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the Galil Command Reference

1. COM1000 DOC Index e 101 LS FUNCTION List Program DESCRIPTION DMC 1000 DMC 1500 The LS command returns a listing of the programs in 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 ARGUMENTS LS n m where n and m are valid numbers from 0 to 999 or labels n is the first line to be listed m is the last USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS LA on page 93 LL on page 98 LV on page 103 EXAMPLES LS A 6 002 A 003 PR 500 004 BGX 005 AM 006 WT 200 DEFAULTS Yes Default Value 0 Last Line No Default Format List Arrays List Labels List Variables List program starting at A through line 6 Hint Remember to quit the Edit Mode lt cntrl gt Q prior to giving the LS command 102 e Index COM1000 DOC COM1000 DOC LV FUNCTION List Variables DESCRIPTION DMC 1000 DMC 1500 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 In a Program Command Line Can be Interrogated Used as an Oper
2. In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _TLx contains the value of the torque limit for the specified axis EXAMPLES TL 1 5 9 7 5 Limit X axis to 1volt Limit Y axis to 5 volts Limit Z axis to 9 volts Limit W axis to 7 5 volts TL 2 2 Return limits 1 0000 5 0000 9 0000 7 5000 TL Return X axis limit 1 0000 COM1000 DOC Index e 147 DMC 1000 DMC 1500 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 internal clock allowing for an external source to be used as the time base The units of this command are usec ARGUMENTS TM n where nis an integer in the range 250 to 20000 decimal with resolution of 125 microseconds The minimum sample time for the DMC 1010 or DMC 1510 is 250 usec 375 usec for the DMC 1020 or DMC 1520 500 usec for the DMC 1030 or DMC 1530 500 usec for the DMC 1040 or DMC 1540 625 usec for the DMC 1050 or DMC 1550 750 usec for the DMC 1060 or DMC 1560 875 usec for the DMC 1070 or DMC 1570 1000 usec for the DMC 1080 or DMC 1580 returns the value of the sample time USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _TM contains
3. DC on page 43 Deceleration IP on page 83 Increment Position TV on page 155 Tell Velocity EXAMPLES JG 100 500 2000 5000 Set for jog mode with a slew speed of 100 counts sec for the X axis 500 counts sec for the Y axis 2000 counts sec for the Z axis and 5000 counts sec for W axis BG Begin Motion JG 2000 Change the Z axis to slew in the negative direction at 2000 counts sec COM1000 DOC DMC 1000 DMC 1500 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 amp and I The amp operand between any two conditions requires that both statements must be true for the combined statement to be true The operand between any two conditions requires that only one statement be true for the combined statement to be true Note Each condition must be placed in parenthesis for proper evaluation by the controller ARGUMENTS JP location condition where location is a program line number or label condition is a conditional statement using a logical operator The logical operators are less than
4. DMC 1000 DMC 1500 Command Reference Manual Rev 1 0f By Galil Motion Control Inc Galil Motion Control Inc 203 Ravendale Drive Mountain View California 94043 Phone 650 967 1700 Fax 650 967 1751 Internet Address support galilmc com URL www galilmc com Rev 12 99 ie Index COM1000 DOC Overview Controller Notation This command reference is a supplement to Galil Motion Control User Manual For proper controller operation consult the Users Manual This manual describes commands to be used with the following Galil Motion Controllers DMC 1000 DMC 1500 Commands are listed in alphabetical order Please note that all commands may not be valid for every controller The following symbol is used to identify the controllers for which the command is applicable DMC 1000 DMC 1500 This symbol is placed at the top right corner of each command description The DMC 1000 symbol refers to all controllers from the DMC 1000 series 1 8 axes the DMC 1500 symbol refers to all controllers from the DMC 1500 series 1 8 axes When the corresponding box entry is dark the command is not valid for that controller Removing Non Applicable Commands Since there may be commands which are not applicable to your controller you may use the following table to identify and remove these pages Manual Pages Not Applicable to Specific Controllers CONTROLLER PAGENO DMC 1000 9 24 25 27 30 116 DMC 1500 55 117 157 Servo an
5. Sets the variable Input with the TI value All inputs high Index e 145 146 e Index DMC 1000 DMC 1500 TIME FUNCTION Time Operand Keyword DESCRIPTION The TIME operand returns the value of the intenal 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 1 1024 seconds Thus the value returned by the TIME operand will be off by 2 4 of the actual time The clock is reset to 0 with a standard reset or a master reset on The keyword TIME does not require an underscore as does the other operands USAGE Used as an Operand Yes Format TIME EXAMPLES MG TIME Display the value of the internal clock COM1000 DOC DMC 1000 DMC 1500 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 x y z w TLX x TL a b c d e f g h where X y Z W are unsigned numbers in the range 0 to 9 998 volts with resolution of 0 003 volts returns the value of the torque limit for the specified axis USAGE DEFAULTS While Moving Yes Default Value
6. While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS LA on page 93 LS on page 102 LV on page 103 EXAMPLES LL FIVE FOUR ONE THREE TWO DEFAULTS List Arrays List Program List Variables Default Value Default Format COM1000 DOC LM DMC 1000 DMC 1500 FUNCTION Linear Interpolation Mode DESCRIPTION The LM XYZW command specifies the linear interpolation mode where XYZW denote the axes for linear interpolation Any set of 1 2 3 or 4 axes may be used for linear interpolation LI x y z w 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 Once the LM command has been given it does not need to be given again unless the VM command has been used It should be noted that the controller computes the vector speed based on the axes specified in the LM mode For example LM XYZ designates lineay interpolation for the X Y and Z axes The speed of these axes will be computed from VS XS YS ZS where XS YS and ZS are the speed of the X Y and Z axes If the LI command specifies only X and Y the speed of Z will still be used in the vector calculations The controller always uses the axis specifications from LM not LI to compute the speed ARGUMEN
7. While Moving In a Program Not in a Program Can be Interrogated Used in an Operand RELATED COMMANDS BN on page 22 BP on page 24 DEFAULTS No Default Value Burn Parameters Burn Program Note This command may cause the Galil software to issue the following warning A time out occurred while waiting for a response from the controller This warning is normal and is designed to warn the user when the controller does not respond to a command within the timeout period This occurs because this command takes more time than the default timeout of 1 sec The timeout can be changed in the Galil software but this warning does not affect the operation of the controller or software Index e 25 DMC 1000 DMC 1500 CB FUNCTION Clear Bit DESCRIPTION The CB command sets the specified output bit low CB can be used to clear the outputs of extended I O which have been configured as outputs ARGUMENTS CB n where nis an integer corresponding to the output bit to be cleared The first output bit is specified as 1 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS SB on page 135 Set Bit OP on page 116 Define output port bytewise EXAMPLES CB 7 Clear output bit 7 CB 16 Clear output bit 16 8 axis controllers only 26 e Index COM1000 DOC CC UT scs FUNCTION Configure Communications Port
8. Clock 146 148 Sample Time 148 Update Rate 146 TIME 146 Time Interval 32 48 124 Timeout 105 156 MCTIME 105 156 Torque Limit 147 Trigger 16 64 Trippoint 7 12 13 14 54 63 78 79 105 107 110 128 156 172 Tuning Stability 50 U Update Rate 146 Sample Time 148 Upload 158 V Variable Internal 12 Vector Acceleration 159 Vector Mode 18 65 165 Circle 36 65 Circular Interpolation 125 163 180 e Index Clear Sequence 38 Ellipse Scale 65 Feedrate 168 Tangent 149 163 Vector Speed 36 96 138 X XQ Execute Program 173 Doc To Help Standard Template
9. Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _TVx contains the value of the velocity for the specified axis EXAMPLES VELX TVX Assigns value of X axis velocity to the variable VELX TVX Returns the Y axis velocity 0003420 Note The TV command is computed using a special averaging filter over approximately 25 sec Therefore TV will return average velocity not instaneous velocity COM1000 DOC Index e 155 DMC 1000 DMC 1500 TW FUNCTION Timeout for IN Position MC DESCRIPTION The TW x y z w 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 ARGUMENTS TW x y z w TWXzX TW a b c d e f g h where X y Z W specifies timeout in msec range 0 to 32767 msec 1 disables the timeout returns the timeout in msec for the MC command for the specified axis USAGE DEFAULTS While Moving Yes Default Value 32766 In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _TWx contains the timeout in msec for the MC command for the specified axis RELATED COMMANDS MC on page 104 Mot
10. FUNCTION Reference Position DESCRIPTION This command returns the commanded reference position of the motor s ARGUMENTS RP XYZW RPABCDEFGH where the argument specifies the axes to be affected USAGE DEFAULTS 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 OPERAND USAGE _RPx contains the commanded reference position for the specified axis RELATED COMMAND TP on page 150 Tell Position Note The relationship between RP TP and TE TEX equals the difference between the reference position RPX and the actual position TPX EXAMPLES Assume that XYZ and W axes are commanded to be at the positions 200 10 0 110 respectively The returned units are in quadrature counts PF7 Position format of 7 0 RP 0000200 0000010 0000000 0000110 Return X Y Z W reference positions RPX 0000200 Return the X motor reference position RPY 0000010 Return the Y motor reference position PF 6 0 Change to hex format RP 0000C8 FFFFF6 000000 FFFF93 Return X Y Z W in hex Position _RPX Assign the variable Position the value of RPX Hint RP command is useful when operating step motors since it provides the commanded position in steps when operating in stepper mode Index e 131 132 e Index RS FUNCTION Reset DESCRIPTION USAGE DMC 1000 DMC 1500 The RS command resets the state of the processor to its power on condition Th
