the frequency of the notch filter, which is placed in series with the PID compensation. ARGUMENTS: NF n,n or NFX=n where n ranges from 1 Hz to 1 where TM is the update rate (default TM is 1 msec). ( 4 ⋅ TM ) n=? Returns the value of the Notch filter for the specified axis.
NO FUNCTION: No Operation DESCRIPTION: The NO command performs no action in a sequence, but can be used as a comment in a program. After the NO, characters can be given to form a program comment up to the maximum line length of the controller. This helps to document a program. An apostrophe ‘ may also be used instead of the NO to document a program. This feature is only supported on the DMC-1415/1416/1425.
NZ FUNCTION: Notch Zero DESCRIPTION: The NZ command sets the real part of the notch zero. ARGUMENTS: NZ n,n or n is ranges from 1 Hz to n=? NZX=n where 1 (16 ⋅ TM ) Returns the value of the Notch filter zero for the specified axis. USAGE: While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage DMC-1415/1416/1425 0.5 OPERAND USAGE: _NZx contains the value of the Notch filter zero for the specified axis.
OB FUNCTION: Output Bit DESCRIPTION: The OB n, logical expression command defines output bit n as either 0 or 1 depending on the result from the logical expression. Any non-zero value of the expression results in a one on the output. ARGUMENTS: OB n, expression where n is output bit expression is any valid logical expression, variable or array element.
OC FUNCTION: Output Compare DESCRIPTION: The OC command allows the generation of output pulses based on one of the main encoder positions. For circular compare, the output is a low-going pulse with a duration of approximately 600 nanoseconds and is available at the output compare signal (labeled CMP/ICOM on the ICM-1460). For a one shot compare, the output goes low until OC is called again.
OE FUNCTION: Off on Error DESCRIPTION: The OE command causes the controller to shut off the motor command if the position error exceeds the limit specified by the ER command or an abort occurs from either the abort input or an AB command. The OE command, in addition to shutting off the motor command, will toggle the amplifier enable signal. ARGUMENTS: OE n where n may be 0 or 1. 0 disables function. 1 enables off-on-error.
OF FUNCTION: Offset DESCRIPTION: The OF command sets a bias voltage in the motor command output or returns a previously set value. This can be used to counteract gravity or an offset in an amplifier. If the PID values are zero, then the output voltage will be the OF value. The OF command works in servo mode only. ARGUMENTS: OF n where n is a signed number in the range -9.998 to 9.998 volts with resolution of .0003.
OP FUNCTION: Output Port DESCRIPTION: The OP command sends data to the output ports of the controller. You can use the output port to control external switches and relays. ARGUMENTS (DMC-1410/1411/1412/1414/1417): OP m,n where m is an integer in the range 0 to 7 and is the decimal representation of the 3 output bits. n is an integer in the range 1 to 3 decimal and is used to specify the number of bits effected starting with the LSB. For example, if n=2, only outputs 1 and 2 will be changed by OP m.
EXAMPLES: OP 0 Clear Output Port – all bits OP 7 Set outputs 1,2 and 3 MG _OP0 Returns the first parameter "m" (DMC-1415/1416/1425 only) MG _OP1 Returns the second parameter "a" (DMC-1415/1416/1425 only) DMC-1400 Series Command Reference OP ● 153
@OUT[n] FUNCTION: Read digital output DESCRIPTION: Returns the value of the given digital output (either 0 or 1) ARGUMENTS: @IN[n] where n is an unsigned integer in the range 1 to 80 USAGE: DEFAULTS: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Controller Usage ALL RELATED COMMANDS: @AN Read analog input @IN Read digital input SB Set digital output bit CB Clear digital output bit OF Set analog output offset EXAMPLES: :MG @OUT[1] ;'print digital
P1CD P2CD FUNCTION: Serial port 1 or serial port 2 code DESCRIPTION: DMC-21x2/3: P1CD returns the status of the serial port when in the operator data entry mode (CI,1) DMC-2xx0: P2CD returns the status of the auxiliary serial port (port 2) USAGE: DEFAULTS: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Controller Usage DMC-1412 / 4 ONLY RELATED COMMANDS: P1CH P2CH Serial port 1/2 character P1NM P2NM Serial port 1/2 number P1ST P2ST Serial port 1/2 strin
P1CH P2CH FUNCTION: Serial port 1 or serial port 2 character DESCRIPTION: P1CH returns the last character sent to the serial port when in the operator data entry mode (CI,1) P2CH returns the last character sent to the auxiliary serial port (port 2) USAGE: DEFAULTS: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Controller Usage DMC-1412 / 4 ONLY RELATED COMMANDS: P1CD P2CD Serial port 1/2 code P1NM P2NM Serial port 1/2 number P1ST P2ST Serial port 1/2 s
P1NM P2NM FUNCTION: Serial port 1 or serial port 2 number DESCRIPTION: P1NM and P2NM convert from ASCII (e.g. “1234”) to binary so that a number can be stored into a variable and math can be performed on it. Numbers from -2147483648 to 2147483647 can be processed.