11. axes is complete USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS BG on page 19 Begin AM on page 12 After Move TW on page 156 Timeout EXAMPLES MOVE Program MOVE PR 5000 5000 5000 5000 Position relative moves BGX Start the X axis MC X After the move is complete on X BGY Start the Y axis MC Y After the move is complete on Y COM1000 DOC Index e 105 106 e Index BGZ MCZ BGW MCW EN F DP 0 0 0 0 PR 5000 6000 7000 8000 BG MC MG DONE TP EN Hint MC can be used to verify that the actual motion has been completed Start the Z axis After the move is complete on Z Start the W axis After the move is complete on W End of Program Program F Position relative moves Start X Y Z and W axes After motion complete on all axes Print message End of Program COM1000 DOC MF DMC 1000 DMC 1500 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 Only one axis may be specified at a time The MF command can also be used when the encoder is the master and not under servo control ARGUMENTS MFx or MF y or MF z or MF w M
12. 1 to YSTATE if the Y axis is performing a move Specify vector position Specify vector velocity Begin coordinated sequence Vector Mode Specify vector position Vector End Specify Z and W position Begin sequence and Z W motion Index e 19 MG BGS Displays a 1 if coordinated sequence move is running Hint You cannot give another BG command until current BG motion has been completed Use the AM trippoint to wait for motion complete between moves Another method for checking motion complete is to test for BG being equal to 0 20 o Index COM1000 DOC COM1000 DOC DMC 1000 DMC 1500 BL FUNCTION Reverse Software Limit DESCRIPTION The BL command sets the reverse software limit If this limit is exceeding during motion motion on that axis will decelerate to a stop Reverse motion beyond this limit is not permitted The reverse limit is activated at X 1 Y 1 Z 1 W 1 To disable the reverse limit set X Y Z W to 2147483648 The units are in quadrature counts When the reverse software limit is activated the automatic subroutine LIMSWI will be executed if it is included in the program and a program is executing See User s Manual Automatic Subroutine ARGUMENTS BL xyzw BLXzx BL a b c d e f g h where X y Z W are signed integers in the range 2147483648 to 2147483647 214783648 turns off the reverse limit returns the reverse software limit for the specified axes USAGE DEFAULTS While Moving Yes Default Value 2
13. 2000 Define the changes in X and Y to be 0 and 3000 respectively Define master cycle as 2000 V EMX Return cycle of X 58 e Index COM1000 DOC DMC 1000 DMC 1500 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 used to end the automatic subroutines MCTIME CMDERR and COMINT When the EN command is used to terminate the COMINT communications interrupt subroutine there are two arguments the first determines whether trippoints will be restored upon completion of the subroutine and the second determines whether the communication interrupt will be re enabled ARGUMENTS ENm n where m 0 Return from COMINT without restoring trippoint m Return from subroutine and restore trippoint n 0 Return from COMINT without restoring interrupt n 1 Return from communications interrupt COMINT and restore interrupt Notel The default values for the arguments are 0 For example EN 1 and ENO 1 have the same effect Note2 Trippoints cause a program to wait for a particular event The AM command for example waits for motion on all axes to complete If the COMINT subroutine is executed due to a communication interrupt while the program is waiting for a trippoint the COMINT can end by continuing to wait for the trippoint as if
14. Arm latch EXAMPLES CN 1 1 Sets limit and home switches to active high CN 1 Sets input latch active low Hint To use step motors connect the 20 pin connector on the DMC 1000 and install the SM nn jumpers COM1000 DOC Index e 33 DMC 1000 DMC 1500 CO FUNCTION Configure Outputs DESCRIPTION The CO command configures the extended I O on the DB 10072 of the DMC 1000 series controller the DB 15072 of the DMC 1500 series controller For the DMC 1000 The first 48 I O points of the DB 10072 expansion board can be configured in blocks of 8 The extended I O of the DB 10072 are denoted as bits 9 80 and blocks 1 9 The configurable I O are bits 9 56 which denote blocks 1 6 For the DMC 1500 The first 24 I O points of the DB 15072 expansion board can be configured in blocks of 8 The extended I O of the DB 15072 are denoted as bits 25 96 and blocks 3 11 The configurable I O are bits 25 48 which denote blocks 3 5 ARGUMENTS COn where nis 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 For the DMC 1000 The least significant bit represents block 1 and the most significant bit represents block 6 The decimal value can be calculated by the following formula nz n 2 n 4 n3 8 n4 16 n5 32 n where n represents the block If the n value is a one then the block of 8 I O points is to be confi
15. BG on page 19 AC on page 6 DC on page 43 SP on page 138 IP on page 83 PF on page 119 EXAMPLES PR 100 200 300 400 BG PR Position Absolute Begin Acceleration Deceleration Speed Increment Position Position Formatting On the next move the X axis will go 100 counts the Y axis will go to 200 counts forward Z axis will go 300 counts and the W axis will go 400 counts Return relative distances 0000000100 0000000200 0000000300 PR 500 BG Set the relative distance for the X axis to 500 The X axis will go 500 counts on the next move while the Y axis will go its previously set relative distance Index e 121 DMC 1000 DMC 1500 QD FUNCTION Download Array DESCRIPTION The QD command transfers array data from the host computer to the controller 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 CR lt LF gt The downloaded array is terminated by a lt control gt Z lt control gt Q lt control gt D or V ARGUMENTS QD array start end where array is valid array name start is first element of array default 0 end is last element of array default last element USAGE DEFAULTS While Moving No Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMM
16. COMMANDS CM on page 32 Contour Mode WC on page 171 Wait for Contour DT on page 48 Time Increment CS on page 38 _CS is the Segment Counter EXAMPLES CM XYZW Specify Contour Mode DT4 Specify time increment for contour CD 200 350 150 500 Specify incremental positions on X Y Z and W axes X axis moves 200 counts Y axis moves 350 counts Z axis moves 150 counts W axis moves 500 counts WC Wait for complete CD 100 200 300 400 New position data WC Wait for complete DTO Stop Contour CD 0 0 0 0 Exit Mode COM1000 DOC DMC 1000 DMC 1500 CE FUNCTION Configure Encoder DESCRIPTION The CE command configures the encoder 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 four main axes encoders and the four auxiliary encoders ARGUMENTS CE x y z w CEX x CEabcdefg h where x y z w are integers in the range of 0 to 15 Each integer is the sum of two integers n and m which configure the main and the auxiliary encoders The values of m and n are MAIN ENCODER TYPE AUXILIARY ENCODER TYPE CAN Normal quadrature o Normal quadrature Normal pulse and direction Normal pulse and direction Reversed quadrature EN Reversed quadrature Reversed pulse and direction Reversed pulse and direction For example x 6 implies m 2 and n 4 both encoders are reversed quadrature returns the value of the encoder configuration
17. Capture 11 Latch 11 33 130 Teach 124 Position Error 8 90 114 131 POSERR 64 114 128 Doc To Help Standard Template Position Limit 70 Program Flow 54 63 Interrupt 22 55 57 60 79 82 124 128 140 157 175 Stack 79 128 172 175 Programmable EEPROM 22 39 133 Programming Halt 10 12 78 139 Protection Error Limit 64 152 Torque Limit 147 Q Quadrature 7 13 14 18 21 28 36 47 64 83 107 110 118 121 131 150 155 165 Quit Abort 5 Stop Motion 139 R Record 124 Latch 11 33 130 Position Capture 11 Teach 124 Register 157 Reset 4 39 132 146 Master Reset 4 133 134 146 Standard 146 S Sample Time 148 Update Rate 146 Save Burn 22 SB Set Bit 26 135 Scaling Ellipse Scale 65 S Curve 16 85 170 Selecting Address 125 157 Set Bit 26 135 Slew 83 86 138 Smoothing 85 92 KS 92 Special Label 105 156 Specification 94 96 139 Stability 50 Stack 79 128 172 175 Standard Reset 146 Status 32 39 41 54 78 114 116 125 140 152 175 Interrogation 83 104 Index e 179 Stop Code 136 Step Motor 33 92 111 KS Smoothing 85 92 Smoothing 92 Stop Abort 5 Stop Code 2 11 29 44 50 64 68 73 76 82 105 107 110 136 156 Stop Motion 139 Subroutine 79 88 128 156 175 Syntax 2 I Tangent 149 163 Teach 124 Data Capture 124 Latch 11 33 130 Position Capture 11 Record 124 Tell Error Position Error 8 90 114 131 Terminal 39 Theory 89 91 Stability 50 Time
18. LM not LI to compute the speed The parameter n is optional and can be used to define the vector speed that is attached to the motion segment ARGUMENTS LI x y z w lt n gt 0 LI a b c d e f g h where x y z w and a b c d e f h are signed integers in the range 8 388 607 to 8 388 607 and represent incremental move distance n specifies a vector speed to be taken into effect at the execution of the linear segment n is an unsigned even integer between 0 and 8 000 000 for servo motor operation and between 0 and 2 000 000 for stepper motors o is not valid for DMC 1000 and DMC 1500 controllers DEFAULTS USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand 96 e Index Yes Yes Yes Default Value Default Format COM1000 DOC COM1000 DOC LI cont RELATED COMMANDS LE on page 94 BG on page 19 LM on page 99 CS on page 38 VS on page 169 VA on page 159 VD on page 160 EXAMPLES LM XYZ LI 1000 2000 3000 LE BGS Linear end BGS Begin sequence Linear Interpolation Mode Clear Sequence Vector Speed Vector Acceleration Vector Deceleration Specify linear interpolation mode Specify distance Last segment Begin sequence Index e 97 98 e Index LL FUNCTION List Labels DESCRIPTION DMC 1000 DMC 1500 The LL command returns a listing of all of the program labels in memory The listing will be in alphabetical order ARGUMENTS None USAGE
19. Linear Interpolation Mode Vector Mode Vector Position Label Vector position Vector position Clear vectors New vector New vector End Sequence Begin sequence End of Program COM1000 DOC COM1000 DOC DMC 1000 DMC 1500 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 Unsolicited ASCII characters are those characters which are returned from the controller without being directly queried from the terminal This is the case when a program has a command that requires the controller to return a value or string ARGUMENTS CW n m where nis a number either 0 1 2 or 0 causes the controller to return the copyright information 1 causes the controller to set the MSB of unsolicited returned characters tol 2 causes the controller to not set the MSB of unsolicited characters do returns the copyright information for the controller m is 0 or 1 optional 0 causes the controller to pause program execution when output FIFO is full until FIFO no longer full 1 causes the controller to continue program execution when output FIFO is full output characters after FIFO is full wil
20. Servo Here A B C and D axes Note ABCDIS the same as XYZW SH ADEG Servo Here A D E and G axes Note AD is the same as XW SHH Servo Here H axis only SH Servo Here all axes Parameter Arguments Some commands require numerical arguments to be specified following the instruction In the argument description these commands are followed by lower case x y z w or a b c d e f g h where the lowercase letter represents the value Values may be specified for any axis separately or any combination of axes The argument for each axis is separated by commas Examples of valid syntaxare listed below Valid x y z w syntax ACx Specify argument for x axis only AC x y Specify x and y only AC x z Specify x and z only AC x y z w Specify x y z w AC a b c d Specify arguments for a b c d Note a b c d are the same as x y z w AC b e Specify b and e axis only Note b and y axis are the same AC e f Specify e and f Note e and z axis are the same Where x y z w and a b c d e f g and h are replaced by actual values Direct Command Arguments An alternative method for specifying data is to set data for individual axes using an axis designator followed by an equals sign The symbol defines data for all axes to be the same For example PRY 1000 Sets Y axis data at 1000 PR 1000 Sets all axes to 1000 2 e Index COM1000 DOC COM1000 DOC Interrogation Most commands accept a question mark as an argument This argument causes the co
21. X axis gain to 12 Set Y axis gain to 14 Set Z axis gain to 15 Set W axis gain to 20 GN 6 Set X axis gain to 6 Leave other gains unchanged GN 8 Set Y axis gain to 8 Leave other gains unchanged GN Returns X Y Z W gains 0006 0008 0015 0020 GN Returns X gain 0006 GN Returns Y gain 0008 COM1000 DOC DMC 1000 DMC 1500 GR FUNCTION Gear Ratio DESCRIPTION GR specifies the Gear Ratios for the geared axes in the electronic gearing mode The master axis is defined by the GAX or GAY or GAZ or GAW command The gear ratio may be different for each geared axis and range between 127 9999 The slave axis will be geared to the actual position of the master The master can go in both directions GR 0 0 0 0 disables gearing for each axis A limit switch also disables the gearing unless gantry mode has been enabled ARGUMENTS GR x y z w GRX x GR a b c d e f g h where X y Z W are signed numbers in the range 127 with a fractional resolution of 0001 0 disables gearing 2 returns the value of the gear ratio for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 3 4 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _GRx contains the value of the gear ratio for the specified axis EXAMPLES GEAR MOY Turn off servo to Y motor GAY Specify master axis as Y GR 25 5 Specify X and Z gear ratios EN End program Now when the Y motor is rot
22. Z axis will go to 500 counts W axis will go to 200 counts PA 2 2 2 Returns the current commanded position 400 600 500 200 BG Start the move PA 700 X axis will go to 700 on the next move while the BG Y Z and W axis will travel the previously set relative distance if the preceding move was a PR move or will not move if the preceding move was a PA move COM1000 DOC DMC 1000 DMC 1500 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 Hex numbers are displayed as 2 s complement with the first bit used to signify the sign If a number exceeds the format the number will be displayed as the maximum possible positive or negative number i e 999 99 999 8000 or 7FF The PF command can be used to format values returned from the following commands BL LE DE PA DP PR EM TN FL VE IP TE TP ARGUMENTS PF m n where m is an integer between 8 and 10 which represents the number of places preceding the decimal point A negative sign for m specifies hexadecimal representation n is an integer between 0 and 4 which represent the n
23. are unsigned numbers in the range 0 to 4095 875 with a resolution of 1 8 returns the value of the derivative constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value 64 In a Program Yes Default Format 4 2 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _KDx contains the value of the derivative constant for the specified axis RELATED COMMANDS KI on page 90 Integrator KP on page 91 Proportional EXAMPLES KD 100 200 300 400 25 Specify KD KD Return KD 0100 00 0200 00 0300 00 0400 25 COM1000 DOC Index e 89 DMC 1000 DMC 1500 KI FUNCTION Integrator DESCRIPTION The KI command sets the integral gain of the control loop It fits in the control equation as follows D z24 KP 4 KD z 1 z KI zZ2z 1 The integrator term will reduce the position error at rest to zero ARGUMENTS KIxy zw KIX zx Klajbced efgh where x y z w are unsigned numbers in the range 0 to 2047 875 with a resolution of 1 8 returns the value of the derivative constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 4 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _KIx contains the value of the derivative constant for the specified axis RELATED COMMANDS KP on page 91 Proportional Constant KI on page 90 Integrator IL on page 81 Integrator Limit EXAMPLES KI 1
24. between any two conditions requires that only one statement be true for the combined statement to be true Note Each condition must be placed in parenthesis for proper evaluation by the controller Note Subroutines may be nested 8 deep in the standard DMC 1000 controller 16 deep in the DMC 1000 MX 16 deep in the DMC 1500 A jump is taken if the specified condition is true Conditions are tested with logical operators The logical operators are less than or equal to less than or equal to greater than gt greater than or equal to equal to lt gt not equal ARGUMENTS JS destination condition where destination is a line number or label condition is a conditional statement using a logical operator USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Can be Interrogated No Used as an Operand No RELATED COMMANDS EN on page 59 End EXAMPLES JS SQUARE V1 lt 5 Jump to subroutine SQUARE if V1 is less than 5 JS LOOP V1 lt gt 0 Jump to LOOP if V1 is not equal to 0 JS A Jump to subroutine A no condition 88 e Index COM1000 DOC DMC 1000 DMC 1500 KD FUNCTION Derivative Constant DESCRIPTION KD designates the derivative constant in the controller filter The filter transfer function is D z 24 KP 4 KD z 1 z KIz 2 z 1 For further details on the filter see the section Theory of Operation ARGUMENTS KD x y z w KDX x KD a b c d e f g h where X y Z W
25. greater than equal to lt less than or equal to gt greater than or equal to lt gt not equal to USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Can be Interrogated No Used as an Operand No EXAMPLES JP POS1 V1 lt 5 Jump to label POS1 if variable V1 is less than 5 JP A V7 V8 0 Jump to A if V7 times V8 equals 0 JP B Jump to B no condition Hint JP is similar to an IF THEN command Text to the right ofthe comma is the condition that must be met for a jump to occur The destination is the specified label before the comma COM1000 DOC Index e 87 DMC 1000 DMC 1500 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 There can be a JS command within a subroutine Multiple conditions can be used in a single jump statement The conditional statements are combined in pairs using the operands amp and I The amp operand between any two conditions requires that both statements must be true for the combined statement to be true The operand
26. nothing happened or clear the trippoint and continue executing the program at the command just after the trippoint The EN arguments will specify how the COMINT routine handles trippoints Note3 Use the RE command to return from the interrupt handling subroutines LIMSWI and POSERR Use the RI command to return from the ININT subroutine USAGE DEFAULTS While Moving Yes Default Value n 0 m 0 In a Program Yes Default Format Command Line No Can be Interrogated No Used as an Operand No RELATED COMMANDS RE on page 128 Return from error subroutine RI on page 129 Return from interrupt subroutine COM1000 DOC Index e 59 EXAMPLES TA 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 60 e Index COM1000 DOC DMC 1000 DMC 1500 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 DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated No Used as an
27. page 157 User interrupt EXAMPLES 1 Specify interrupts for all axes motion complete and limit switch Enable bits 8 and 10 m 228 210 256 1024 1280 EI 1280 2 Specify interrupt on Input 3 Enable bit 15 on m and bit 2 on n m 215 37768 n 22 4 EI 32768 4 Index e 57 DMC 1000 DMC 1500 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 slaves 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 ARGUMENTS EM x y z w EMX x EM a b c d e f g h where the parameters are positive integers in the range between 1 and 8 388 607 for the master axis and between 1 and 2 147 483 647 for a slave axis USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _EMx contains the cycle of the specified axis RELATED COMMANDS EA on page 51 Choose ECAM master EB on page 52 Enable ECAM EG on page 54 Engage ECAM EP on page 62 Specify ECAM table intervals amp staring point EQ on page 63 Disengage ECAM ET on page 66 ECAM table EXAMPLES EAZ Select Z axis as master for ECAM EM 0 3000
28. parameters m and n ES m n and it applies to the axes designated by the VM command VMXY for example When m gt n the resolution of the first axis X in the example will be divided by the ratio m n When m lt n the resolution of the second axis Y in the example will be divided by n m The resolution change applies for the purpose of generating the VP and CR commands Note that this command results in one axis moving a distance specified by the CR and VP commands while the other one moves a larger distance ARGUMENTS ES m n where m and n are positive integers in the range between 1 and 65 535 USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS VM on page 163 CR on page 36 VP on page 165 EXAMPLES VMXY ES3 4 VMZX ES2 3 DEFAULTS Yes Default Value 1 1 Yes Default Format Yes Vector Mode Circle move Vector position Divide Y resolution by 4 3 Divide X resolution by 3 2 Index e 65 ET DMC 1000 DMC 1500 FUNCTION Electronic cam table DESCRIPTION The ET command sets the ECAM table entries for the slave axes The values of the master axes are not required The slave entry n is the position of the slave axes 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 ARGUMENTS ET n x y z w ET n a b c d e f g h where nis an integer between 0 and 256 x y z w an
29. position to be the current motor position and to enable the motor amplifier for the specified axes This command can be useful when the position of a motor has been manually adjusted following a motor off MO command ARGUMENTS SH XYZW SH ABCDEFGH where the argument specifies the axes to be affected USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS MO on page 109 EXAMPLES SH SHX SHY SHZ SHW DEFAULTS No Default Value Yes Default Format Yes No Motor off Servo X Y Z W motors Only servo the X motor the Y Z and W motors remain in its previous state Servo the Y motor leave the X Z and W motors unchanged Servo the Z motor leave the X Y and W motors unchanged Servo the W motor leave the X Y and Z motors unchanged Note The SH command changes the coordinate system Therefore all position commands given prior to SH must be repeated Otherwise the controller produces incorrect motion COM1000 DOC Index e 137 nn nn 138 e Index SP FUNCTION Speed DESCRIPTION DMC 1000 DMC 1500 This command sets the slew speed of any or all axes for independent moves or it will return the previously set value 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 x y z w SPX