P1ST P2ST FUNCTION: Serial port 1 or serial port 2 string DESCRIPTION: P1ST returns the last string (followed by carriage return) sent to the serial port when in the operator data entry mode (CI,1) P2ST returns the last string (followed by carriage return) sent to auxiliary serial port (port 2) NO MORE THAN SIX CHARACTERS CAN BE ACCESSED.
#POSERR FUNCTION: Position error automatic subroutine DESCRIPTION: The factory default behavior of the Galil controller upon a position error (TE > ER) is to do nothing more than turn on the red light. If OE is set to 1, the motor whose position error ER was exceeded will be turned off MO. #POSERR can be used if the programmer wishes to run code upon a position error (for example to notify a host computer).
PA FUNCTION: Position Absolute DESCRIPTION: The PA command will set the final destination of the next move. The position is referenced to the absolute zero. If a ? is used, then the current destination (current command position if not moving, destination if in a move) is returned. For each single move, the largest position move possible is +/- 2147483647. Units are in quadrature counts.
PF FUNCTION: Position Format DESCRIPTION: The PF command allows the user to format the position numbers such as those returned by TP. The number of digits of integers and the number of digits of fractions can be selected with this command. An extra digit for sign and a digit for decimal point will be added to the total number of digits. If PF is minus, the format will be hexadecimal and a dollar sign will precede the characters.
PR FUNCTION: Position Relative DESCRIPTION: The PR command sets the incremental distance and direction of the next move. The move is referenced with respect to the current position. If a ? is used, then the current incremental distance is returned (even if it was set by a PA command). Units are in quadrature counts.
QD FUNCTION: Download Array DESCRIPTION: The QD command transfers array data from the host computer to the DMC-1400. QD array[],start,end requires that the array name be specified along with the first element of the array and last element of the array. The array elements can be separated by a comma (,) or by . The downloaded array is terminated by a \.
QR FUNCTION: Data Record DESCRIPTION: The QR command causes the controller to return a record of information regarding controller status. This status information includes 4 bytes of header information and specific blocks of information as specified by the command arguments. The details of the status information are described in Chapter 4 of the user’s manual.
QU FUNCTION: Upload Array DESCRIPTION: The QU command transfers array data from the DMC-1400 to a host computer. QU requires that the array name be specified along with the first element of the array and last element of the array. The uploaded array will be followed by a Z as an end of text marker.
QZ FUNCTION: Return Data Record information DESCRIPTION: The QZ command is an interrogation command that returns information regarding the Data Record (DMC-1415/1416/1425). The controller’s response to this command will be the return of 4 integers separated by commas. The four fields represent the following: First field returns the number of axes.
RA FUNCTION: Record Array DESCRIPTION: The RA command selects one or two arrays for automatic data capture. The selected arrays must have been dimensioned by the DM command. The data to be captured is specified by the RD command and time interval by the RC command. ARGUMENTS: RA n [],m [] where n,m are dimensioned arrays as defined by DM command. The [] contain nothing.
RC FUNCTION: Record DESCRIPTION: The RC command begins recording for the Automatic Record Array Mode (RA). RC 0 stops recording. ARGUMENTS: RC n,m where n is an integer 1 thru 8 and specifies 2n samples between records. RC 0 stops recording. m is optional and specifies the number of records to be recorded. If m is not specified, the DM number will be used. A negative number for m causes circular recording over array addresses 0 to m-1.
RD FUNCTION: Record Data DESCRIPTION: The RD command specifies the data type to be captured for the Record Array (RA) mode. The command type includes: DATA TYPE MEANING _DE 2nd encoder _TP Position _TE Position error _SH Commanded position _RL Latched position _TI Inputs _OP Outputs _TS Switches, only 0-4 bits valid _SC Stop code _TT Tell torque _TVn Filtered velocity.
RE FUNCTION: Return from Error Routine DESCRIPTION: The RE command is used to end a position error handling subroutine or limit switch handling subroutine. The error handling subroutine begins with the #POSERR label. The limit switch handling subroutine begins with the #LIMSWI. An RE at the end of these routines causes a return to the main program. Care should be taken to be sure the error or limit switch conditions no longer occur to avoid re-entering the subroutines.
REM FUNCTION: Remark DESCRIPTION: REM is used for comments. The REM statement is NOT a controller command. Rather, it is recognized by Galil PC software, which strips away the REM lines before downloading the DMC file to the controller. REM differs from NO (or ‘) in the following ways: (1) NO comments are downloaded to the controller and REM comments aren’t (2) NO comments take up execution time and REM comments don’t; therefore, REM should be used for code that needs to run fast.
RI FUNCTION: Return from Interrupt Routine DESCRIPTION: The RI command is used to end the interrupt subroutine beginning with the label #ININT. An RI at the end of this routine causes a return to the main program. The RI command also re-enables input interrupts. If the program sequencer was interrupted while waiting for a trippoint, such as WT, RI1 restores the trippoint on the return to the program. RI0 clears the trippoint.
RL FUNCTION: Report Latched Position DESCRIPTION: The RL command will return the last position captured by the latch. The latch must first be armed by the AL command and then a 0 must occur on the Input 1. The armed state of the latch can be configured using the CN command.
@RND[n] FUNCTION: Round DESCRIPTION: Rounds the given number to the nearest integer ARGUMENTS: @RND[n] n is a signed number in the range -2147483648 to 2147483647. USAGE: DEFAULTS: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Controller Usage ALL RELATED COMMANDS: @INT Truncates to the nearest integer EXAMPLES: :MG @RND[1.2] 1.0000 :MG @RND[5.7] 6.0000 :MG @RND[-1.2] -1.0000 :MG @RND[-5.7] -6.0000 :MG @RND[5.5] 6.0000 :MG @RND[-5.5] -5.
RP FUNCTION: Reference Position DESCRIPTION: This command returns the commanded reference position of the motor. ARGUMENTS: RP USAGE: While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE: _RP contains the commanded reference position.
RS FUNCTION: Reset DESCRIPTION: The RS command resets 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. The RS-1 command resets the state of the processor to its factory default without modifying the EEROM.
RS FUNCTION: Master Reset DESCRIPTION: The Master Reset command resets the DMC-1400 to factory default settings and erases EEPROM. A master reset can also be performed by installing a jumper on the DMC-14XX at the location labeled MRST and resetting the controller (power cycle or pressing the reset button). Remove the jumper after this procedure.
RV FUNCTION: Revision Information DESCRIPTION: The Revision Information command causes the controller to return the firmware revision information.
SA FUNCTION: Send Command DESCRIPTION: SA sends a command from one Galil controller to another controller or IOC-7007 board over Ethernet. Any command can be sent to another Galil card and will be interpreted by the card as a “local” command. Note: A wait statement (e.g. WT5) must be inserted between successive calls to SA. ARGUMENTS: SAh= arg or SAh=arg,arg,arg,arg,arg,arg,arg,arg where h is the handle being used to send commands to other Galil Ethernet controller.