30. range 2147483648 to 2147483647 decimal USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS AD on page 7 AP on page 13 EXAMPLES TEST DPO JG 1000 BGX MR 3000 V1 _TPX MG Position is V1 ST EN DEFAULTS No Default Value Default Format Trippoint for Relative Distances Trippoint for after Absolute Position Program B Define zero Jog mode speed of 1000 counts sec Begin move After passing the position 3000 Assign V1 X position Print Message Stop End of Program Hint The accuracy of the MR command is the number of counts that occur in 2 msec Multiply the speed by 2 msec to obtain the maximum error MR tests for absolute position The MR command can also be used when the specified motor is driven independently by an external device 110 e Index COM1000 DOC COM1000 DOC DMC 1000 DMC 1500 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 ARGUMENTS MTxyzw MTX x MrTaj cdefgh where X y Z W are integers with 1 Servo motor 1 Servo motor reversed polarity 2 Step moto
31. starting with an uppercase alphabetic character n specifies the size of the array number of array elements DM returns the number of array elements available USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _DM contains the available array space For example before any arrays have been defined the operand _DM will return 8000 If an array of 100 elements is defined the operand _DM will return 7900 CONTROLLER AMT OF AVAILABLE ARRAY SPACE DMC 1500 8000 elements DMC 1010 thru DMC 1040 1600 elements DMC 1050 thru DMC 1080 8000 elements DMC 1010 MX thru DMC 1040 MX 8000 elements RELATED COMMANDS DA on page 41 Deallocate Array EXAMPLES DM Define dimension of arrays pets with 5 elements Dogs with 2 Pets 5 Dogs 2 Cats 3 elements Cats with 3 elements DM Tests 1600 Define dimension of array Tests with 1600 elements 46 e Index COM1000 DOC DMC 1000 DMC 1500 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 n The DP command sets the commanded reference position for axes configured as steppers The units are in steps Example DP O This will set the DE value to zero but will not effect the TP value A
32. the value of the sample time EXAMPLES TM 1000 Turn off internal clock TM 2000 Set sample rate to 2000 EQN mu sec This will cut all speeds in half and all acceleration in fourths TM 1000 Return to default sample rate 448 e index COM1000 DOC COM1000 DOC DMC 1000 DMC 1500 TN FUNCTION Tangent DESCRIPTION The TN m n command describes the tangent axis to the coordinated motion path mis the scale factor in counts degree of the tangent axis nis the absolute position of the tangent axis where the tangent axis is aligned with zero degrees in the coordinated motion plane The tangent axis is specified with the VM n m p command where p is the tangent axis The tangent function is useful for cutting applications where a cutting tool must remain tangent to the part ARGUMENTS TN m n where mis the scale factor in counts degree in the range between 127 and 127 with a fractional resolution of 0 004 When operating with stepper motors m is the scale factor in steps degree n is the absolute position at which the tangent angle is zero in the range between 4 2 10 TN returns the first position value for the tangent axis USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _TN contains the first position value for the tangent axis This allows the user to correctly position the tangent axis bef
33. 0 COM1000 DOC Index e 81 DMC 1000 DMC 1500 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 If no value is given prior to a semicolon or carriage return the previous variable value is kept Input Interrupts Error Interrupts and Limit Switch Interrupts will still be active The IN command may only be used in thread Q ARGUMENTS IN m n where m is prompt message nis the variable name The limit on the number of characters for n and m are such that the total number of characters per line are 40 characters or less USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Position Format Command Line No Can be Interrogated No Used as an Operand No EXAMPLES Operator specifies length of material to be cut in inches and speed in inches sec 2 pitch lead screw 2000 counts rev encoder TA Program A IN Enter Speed in sec V1 Prompt operator for speed IN Enter Length in V2 Prompt for length V3zV1 4000 Convert units to counts sec V4zV2 4000 Convert units to counts SP V3 Speed command PR V4 Position command
34. 0 counts Wait for contour data to complete Wait for contour data to complete Stop contour Exit mode COM1000 DOC Index e 171 DMC 1000 DMC 1500 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 ARGUMENTS WT n where nis an integer in the range 0 to 2 Billion decimal USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No EXAMPLES Assume that 10 seconds after a move is over a relay must be closed TA Program A PR 50000 Position relative move BGX Begin the move AMX After the move is over WT 10000 Wait 10 seconds SB 0 Turn on relay EN End Program Hint To achieve longer wait intervals just stack multiple WT commands 172 e Index COM1000 DOC DMC 1000 DMC 1500 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 labelor line number specified Up to four programs may be executed simultaneously with the DMC 1000 and DMC 1500 controller ARGUMENTS XQ A n XQm where A is a program name of up to seven characters m i
35. 00 DMC 1500 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 motion is stopped after deceleration ARGUMENTS AS X or AS Y or AS Z or AS W or AS S XYZWS specifies X Y Z W axis or sequence USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand EXAMPLES SPEED PR 100000 SP 10000 BGX ASX MG At Speed EN WARNING DEFAULTS Yes Yes Yes Program A Specify position Specify speed Begin X After speed is reached Print Message End of Program AS ABCDEFGH where Default Value Default Format The AS command applies to a trapezoidal velocity profile only with linear acceleration AS used with S curve profiling will be inaccurate COM1000 DOC DMC 1000 DMC 1500 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 ARG
36. 14783648 In a Program Yes Default Format Position format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _BLx contains the value of the reverse software limit for the specified axis RELATED COMMANDS FL on page 70 Forward Limit PF on page 119 Position Formatting EXAMPLES TEST Test Program AC 1000000 Acceleration Rate DC 1000000 Deceleration Rate BL 15000 Set Reverse Limit JG 5000 Jog Reverse BGX Begin Motion AMX After Motion limit occurred TPX Tell Position EN End Program Hint Galil Controllers also provide hardware limits Index e 21 DMC 1000 DMC 1500 BN FUNCTION Burn DESCRIPTION The BN command saves controller parameters variables arrays and applications programs shown below in Flash EEPROM memory This command typically takes 1 second to execute and must not be interrupted The controller returns a when the Burn is complete PARAMETERS SAVED DURING BURN ARGUMENTS None USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No OPERAND USAGE BN contains the serial number of the controller EXAMPLES KD 100 Set damping term for X axis KP 10 Set proportional gain term for X axis KI 1 Set integral gain term for X axis AC 200000 Set acceleration DC 150000 Set deceleration rate SP 10000 Set speed 22 e Index COM1000 DOC MT 1 Set motor type for X axis to be ty
37. 1500 FUNCTION Linear Interpolation Distance DESCRIPTION The LI x y z w 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 The Linear End LE command must be given after the last LI specification in a sequence This command tells the controller to decelerate to a stop at the last LI command It is the responsibility of the user to keep enough LI segments in the controller s sequence buffer to ensure continuous motion LM returns the available spaces for LI segments that can be sent to the buffer 511 returned means the buffer is empty and 511 LI segments can be sent A zero means the buffer is full and no additional segments can be sent It should be noted that the controller computes the vector speed based on the axes specified in the LM mode For example LM XYZ designates linear interpolation fo the X Y and Z axes The speed of these axes will be computed from VS XS YS ZS where XS YS and ZS are the speed of the X Y and Z axes If the LI command specifies only X and Y the speed of Z will still be used in the vector calculations The controller always uses the axis specifications from
38. 2 DESCRIPTION The CC command configures baud rate handshake mode and echo 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 ARGUMENTS CC m n r p m Baud rate n Handshake r Mode p Echo 300 1200 4800 9600 19200 or 38400 0 for handshake off 1 for handshake on 0 for daisy chain off 1 for daisy chain on 0 for echo off 1 for echo on Note echo only active when daisy chain feature is off USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS CI on page 134 EXAMPLES CC 9600 0 0 1 CC 19200 1 1 0 COM1000 DOC DEFAULTS Yes Default Value 0 0 0 Yes Default Format Yes No No Set Bit 9600 baud no handshake daisy chain off echo on Typical setting with TERM 1500 19 200 baud handshake on daisy chain on echo off Typical setting in daisy chain mode Index e 27 DMC 1000 DMC 1500 CD FUNCTION Contour Data DESCRIPTION The CD command specifies the incremental position on X Y Z and W axes The units of the command are in quadrature counts This command is used only in the Contour Mode CM ARGUMENTS CDxy w CDX x CD a b c d e f g h where X y Z W are integers in the range of 32762 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED
39. 2 14 16 20 Specify x y z w axis integral KI7 Specify x axis only KI 8 Specify z axis only KI Return X Y Z W 0007 0014 0008 0020 KI values 90 e Index COM1000 DOC DMC 1000 DMC 1500 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 z1yz KI z 2z 1 For further details see the section Theory of Operation ARGUMENTS KP x y z w KPX x KPajb cdefgh where X y Z W are unsigned numbers in the range 0 to 1023 875 with a resolution of 1 8 returns the value of the proportional constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value 6 In a Program Yes Default Format 4 2 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _KPx contains the value of the proportional constant for the specified axis RELATED COMMANDS KP on page 91 Proportional Constant KI on page 90 Integrator IL on page 81 Integrator Limit COM1000 DOC Index e 91 DMC 1000 DMC 1500 KS FUNCTION Step Motor Smoothing DESCRIPTION nn 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 pukes and is most useful w