SA n FUNCTION: Serial Address DESCRIPTION: SA assigns the address of a serial controller in a daisy-chain network. See Chapter 4 in the DMC1412/1414 user manual for more information on daisy-chaining. ARGUMENTS: SA n where n is a number between 0 and 7 representing the address of the controller. This command may be saved by issuing the BN command.
SB FUNCTION: Set Bit DESCRIPTION: The SB command sets one of three bits on the output port. Note: When using Modbus devices (DMC-1415/1416/1425 ONLY), the I/O points of the Modbus devices are calculated using the following formula: n = (SlaveAddress*10000) + (HandleNum*1000) + ((Module-1)*4) + (Bitnum-1) Slave Address is used when the Modbus device has slave devices connected to it and specified as Addresses 0 to 255.
SC FUNCTION: Stop Code DESCRIPTION: The SC command allows the user to determine why a motor stops.
SH FUNCTION: Servo Here DESCRIPTION: The SH command tells the controller to use the current motor position as the command position and to enable servo control here. This command can be useful when the position of a motor has been manually adjusted following a motor off (MO) command.
@SIN[n] FUNCTION: Sine DESCRIPTION: Returns the sine of the given angle in degrees ARGUMENTS: @SIN[n] where n is a signed number in degrees in the range -2147483648 to 2147483647. USAGE: DEFAULTS: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Controller Usage ALL RELATED COMMANDS: @ASIN Arc sine @COS Cosine @ATAN Arc tangent @ACOS Arc cosine @TAN Tangent EXAMPLES: :MG @SIN[0] 0.0000 :MG @SIN[90] 1.0000 :MG @SIN[180] 0.0000 :MG @SIN[270] -1.
SL FUNCTION: Single Step DESCRIPTION: For debugging purposes. Single Step through the program after execution has paused at a breakpoint (BK). Optional argument allows user to specify the number of lines to execute before pausing again. The BK command resumes normal program execution.
SP FUNCTION: Speed DESCRIPTION: This command sets the slew speed for independent moves. The parameters input will be rounded down to the nearest factor of 2 and the units of the parameter are in counts per second. Note: Negative values will be interpreted as the absolute value. ARGUMENTS: SP n where n is an unsigned even integer in the range 0 to 8,000,000 for servo motors on the DMC1410/1411/1412/1414/1417 (0 to 12,000,000 for servo motors on the DMC1415/1416/1425).
@SQR[n] FUNCTION: Square Root DESCRIPTION: Takes the square root of the given number. If the number is negative, the absolute value is taken first. ARGUMENTS: @SQR[n] where n is a signed number in the range -2147483648 to 2147483647. USAGE: DEFAULTS: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Controller Usage ALL RELATED COMMANDS: @ABS Absolute value EXAMPLES: :MG @SQR[2] 1.4142 :MG @SQR[-2] 1.
ST FUNCTION: Stop DESCRIPTION: The ST command stops commanded motion. The motor will come to a decelerated stop. ST sent from the host with no arguments will stop motion and any programs that are running on the controller.
@TAN[n] FUNCTION: Tangent DESCRIPTION: Returns the tangent of the given angle in degrees ARGUMENTS: @TAN[n] where n is a signed number in degrees in the range -2147483648 to 2147483647. USAGE: DEFAULTS: While Moving Yes Default Value - In a Program Yes Default Format - Command Line Yes Controller Usage ALL RELATED COMMANDS: @ASIN Arc sine @COS Cosine @ATAN Arc tangent @ACOS Arc cosine @SIN Tangent EXAMPLES: :MG @TAN[-90] -2147483647.0000 :MG @TAN[0] 0.0000 :MG @TAN[90] 2147483647.
TB FUNCTION: Tell Status Byte DESCRIPTION: The TB command returns status information from the controller as a decimal number.
TC FUNCTION: Tell Error Code DESCRIPTION: The TC command returns a number between 1 and 255. This number is a code that reflects why a command was not accepted by the controller. This command is useful when the controller halts execution of a program at a command or when the response to a command is a question mark. Entering the TC command will provide the user with a code as to the reason. After TC has been read, it is set to zero. TC 1 returns the text message as well as the numeric code.