40. 47 turns off the forward limit returns the value of the forward limit switch for the specified axis USAGE DEFAULTS While Moving Yes Default Value 2147483647 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _FLx contains the value of the forward limit switch for the specified axis RELATED COMMANDS BL on page 21 Reverse Limit PF on page 119 Position Formatting EXAMPLES FL 150000 Set forward limit to 150000 counts on the X axis TEST Test Program AC 1000000 Acceleration Rate DC 1000000 Deceleration Rate FL 15000 Forward Limit JG 5000 Jog Forward BGX Begin AMX After Limit TPX Tell Position EN End COM1000 DOC Hint Galil controllers also provide hardware limits COM1000 DOC Index e 71 DMC 1000 DMC 1500 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 proportions to the commanded velocity Velocity feedforward bias 1 22 106 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 ARGUMENTS FV x y z w FVX x FV a b c d e f g h where X y Z W are unsigned numbers in the range 0 to 8191 decimal 2 returns the feedforward velocity for the specified axis USAGE DEFAULTS While Moving Yes Default Valu
41. 47483648 to 2147483647 decimal 2 returns the current position of the specified axis USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 7 0 Command Line Yes Can be Interrogated Yes Used as an Operand No RELATED COMMANDS PF on page 119 Position Formatting EXAMPLES IP 50 50 counts with set acceleration and speed CORRECT Label AC 100000 Set acceleration JG 10000 BGX Jog at 10000 counts sec rate WT 1000 Wait 1000 msec IP 10 Move the motor 10 counts instantaneously Index e 83 STX Stop Motion 84 e Index COM1000 DOC DMC 1000 DMC 1500 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 S curve 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 The use of IT will not affect the trippoints AR and AD The trippoints AR amp AD monitor the profile prior to the IT filter and therefore can be satisfied before the distance has been reached if IT is not 1 ARGUMENTS IT x y z w ITX x IT a b c d e f g h where X y Z W are positive numbers in the range between 0 004 and 1 0 with a resolution of 1 256 returns the value of the i
42. 6 117 Home Input 68 Set Bit 26 135 Independent Motion Jog 43 83 86 138 Index Pulse 69 76 ININT 10 60 79 129 Input Interrupt 60 79 140 ININT 10 60 79 129 Integrator 81 Internal Variable 12 Interrogation 83 104 Interrupt 22 55 57 60 79 82 124 128 140 157 175 Invert 29 111 J Jog 43 83 86 138 Jumper 33 111 K Keyword 95 101 146 TIME 146 KS 92 L Label 45 79 87 102 105 128 133 156 57 173 Special Label 105 156 Latch 11 33 130 Arm Latch 11 Data Capture 124 Position Capture 11 Record 124 Teach 124 Limit Switch 33 70 75 82 95 101 128 136 140 LIMSWI 128 Linear Interpolation 94 96 165 Clear Sequence 38 Logical Operator 87 Doc To Help Standard Template Master Reset 4 133 134 146 Math Function Absolute Value 58 Logical Operator 87 MCTIME 105 156 Memory 22 41 102 Array 41 46 104 113 122 162 Download 45 122 Upload 158 Message 82 Motion Complete MCTIME 105 156 Motion Smoothing S Curve 16 85 170 Motor Command 114 147 Moving Acceleration 6 16 67 83 148 159 Circular 125 163 Multitasking 78 Execute Program 173 Halt 10 12 78 139 N Non volatile memory Burn 22 O OE Off On Error 5 114 Off On Error 5 114 Operand Internal Variable 12 Optoisolation Home Input 68 Output Motor Command 114 147 Output of Data Clear Bit 26 Set Bit 26 135 P Plug and Play 55 POSERR 64 114 128 Position Error 8 90 114 131 Position
43. 7107840 returns the deceleration value for the specified axes USAGE DEFAULTS While Moving Yes Default Value 256000 In a Program Yes Default Format 8 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes When moving the DC command can only be specified while in the jog mode OPERAND USAGE _DCx contains the deceleration rate for the specified axis RELATED COMMANDS AC on page 6 PR on page 121 PA on page 118 SP on page 138 JG on page 86 BG on page 19 IT on page 85 EXAMPLES PR 10000 AC 2000000 DC 1000000 SP 5000 BG Acceleration Position Relative Position Absolute Speed Jog Begin Smoothing Specify position Specify acceleration rate Specify deceleration rate Specify slew speed Begin motion Note The DC command may be changed during the move in JG move but not in PR or PA move COM1000 DOC Index e 43 DMC 1000 DMC 1500 DE FUNCTION Dual Auxiliary Encoder Position DESCRIPTION The DE x y z w command defines the position of the auxiliary encoders The auxiliary encoders may be used for dual loop applications nn The DE command defines the encoder position when used with stepper motors DE returns the commanded reference position of the motor in step pulses Example DE 0 This will define the TP or encoder position to 0 This will not effect the DE value To set the DE value when in stepper mode use the DP command Note The auxiliary encoders are not
44. AGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _OFx contains the offset for the specified axis EXAMPLES OF 1 2 3 5 Set X axis offset to 1 the Y axis offset to 2 the Z axis to 3 and the W axis to 5 OF 3 Set X axis offset to 3 Leave other axes unchanged OF 0 Set Y axis offset to 0 Leave other axes unchanged OF Return offsets 3 0000 0 0000 3 0000 5 0000 OF Return X offset 3 0000 OF Return Y offset 0 0000 COM1000 DOC Index e 115 UT sues 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 The first parameter controls the first output port bits 1 8 and the second output port bits 9 16 if the controller has 5 or more axes The second parameter controls the output ports of the 72 option if the ports have been configured as outputs by the CO command ARGUMENTS OP m n where m is an integer in the range 0 to 65535 decimal or 0 to FF hexadecimal 0 to 255 for 4 axes or less nis an integer in the range 0 to 16772215 OP returns the value of the first argument m OP returns the value of the second argument n USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 3 0 Command Line Yes Can be Interrogated Yes Used as an Op
45. AM EP on page 62 Specify ECAM table intervals amp staring point EQ on page 63 Disengage ECAM ET on page 66 ECAM table EXAMPLES EG 700 1300 Engages the X and Y axes at the master position 700 and 1300 respectively B EPY Return the status of Y axis 1 if engaged Note This command is not a trippoint This command will not hold the execution of the program flow If the execution needs to be held until master position is reached use MF or MR command 54 e Index COM1000 DOC acu nn EI FUNCTION Enable Interrupts DESCRIPTION The EI command enables interrupt conditions such as motion complete or excess 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 interrupts interrupts must be configured for your controller An interrupt service routine must also be incorporated in your host program ARGUMENTS EI mn where EI 0 clears the interrupt queue m is interrupt condition mask nis input mask m CONDITION CONDITION 2PIT NO 1 X motion complete All axes motion complete 2 Y motion complete Excess position error Z motion complete Limit switch ie o W motion complete Watchdog timer USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format COM1000 DOC Index e 55 Command Line Yes Can be Interrogated No Used as an Operand No 56 e Index COM1000 DOC COM1000 DOC RELATED COMMANDS UI on
46. AM ET on page 66 ECAM table EXAMPLES EAY Select Y as a master for ECAM COM1000 DOC Index e 51 EB FUNCTION Enable ECAM DESCRIPTION DMC 1000 DMC 1500 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 the a 0 if ecam disabled and a 1 if enabled USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE DEFAULTS Yes Default Value Yes Default Format Yes Yes No EB contains the state of Ecam mode 0 disabled 1 enabled RELATED COMMANDS EA on page 51 EG on page 54 EP on page 62 EQ on page 63 ET on page 66 EXAMPLES EBI EBO B EB 52 e Index Choose ECAM master Engage ECAM Specify ECAM table intervals amp staring point Disengage ECAM ECAM table Starts ECAM mode Stops ECAM mode Return status of cam mode COM1000 DOC DMC 1000 DMC 1500 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 The commands in the Edit subsystem are lt cntrl gt D Deletes a line lt entrl gt I Inserts a line before the current one lt cntrl gt P Displays the previ
47. ANDS QU on page 123 Upload array HINT Using Galil terminal software the command can be used in the following manner 1 Set the timeout to 0 2 Send the command QD 3a Use the send file command to send the data file OR 3b Enter data manually from the terminal End the data entry with the character V 122 e Index COM1000 DOC QU FUNCTION Upload Array DESCRIPTION DMC 1000 DMC 1500 The QU command transfers array data from the controller to a host computer QU array start end delim requires that the array name be specified along with the first element of the array and last element of the array If delim is 1 then the array elements will be separated by a comma Otherwise the elements will be separated by a carriage return The uploaded array will be followed by a lt control gt Z as an end of text marker ARGUMENTS QU array start end delim where array is a valid array name start is the first element of the array default 0 end is last element of array default last element comma if it is a 1 then elements are separated by a comma else a carriage return USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS QD on page 122 COM1000 DOC DEFAULTS No Download array Default Value 0 Default Format Position Format Index e 123 DMC 1000 DMC 1500 RA FUNCTION Record Array DESCRIPTION The RA command selects one through four array
48. BGX Begin motion AMX Wait for motion complete MG MOVE DONE Print Message EN End Program 82 e Index COM1000 DOC COM1000 DOC DMC 1000 DMC 1500 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 x y z w command is equivalent to a PR x y z w and BG command The motor will move to the specified position at the requested slew speed and acceleration Case 2 Motor is moving towards specified position An IP x y z w command will cause the motor to move to a new position target which is the old target plus x y z w x y z w must be in the same direction as the existing motion Case 3 Motor is in the Jog Mode An IP x y z w command will cause the motor to instantly try to servo to a position x y z w from the present instantaneous position The SP and AC parameters have no effect This command is useful when synchronizing 2 axes in which one of the axis speed is indeterminate due to a variable diameter pulley Warning When the mode is in jog mode an IP will create an instantaneous position error In this mode the IP should only be used to make incremental position movements ARGUMENTS IP x y z w IPX x IPaz b c d e f g h where X y Z W are signed numbers in the range 21