ECAM 28 S operand not valid 105 EB1 command must be given first 29 Not valid during coordinated move 110 No hall effect sensors detected 30 Sequence segment too short 111 Must be made brushless by BA command 31 Total move distance in a sequence > 2 billion 112 BZ command timeout 32 More than 511 segments in a sequence 113 No movement in BZ command 33 VP or CR commands cannot be mixed with LI commands 114 BZ command runaway 41 Contouring record range error 118 Controller has GL1600
#TCPERR FUNCTION: Ethernet communication error automatic subroutine DESCRIPTION: The following error (see TC) occurs when a command such as MG “hello” {EA} is sent to a failed Ethernet connection: 123 TCP lost sync or timeout This error means that the client on handle A did not respond with a TCP acknowledgement (for example because the Ethernet cable was disconnected). Handle A is closed in this case.
TD FUNCTION: Tell Dual Encoder DESCRIPTION: This command returns the current position of the dual (auxiliary) encoder. The auxiliary encoder is not available if the controller is set up for stepper. When operating with stepper motors, the TD command returns the number of counts that have been output by the controller.
TE FUNCTION: Tell Error DESCRIPTION: This command returns the current position error of the motor. The range of possible error is +/-2147483647. The Tell Error command is not valid for step motors since they operate open-loop.
TH FUNCTION: Tell Handle Status DESCRIPTION: The TH command is used to request the controllers’ handle status. Data returned from this command indicates the IP address and Ethernet address of the current controller. This data is followed by the status of each handle indicating connection type and IP address.
TI FUNCTION: Tell Inputs DESCRIPTION: This command returns the state of all 7 general digital inputs or 3 inputs for the DMC-1425. Response is a decimal number which when converted to binary represents the status of all 7 digital inputs. BIT TI Bit 6 Input 7 Bit 5 Input 6 Bit 4 Input 5 Bit 3 Input 4 Bit 2 Input 3 Bit 1 Input 2 Bit 0 Input 1 ARGUMENTS: TI USAGE: While Moving Yes Default Value --- In a Program Yes Default Format 3.
TIME* FUNCTION: Time Operand (Keyword) DESCRIPTION: *The TIME operand contains the value of the internal free running, real time clock. The returned value represents the number of servo loop updates and is based on the TM command. The default value for the TM command is 1000. With 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 976 microseconds.
TL FUNCTION: Torque Limit DESCRIPTION: The TL command sets the limit on the motor command output. For example, TL of 5 limits the motor command output to 5 volts. Maximum output of the motor command is 9.998 volts. ARGUMENTS: TL n where n is an unsigned number in the range 0 to 9.998 volts with resolution of 0.0003. USAGE: While Moving Yes Default Value 9.9988 In a Program Yes Default Format 1.
TM FUNCTION: Update Time DESCRIPTION: The TM command sets the sampling period of the control loop. Changing the sampling period will uncalibrate the speed and acceleration parameters. A negative number turns off the servo loop. The units of this command are μsec. ARGUMENTS: TM n where n is an integer in the range 375 to 20000 decimal with resolution of 125 microseconds. For the DMC-1415/1416/1425 the range is from 250 to 20000.
TP FUNCTION: Tell Position DESCRIPTION: This command returns the current position of the motor ARGUMENTS: TP USAGE: While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE: _TP contains the current position value. EXAMPLES: :PF 7 Position format of 7 :TP Return position 0000200 PF-6.
TR FUNCTION: Trace DESCRIPTION: The TR command causes each instruction in a program to be sent out the communications port prior to execution. TR1 enables this function and TR0 disables it. The trace command is useful in debugging programs.
TS FUNCTION: Tell Switches DESCRIPTION: TS returns the state of the Home switch, Forward and Reverse Limit switch, error conditions, motion condition and motor state. The value returned by this command is decimal and represents an 8 bit value (decimal value ranges from 0 to 255). Each bit represents the following status information.
TT FUNCTION: Tell Torque DESCRIPTION: The TT command reports the value of the analog servo command output signal, which is a number between -9.998 and 9.998 volts. ARGUMENTS: TT USAGE: While Moving Yes Default Value --- In a Program Yes Default Format 1.4 Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE: _TT contains the value of the torque.
TV FUNCTION: Tell Velocity DESCRIPTION: The TV command returns the actual velocity in units of quadrature count/s. The value returned includes the sign. ARGUMENTS: TV No argument will provide the auxiliary encoder position for all axes. USAGE: While Moving Yes Default Value 0 In a Program Yes Default Format 7.0 Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE: _TV contains the value for the velocity.
TW FUNCTION: Timeout for IN-Position (MC) DESCRIPTION: The TW n command sets the timeout in msec to declare an error if the MC command is active and the motor is not at or beyond the actual position within n msec after the completion of the motion profile. If a timeout occurs, then the MC trippoint will clear and the stopcode will be set to 99. An application program will jump to the special label #MCTIME. The RE command should be used to return from the #MCTIME subroutine.
UI FUNCTION: User Interrupt DESCRIPTION: The UI command causes an interrupt on the selected IRQ line. There are 16 user interrupts where UI n, n = 0 through 15. Prior to using the UI command, one IRQ line must be jumpered on the DMC-141X. An interrupt service routine must also be incorporated in your host program. The IV command should be sent from this routine for interrupt status and to re-enable the interrupt. Refer to Chapter 4 in the product manual for details.
UL FUNCTION: Upload DESCRIPTION: The UL command transfers data from the DMC-141X to a host computer. Programs are sent without line numbers. The Uploaded program will be followed by a Z or a \ as an end of Text marker. ARGUMENTS: None USAGE: While Moving Yes Default Value --- In a Program No Default Format --- Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE: When used as an operand, _UL gives the number of available variables.
VA FUNCTION: Vector Acceleration DESCRIPTION: This command sets the acceleration rate of the vector in a coordinated motion sequence. ARGUMENTS: VA n where n is an unsigned integer in the range 1024 to 68,431,360. The parameter input will be rounded down to the nearest factor of 1024. The units of the parameter is counts per second squared. n = ? Returns the value of the vector acceleration for the coordinate plane.
VD FUNCTION: Vector Deceleration DESCRIPTION: This command sets the deceleration rate of the vector in a coordinated motion sequence. ARGUMENTS: VD n where n is an unsigned integer in the range 1024 to 68431360. The parameter input will be rounded down to the nearest factor of 1024. The units of the parameter is counts per second squared. n = ? Returns the value of the vector deceleration for the coordinate plane.
VE FUNCTION: Vector Sequence End DESCRIPTION: VE is required to specify the end segment of a coordinated move sequence. VE would follow the final VP or CR command in a sequence. VE is equivalent to the LE command. ARGUMENTS: VE n No argument specifies the end of a vector sequence n=? Returns the length of the vector in counts.
VF FUNCTION: Variable Format DESCRIPTION: The VF command allows the variables and arrays to be formatted for number of digits before and after the decimal point. When displayed, the value m represents the number of digits before the decimal point, and the value n represents the number of digits after the decimal point. When in hexadecimal, the string will be preceded by a $. Hex numbers are displayed as 2's complement with the first bit used to signify the sign.
VM FUNCTION: Coordinated Motion Mode DESCRIPTION: The VM command specifies the coordinated motion mode and the plane of motion. This command is only used for the DMC-1425 two axis controller. The motion is specified by the instructions VP and CR, which specify linear and circular segments. Up to 511 segments may be given before the Begin Sequence (BGS) command. Additional segments may be given during the motion when the buffer frees additional spaces for new segments.
VP FUNCTION: Vector Position DESCRIPTION: The VP command defines the target coordinates of a straight line segment in a 2 axis motion sequence which have been selected by the VM command. The units are in quadrature counts, and are a function of the vector scale factor set using the command VS. ARGUMENTS: VP n,m < o > p where n and m are signed integers in the range -2147483648 to 2147483647 The length of each segment must be limited to 8 106.