49. D EN DEFAULTS Yes Default Value 0 Yes Default Format 1 0 Yes No No _BGx contains a 0 if motion complete Program MOVE Position relative moves Start the X axis After the move is complete on X Start the Y axis After the move is complete on Y Start the Z axis After the move is complete on Z Start the W axis After the move is complete on W End of Program Hint AM is a very important command for controlling the timing between multiple move sequences For example if the X axis is in the middle of a position relative move PR you cannot make a position absolute move PAX BGX until the first move is complete Use AMX to halt the program sequences until the first motion is complete AM tests for profile completion The actual motor may still be moving Another method for testing motion complete is to check for the internal variable _BG being equal to zero COM1000 DOC AP DMC 1000 DMC 1500 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 The actual 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 The units of the command are quadrature counts
50. DZ or DW or DA DB DC DD DE DF DG DH for auxiliary encoder as master USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS GR on page 74 EXAMPLES GEAR GAX GR 5 2 5 JG 5000 BGX WT 10000 STX DEFAULTS No Default Value Default Format Gear Ratio Gear program Specify X axis as master Specify Y and Z ratios Specify master jog speed Begin motion Wait 10000 msec Stop Hint Using the command position as the master axis is useful for gantry applications vector motion as master is useful in generating Helical motion COM1000 DOC Using the Index e 73 74 e Index DMC 1000 DMC 1500 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 x y z w GNX x GN a b c d e f g h where Xy Z W are unsigned integers in the range 0 to 2047 decimal 2 returns the value of the gain for the specified axis USAGE DEFAULTS While Moving Yes Default Value 70 In a Program Yes Default Format 4 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _GNx contains the value of the gain for the specified axis x RELATED COMMANDS ZR on page 174 Zero KI on page 90 Integrator KP on page 91 Proportional KD on page 89 Derivative EXAMPLES GN 12 14 15 20 Set
51. FX X MF abcdefgh where x y Z w are signed integers in the range 2147483648 to 2147483647 decimal USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS AD on page 7 AP on page 13 EXAMPLES TEST DPO JG 1000 BGX MF 2000 V1 _TPX MG Position is V1 EN DEFAULTS Yes Default Value Yes Default Format Yes Trippoint for after Relative Distances Trippoint for after Absolute Position Program B Define zero Jog mode speed of 1000 counts sec Begin move After passing the position 2000 Assign V1 X position Print Message Stop End of Program Hint The accuracy of the MF command is the number of counts that occur in 2 msec Multiply the speed by 2 msec to obtain the maximum error MF tests for absolute position The MF command can also be used when the specified motor is driven independently by an external device COM1000 DOC Index e 107 108 e Index MG DMC 1000 DMC 1500 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 m n V Fm n or m n N Pn where m is a text message including letters numbers symbols or lt ctrl gt G up to 31 characters n is an ASCII character specified by the decimal value n V is a variable name or array element where the following specifiers can be used for formattin
52. II on page 79 ININT EXAMPLES A AIS SP 10000 AC 20000 PR 400 BG X EN DEFAULTS Yes Default Value Yes Default Format Yes Function to read input 1 through 8 Input interrupt Label for input interrupt Begin Program Wait until input 8 is high Speed is 10000 counts sec Acceleration is 20000 counts sec2 Specify position Begin motion End Program Hint The AI command actually halts execution of the next line in a program until the specified input is at the desired logic level Use the conditional Jump command JP or input interrupt II if you do not want the program sequence to halt COM1000 DOC AL FUNCTION Arm Latch DESCRIPTION DMC 1000 DMC 1500 The AL command enables the latching function high speed main of the controller When the position latch is armed the main or auxiliary encoder position will be captured upon a low going signal Each axis has a position latch and can be activated through the general inputs Input 1 X or A axis Input 2 Y or B axis Input 3 Z or C axis Input 4 W or D axis Input 5 E axis Input 6 F axis Input 7 G axis The command RL returns the captured position for the specified axes When interrogated the AL command will return a 1 if the latch for that axis is armed or a zero after the latch has occurred The CN command will change the polarity of the latch ARGUMENTS AL XYZW where X Y Z W specifies the X Y Z W axes USAGE While Moving In a Pr
53. NO No Operation NO This Program NO Does Absolutely NO Nothing EN No Operation No Operation No Operation End of Program COM1000 DOC COM1000 DOC OB FUNCTION Output Bit DESCRIPTION DMC 1000 DMC 1500 The OB n logical expression command defines output bit n 1 through 8 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 n denotes the output bit where expression is any valid logical expression variable or array element USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand EXAMPLES OB 1 POS 1 OB 2 IN 1 amp IN 2 OB 3 COUNT 1 OB N COUNT 1 DEFAULTS Yes Default Value Yes Default Format Yes If POS 1 is non zero Bit 1 is high If POS 1 is zero Bit 1 is low If Input 1 and Input 2 are both high then Output 2 is set high If the element 1 in the array is zero clear bit 3 If element 1 in the array is zero clear bit N Index e 113 DMC 1000 DMC 1500 OE FUNCTION Off on Error DESCRIPTION The OE command causes the controller to shut off the motor command if a position error exceeds the limit specified by the ER command occurs or an abort occurs from either the abort input or on AB command If a position error is detected on an axis and the motion was under an independent move only that axis will be shut off However i
54. Only one axis may be specified at a time The motion profiler must be on or the trippoint will automatically be satisfied ARGUMENTS APx or AP y or AP z or AP w APX x AP abcdefgh where X y Z W are signed integers in the range 2147483648 to 2147483647 decimal USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS AD on page 7 MF on page 107 EXAMPLES TEST DPO JG 1000 BGX AP 2000 V1 _TPX MG Position is V1 ST EN DEFAULTS Yes Default Value Yes Default Format Yes No No Trippoint for relative distances Trippoint for forward motion Program B Define zero Jog mode speed of 1000 counts sec Begin move After passing the position 2000 Assign V1 X position Print Message Stop End of Program Hint The accuracy of the AP command is the number of counts that occur in 2 msec Multiply the speed by 2 msec to obtain the maximum error AP tests for absolute position Use the AD command to measure incremental distances COM1000 DOC Index e 13 14 e Index AR FUNCTION After Relative Distance DESCRIPTION DMC 1000 DMC 1500 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 sta
55. Operand No EXAMPLES EOO0 Turns echo off EO 1 Turns echo on COM1000 DOC Index e 61 DMC 1000 DMC 1500 EP FUNCTION Cam table intervals and starting point DESCRIPTION The EP command defines the ECAM table intervals and offset The offset is the master position of the first ECAM table entry The interval is the difference of the master position between 2 consecutive table entries This command effectively defines the size of the ECAM table The parameter m is the interval and n is the starting point Up to 257 points may be specified ARGUMENTS EP min where m is a positive integer in the range between 1 and 32 767 and n is an integer between 2 147 483 648 and 2 147 483 647 EP returns the value of the interval m USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes m only OPERAND USAGE EP contains the value of the interval m RELATED COMMANDS EA on page 51 Choose ECAM master EB on page 52 Enable ECAM EG on page 54 Engage ECAM EQ on page 63 Disengage ECAM ET on page 66 ECAM table EXAMPLES EP 20 100 Sets the cam master points to 100 120 140 D EP Contains interval m 62 e Index COM1000 DOC DMC 1000 DMC 1500 EQ FUNCTION ECAM quit disengage DESCRIPTION The EQ command dis engages an electronic cam slave axis at the specified master position Separate points can be specified for eac
56. PT S _ZS S ZS S _ZS S EN COM1000 DOC Input Interrupt on 1 Main program Input Interrupt Print message Interrogate stack Print stack Zero stack Interrogate stack Print stack End Index e 175 THIS PAGE LEFT BLANK INTENTIONALLY 176 e Index COM1000 DOC Index A Abort 5 Off On Error 5 114 Stop Motion 139 Absolute Position 13 47 107 110 149 Absolute Value 58 Acceleration 6 16 67 83 148 159 Address 125 157 Analog Feedback 9 Arm Latch 11 Array 41 46 104 113 122 162 Automatic Subroutine LIMSWI 128 MCTIME 105 156 POSERR 64 114 128 Auxiliary Encoder 29 44 73 Dual Encoder 44 50 Backlash 50 Backlash Compensation Dual Loop 50 Burn 22 EEPROM 22 39 133 Variables 25 C Capture Data Record 124 Circle 36 65 Circular Interpolation 125 163 Clear Bit 26 Clear Sequence 38 Clock 146 148 Sample Time 148 Update Rate 146 Doc To Help Standard Template Code 2 11 29 44 50 64 68 73 76 82 105 107 110 136 156 Command Syntax 2 Commanded Position 73 Communication 39 Compare Function 44 143 Compensation Backlash 50 Conditional jump 10 87 Configuration Jumper 33 111 Connector 33 111 Contour Mode 28 32 38 48 171 Control Filter Gain 74 90 Integrator 81 Coordinated Motion 73 149 159 163 166 169 Circular 125 163 Contour Mode 28 32 38 48 171 Ecam 51 52 54 58 62 66 Electronic Cam 51 63 66 Electronic Gearing 73 75 Gearing 73 75 Linear Interpo
57. RGUMENTS DP x y z w DPX x DP a b c d e f g h where X y Z W are signed integers in the range 2147483648 to 2147483647 decimal 2 returns the current position of the motor for the specified axes USAGE DEFAULTS While Moving No Default Value 0 0 0 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _DPx contains the current position of the specified axis RELATED COMMANDS PF on page 119 Position Formatting EXAMPLES DP 0 100 200 400 Sets the current position of the X axis to 0 the Y axis to 100 the Z axis to 200 and the W axis to 400 DP 50000 Sets the current position of Y axis to 50000 The Y Z and W axes remain unchanged DP Interrogate the position of X Y Z and W axis 0000000 0050000 0000200 0000400 Returns all the motor positions DP Interrogate the position of X axis 0000000 Returns the X axis motor position Hint The DP command is useful to redefine the absolute position For example you can manually position the motor by hand using the Motor Off command MO Turn the servo motors back on with SH and then use DPO to redefine the new position as your absolute zero COM1000 DOC Index e 47 48 e Index DMC 1000 DMC 1500 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 comm
58. S CN on page 33 FI on page 69 FE on page 68 EXAMPLES HM BG BGX BGY BGZ BGW 76 e Index Configure Home Find Index Only Find Home Only Set Homing Mode for all axes Home all axes Home only the X axis Home only the Y axis Home only the Z axis Home only the W axis COM1000 DOC Hint You can create your own custom homing sequence by using the FE Find Home Sensor only and FI Find Index only commands COM1000 DOC Index e 77 DMC 1000 DMC 1500 HX FUNCTION Halt Execution DESCRIPTION The HX command halts the execution of any of the four programs that may be running independently in multitasking The parameter n specifies the program to be halted ARGUMENTS HXn where nis an integer which indicates the thread number nis an integer in the range of 0 to 3 USAGE DEFAULTS While Moving Yes Default Value n 0 In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE When used as an operand _HXn contains the running status of thread n with 0 Thread not running 1 Thread is running 2 Thread has stopped at trippoint RELATED COMMANDS XQ on page 173 Execute program EXAMPLES XQ A Execute program A thread zero XQ B 3 Execute program B thread three HXO Halt thread zero HX3 Halt thread three 78 e Index COM1000 DOC DMC 1000 DMC 1500 II FUNCTION Input Interrupt DESCRIPTION The II command enables the interrupt function for t
59. TED COMMANDS OE on page 114 ER on page 64 POSERR PF on page 119 EXAMPLES TE 00005 00002 00000 00006 TEX 00005 TEY 00002 Error TEX DEFAULTS Yes Default Value 0 Yes Default Format Position Format Yes No Yes Off On Error Error Limit Error Subroutine Position Formatting Return all position errors Return the X motor position error Return the Y motor position error Sets the variable Error with the X axis position error Hint Under normal operating conditions with servo control the position error should be small The position error is typically largest during acceleration 144 e Index COM1000 DOC COM1000 DOC TI FUNCTION Tell Inputs DESCRIPTION DMC 1000 DMC 1500 This command returns the state of the general inputs TI or TIO return inputs I1 through I8 TI returns I9 through I16 and TD returns I17 through 124 C omm m e ARGUMENTS TIn where n equals 0 1 or 2 TI returns the status byte of input block 0 USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE DEFAULTS Yes Default Value Yes Default Format Yes Yes Yes 1 0 _TIn contains the status byte of the input block specified by n Note that the operand can be masked to return only specified bit information see section on Bitwise operations EXAMPLES TI 08 TI 00 Input TI TI 255 Input 4 is high others low All inputs low
60. TS LM XYZW LM ABCDEFGH where XYZW denote X Y Z or W axes LM will return the number of spaces available in the sequence buffer for additional LI commands USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _LM contains the number of spaces available in the sequence buffer for additional LI commands RELATED COMMANDS LE on page 94 Linear end LI on page 96 Linear Distance VA on page 159 Vector acceleration VS on page 169 Vector Speed VD on page 160 Vector deceleration AV on page 18 Vector distance CS on page 38 CS Sequence counter EXAMPLES LM XYZW COM1000 DOC Specify linear interpolation mode Index e 99 VS 10000 VA 100000 VD 1000000 Specify vector speed acceleration and deceleration LI 100 200 300 400 Specify linear distance LI 200 300 400 500 Specify linear distance LE BGS Last vector then begin motion 100 e Index COM1000 DOC DMC 1000 DMC 1500 _LR FUNCTION Reverse Limit Switch Operand Keyword DESCRIPTION The _LR operand contains the state of the reverse limit switch for the specified axis _LRx where x is the specified axis 1 inactive w CN 1 1_LFX 1 when not closed w CN 1 1_LFX 0 when closed 0 active w CN 1 _LFX 0 when open w CN1 LFXz1 when open EXAMPLES MG LRX Display the status of the X axis reverse limit switch Note This is an Operand Not a command
61. UMENTS AT n where n is a signed integer in the range 0 to 2 Billion n 0 defines a reference time at current time positive n waits n msec from reference negative n waits n msec from reference and sets new reference after elapsed time period AT n is equivalent to AT n AT old reference n gt USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No EXAMPLES The following commands are sent sequentially ATO Establishes reference time 0 as current time A T 50 Waits 50 msec from reference 0 AT 100 Waits 100 msec from reference 0 AT 150 Waits 150 msec from reference 0 and sets new reference at 150 AT 80 Waits 80 msec from new reference total elapsed time is 230 msec COM1000 DOC Index e 17 DMC 1000 DMC 1500 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 n where nis an unsigned integer in the range 0 to 2147483647 decimal USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Can be Interrogated No Us
62. Unrecognized command 142 e Index COM1000 DOC DMC 1000 DMC 1500 TD FUNCTION Tell Dual Encoder DESCRIPTION This command returns the current position of the dual auxiliary encoder s Auxiliary encoders are not available for stepper axes or for the axis where output compare is used n n When operating with stepper motors the TD command returns the number of counts that have been output by the controller ARGUMENTS TD XYZW TD ABCDEFGH where the argument specifies the axes to be affected USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Not in a Program Yes Can be Interrogated No Used in an Operand Yes USAGE _TDX contains value of dual encoder register RELATED COMMANDS DE on page 44 Dual Encoder EXAMPLES PF 7 Position format of 7 TD Return X Y Z W Dual encoders 0000200 0000010 0000000 00001 10 TDX Return the X motor Dual encoder 0000200 DUAL TDX Assign the variable DUAL the value of TDX COM1000 DOC Index e 143 TE FUNCTION Tell Error DESCRIPTION DMC 1000 DMC 1500 This command returns the current position error of the motor s The range of possible error is 2147483647 The Tell Error command is not valid for step motors since they operate open loop ARGUMENTS TE XYZW TE ABCDEFGH where the argument specifies the axes to be affected USAGE While Moving In a Program Not in a Program Can be Interrogated Used in an Operand RELA
63. XYZW ST ABCDEFGH where the argument specifies the axes to be affected No parameters will stop motion on all axes and stop program While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS BG on page 19 AB on page 5 AM on page 12 DC on page 43 EXAMPLES STX STS ST XYZW ST ST SZW DEFAULTS Yes Default Value Yes Default Format Yes No No Begin Motion Abort Motion Wait for motion end Deceleration rate Stop X axis motion Stop coordinated sequence Stop X Y Z W motion Stop program and XYZW motion Stop coordinated XY sequence and Z and W motion Hint Use the after motion complete command AM to wait for motion to be stopped Index e 139 DMC 1000 DMC 1500 TB FUNCTION Tell Status Byte DESCRIPTION The TB command returns status information from the controller as a decimal number Each bit of the status byte denotes the following condition when the bit is set high STATUS Executing program Bit 5 Contouring Executing error or limit switch routine Executing input interrupt routine Bit 7 will always be high when not operating in a daisy chain When operating in a daisy chain bit 7 will be high when commands are being directed to the controller with the A command See Chapter 4 ARGUMENTS TB returns the status byte USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 1 0 Command Lin
64. affected CM returns a 1 if the contour buffer is full and 0 if the contour buffer is empty USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 2 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _CM contains a 0 if the contour buffer is empty otherwise contains a 1 RELATED COMMANDS CD on page 28 Contour Data WC on page 171 Wait for Contour DT on page 48 Time Increment EXAMPLES V2 CM V Return contour buffer status CM Return contour buffer status CM XZ Specify X Z axes for Contour Mode COM1000 DOC DMC 1000 DMC 1500 CN FUNCTION Configure DESCRIPTION The CN command configures the polarity of the limit switches the home switch and the latch input ARGUMENTS CN mano where m n o are integers with values 1 or 1 Limit switches active high i a Limitswitches active low n 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 See HM and FE commands poe i Lachinputis active high tate inputs cive low Note The latch function will occur within 25usec only when used in active low mode USAGE DEFAULTS While Moving Yes Default Value 1 1 In a Program Yes Default Format 2 0 Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS AL on page 11
65. ait 5000 msec ABI Stop motion without aborting program WT 5000 Wait 5000 milliseconds SH Servo Here JP A Jump to Label A EN End of the routine Hint Remember to use the parameter 1 following AB if you only want the motion to be aborted Otherwise your application program will also be aborted COM1000 DOC Index e 5 DMC 1000 DMC 1500 AC FUNCTION Acceleration DESCRIPTION The Acceleration AC command sets the linear acceleration rate of the motors for independent moves such as PR PA and JG The parameters input will be rounded down to the nearest factor of 1024 The units are in counts per second squared The acceleration rate may be changed during motion The DC command is used to specify the deceleration rate ARGUMENTS AC x y z w ACX x AC a b c d e f g h where X y Z W are unsigned numbers in the range in the range 1024 to 67107840 returns the acceleration value for the specified axes USAGE DEFAULTS While Moving Yes Default Value 25600 In a Program Yes Default Format 8 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _ACx contains the value of acceleration for the specified axis RELATED COMMANDS DC on page 43 Specifies deceleration rate FA on page 67 Feedforward Acceleration IT on page 85 Smoothing constant S curve EXAMPLES AC 150000 200000 300000 400000 Set X axis acceleration to 150000 Y axis to 200000 counts sec the Z axis to 300000 counts sec and th
66. and RELATED COMMANDS LA on page 93 LS on page 102 LL on page 98 EXAMPLES LV APPLE 60 0000 BOY z25 0000 ZEBRA 37 0000 DEFAULTS List Arrays List Program List Labels Default Value Default Format Index e 103 DMC 1000 DMC 1500 LZ FUNCTION 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 disable the leading zero removal LZ returns the state of the LZ function 0 is disabled and 1 is enabled USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE LZ contains the state of the LZ function 0 is disabled and 1 is enabled EXAMPLES LZ 0 Disable the LZ function TPX Interrogate the controller for current position of X axis 000002 1645 0000 Value returned by the controller VARI Request value of variable VARI previously set to 10 0000000010 0000 Value of variable returned by controller LZI Enable LZ function TPX Interrogate the controller for current position of X axis 21645 0000 Value returned by the controller VARI Request value of variable VARI previously set to 10 10 0000 Value of variable return