VR FUNCTION: Vector Speed Ratio DESCRIPTION: The VR sets a ratio to be used as a multiplier of the current vector speed. The vector speed can be set by the command VS or the operators < and > used with CR, VP and LI commands. VR takes effect immediately and will ratio all the following vector speed commands. VR doesn't ratio acceleration or deceleration, but the change in speed is accomplished by accelerating or decelerating at the rate specified by VA and VD.
VS FUNCTION: Vector Speed DESCRIPTION: The VS command specifies the speed of the vector in a coordinated motion sequence in either the LM or VM modes. VS may be changed during motion. Vector Speed can be calculated by taking the square root of the sum of the squared values of speed for each axis specified for vector or linear interpolated motion. ARGUMENTS: VS n where n is an unsigned even number in the range 2 to 12,000,000 for servo motors and 2 to 3,000,000 for stepper motors.
VT FUNCTION: Vector Time Constant DESCRIPTION: The VT command filters the acceleration and deceleration functions in vector moves of VM, LM type to produce a smooth velocity profile. The resulting profile, known as Smoothing, has continuous acceleration and results in reduced mechanical vibrations. VT sets the bandwidth of the filter, where 1 means no filtering and 0.004 means maximum filtering. Note that the filtering results in longer motion time.
WC FUNCTION: Wait for Contour Data DESCRIPTION: The WC command acts as a flag in the Contour Mode. After this command is executed, the controller does not receive any new data until the internal contour data buffer is ready to accept new commands. This command prevents the contour data from overwriting on itself in the contour data buffer.
WH FUNCTION: Which Handle DESCRIPTION: The WH command is used to identify the handle in which the command is executed. The command returns IHA through IHF to indicate on which handle the command was executed. The command returns RS232 if communicating serially.
WT FUNCTION: Wait DESCRIPTION: The WT command is a trippoint used to time events. After this command is executed, the controller will wait for the number of samples specified before executing the next command. If the TM command has not been used to change the sample rate from 1 msec, then the units of the Wait command are milliseconds.
XQ FUNCTION: Execute Program DESCRIPTION: The XQ command begins execution of a program residing in the program memory of the controller. Execution will start at the label or line number specified. Up to two programs may be executed simultaneously to perform multitasking. ARGUMENTS: XQ #A,n XQm,n where A is a program name of up to seven characters m is a line number n is the thread number (0 or 1) for multitasking NOTE: The arguments for the command, XQ, are optional.
ZR FUNCTION: Zero DESCRIPTION: The ZR command sets the compensating zero by changing the KD value in the control loop or returns the previously set value. It fits in the control equation as follows: D(z) = GN(z-ZR/z) ARGUMENTS: ZR n where n is an unsigned number in the range 0 to 1 decimal with a resolution of 1/256 USAGE: While Moving Yes Default Value .9143 In a Program Yes Default Format 3.
ZS FUNCTION: Zero Subroutine Stack DESCRIPTION: The ZS command is only valid in an application program and is used to avoid returning from an interrupt (either input or error). ZS alone returns the stack to its original condition. ZS1 adjusts the stack to eliminate one return. This turns the jump to subroutine into a jump. Do not use RI (Return from Interrupt) when using ZS. To re-enable interrupts, you must use II command again.
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Index Abort........................................................... 13, 180, 181 Off-On-Error............................................................ 13 Acceleration.................................. 33, 35, 36, 38, 41, 45 Analog Feedback ........................................................ 18 Analog Output ............................................................ 23 Arrays ......................................................................... 64 Automatic Record...........................
Halt Abort........................................................ 13, 180, 181 Off-On-Error............................................................ 13 Home Inputs ............................................................... 56 Homing ..................................................................... 100 IF conditional............................................................ 103 IF Conditional Statements ELSE........................................................................
Clear Sequence ........................................................ 62 Ellipse Scale ............................................................ 88 Vector Motion .......................................................... 214 Circle ....................................................................... 61 Vector Position ......................................................... 215 DMC-1400 Series Command Reference Vector Smoothing .....................................................