67. and is sent 2 milliseconds is the time interval Sending DTO followed by CDO command terminates the Contour Mode ARGUMENTS DT n where nis an integer in the range 0 to 8 0 terminates the Contour Mode n 1 thru 8 specifies the time interval of 2 samples The default time interval is n 1 or 2 msec for a sample period of 1 msec DT returns the value for the time interval for contour mode USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _DT contains the value for the time interval for Contour Mode RELATED COMMANDS CM on page 32 Contour Mode CD on page 28 Contour Data WC on page 171 Wait for next data EXAMPLES DT4 Specifies time interval to be 16 msec DT7 Specifies time interval to be 128 msec CONTOUR Begin CMXY Enter Contour Mode DT4 Set time interval CD 1000 2000 Specify data WC Wait for contour CD 2000 4000 New data WC Wait DTO Stop contour CDO Exit Contour Mode COM1000 DOC EN End COM1000 DOC Index e 49 DV DMC 1000 DMC 1500 FUNCTION Dual Velocity Dual Loop DESCRIPTION The DV function changes the operation of the filter It causes the KD derivative term to operate on the dual encoder instead of the main encoder This results in improved stability in the cases where there is a backlash between the motor and the main encoder and where the dual encoder is
68. and 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 0 A0 must be specified Radius units are in quadrature counts 0 and A0 have units of degrees The parameter n is optional and describes the vector speed that is attached to the motion segment ARGUMENTS CR1 8 A9 lt n gt o where ris an unsigned real number in the range 10 to 6000000 decimal radius 0 a signed number in the range 0 to 32000 decimal starting angle in degrees AO is a signed real number in the range 0 0001 to 32000 decimal angle in degrees n specifies a vector speed to be taken into effect at the execution of the vector segment nis an unsigned even integer between 0 and 8 000 000 for servo motor operation and between 0 and 2 000 000 for stepper motors o is not valid for DMC 1000 and DMC 1500 controllers Note The product r A0 must be limited to 4 5 108 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS VP on page 165 Vector Position VS on page 169 Vector Speed VD on page 160 Vector Deceleration VA on page 159 Vector Acceleration VM on page 163 Vector Mode VE on page 161 End Vector BG on page 19 BGS Begin Sequence EXAMPLES VMXY Specify vector motion in the X and Y plane VS 10000 Speci
69. as an Operand RELATED COMMAND CB on page 26 EXAMPLES SB 5 SB 1 DEFAULTS Yes Default Value Yes Default Format Clear Bit Set output line 5 Set output line 1 Index e 135 DMC 1000 DMC 1500 SC FUNCTION Stop Code DESCRIPTION The SC command allows the user to determine why a motor stops The controller responds with the stop code as follows CODE MEANING CODE MEANING Motors are running Stopped after Finding independent mode Edge FE Motors stopped at commanded Stopped after Homing independent position HM Decelerating or stopped by Contour running FWD limit switches Decelerating or stopped by Stop Command ST Stopped by Abort input Stopped by Abort command AB Decelerating or stopped by Off on Error OE1 ARGUMENTS SC XYZW SC ABCDEFGH where MC timeout Motors are running vector sequence Motors stopped at commanded vector 3 Decelerating or stopped by 51 Contour Stop REV limit switches p pc the argument specifies the axes to be affected USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 3 0 Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _SCx contains the value of the stop code for the specified axis EXAMPLES Tom SCW Assign the Stop Code of W to variable Tom 136 e Index COM1000 DOC SH FUNCTION Servo Here DESCRIPTION DMC 1000 DMC 1500 The SH commands causes the controller to set the commanded
70. ate specified by VA and VD VR doesn t ratio acceleration and deceleration ARGUMENTS VRr where ris between 0 and 10 with a resolution of 0001 VR returns the vector speed ratio USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE DEFAULTS Yes Default Value Yes Default Format Yes Yes Yes _VR contains the vector speed ratio RELATED COMMANDS VS on page 169 EXAMPLES A VMXY VP 1000 2000 CR 1000 0 360 VE VS 2000 BGS AMS JP A SPEED VR AN 1 1 JP SPEED XQ A 0 XQ SPEED Vector Speed Vector Program Vector Mode Vector Position Specify Arc End Sequence Vector Speed Begin Sequence After Motion Repeat Move Speed Override Read analog input compute ratio Loop Execute task 0 and 1 simultaneously Index e 167 Note VR is useful for feedrate override particularly when specifying the speed of individual segments using the operator lt and gt 168 e Index COM1000 DOC COM1000 DOC DMC 1000 DMC 1500 VS FUNCTION Vector Speed DESCRIPTION The VS command specifies the speed ofthe vector in a coordinated motion sequence in either the LM or VM modes The parameter input is rounded down to the nearest factor of 2 The units are counts per second 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 int
71. ated by hand the X will rotate at 1 4th the speed and Z will rotate 5 times the speed in the opposite direction COM1000 DOC Index e 75 HM FUNCTION Home DESCRIPTION DMC 1000 DMC 1500 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 The state of the homing input can be configured using the CN command The second stage consists of the motor changing directions and slowly approaching the transition again When the transition is detected the motor is stopped instantaneously The third stage consists of the motor slowly moving forward until it detects an index pulse from the encoder It stops at this point and defines it as position O ARGUMENTS None USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE For stepper mode operation the sequence consists of the first two stages The frequency of the motion in stage 2 is 256 cts sec DEFAULTS No Default Value Yes Default Format Yes Yes _HMx contains the state of the home switch for the specified axis RELATED COMMAND
72. available for the stepper axis or for the axis where output compare is active ARGUMENTS DE x y z w DEX x DE a b c d e f g h where X y Z W are signed integers in the range 2147483647 to 2147483648 decimal 2 returns the position of the auxiliary encoders for the specified axes USAGE EFAULTS While Moving Yes Default Value 0 0 0 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _DEx contains the current position of the specified auxiliary encoder RELATED COMMANDS PF on page 119 Position Formatting EXAMPLES DE 0 100 200 400 Set the current auxiliary encoder position to 0 100 200 400 on X Y Z and W axes DE Return auxiliary encoder positions DUALX _DEX Assign auxiliary encoder position of X axis to the variable DUALX Hint Dual encoders are useful when you need an encoder on the motor and on the load The encoder on the load is typically the auxiliary encoder and is used to verify the true load position Any error in load position is used to correct the motor position 44eindx COM1000 DOC DMC 1000 DMC 1500 DL FUNCTION Download DESCRIPTION The DL command transfers a data file from the host computer to the controller Instructions in the file will be accepted as a datastream without line numbers The file is terminated using control Z control Q control D or DO NOT insert spaces before each command If no parame
73. be Interrogated Used as an Operand RELATED COMMANDS ININT II on page 79 EXAMPLES A II1 JP A EN ININT MG INPUT INTERRUPT SB 1 RI 1 DEFAULTS No Default Value Yes Default Format Input interrupt subroutine Enable input interrupts Program label Begin interrupt subroutine Print Message Set output line 1 Return to the main program and restore trippoint Hint An applications program must be executing for the ININT subroutine to function Index e 129 DMC 1000 DMC 1500 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 occuron the appropriate input Input 1 2 3 and 4 for X Y Z and W respectively The armed state of the latch can be configured using the CN command ARGUMENTS RL XYZW RL ABCDEFGH where the argument specifies the axes to be affected USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _RLx contains the latched position of the specified axis RELATED COMMAND AL on page 11 Arm Latch EXAMPLES JG 5000 Set up to jog the Y axis BGY Begin jog ALY Arm the Y latch assume that after about 2 seconds input goes low RLY Report the latch 10000 130 e Index COM1000 DOC COM1000 DOC DMC 1000 DMC 1500 RP
74. d Stepper Motor Notation Your motion controller has been designed to work with both servo and stepper type motors Installation and system setup will vary depending upon whether the controller will be used with stepper motors or servo motors To make finding the appropriate instructions faster and easier icons will be next to any information that applies exclusively to one type of system Otherwise assume that the instructions apply to all types of systems The icon legend is shown below S Attention Pertains to servo motor use nn Attention Pertains to stepper motor use Command Descriptions Each executable instruction is listed in the following section in alphabetical order Below is a description of the information which is provided for each command COM1000 DOC Index e 1 The two letter Opcode for each instruction is placed in the upper right corner Axes Arguments Some commands require the user to identify the specific axes to be affected These commands are followed by uppercase X Y Z W or A B C D E F G and H No commas are needed and the order of axes is not important Do not insert any spaces prior to any command For example STX AMX is invalid because there is a space after the semicolon When no argument is given the command is executed for all axes Valid XYZW syntax SHX Servo Here X only SH XYW Servo Here X Y and W axes SH XZW Servo Here X Z and W axes SH XYZW Servo Here X Y Z and W axes SH BCAD
75. d a b c d e f g h are integers in the range between 2 147 438 648 and 2 147 438 647 USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS EA on page 51 EB on page 52 EG on page 54 EP on page 62 EQ on page 63 EXAMPLES ET 0 0 0 ET 1 1200 400 ECO ET 0 0 ET 1200 400 66 e Index DEFAULTS Yes Default Value Yes Default Format Yes No No Choose ECAM master Enable ECAM Engage ECAM Specify ECAM table intervals amp staring point Disengage ECAM Specifies the position of the slave axes X and Z to be synchronized with the starting point of the master Specifies the position of the slave axes X and Z to be synchronized with the second point of the master Set the table index value to 0 the first element in the table Specifies the position of the slave axes X and Z to be synchronized with the starting point of the master Specifies the position of the slave axes X and Z to be synchronized with the second point of the master COM1000 DOC DMC 1000 DMC 1500 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 1077 D
76. d begin motion on X axis Loop End Program Interrupt subroutine Stop X print message Index e 79 AMX After stopped CLEAR JP CLEAR Check for interrupt clear IN 1 0 BGX Begin motion RIO Return to main program don t re enable trippoints 80 e Index COM1000 DOC DMC 1000 DMC 1500 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 of the X axis 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 Note however that the KD and KP terms remain active in any case ARGUMENTS IL x j zZw ILX x ILa c d e f g h where Xy Z w are numbers in the range 9 9988 to 9 9988 Volts with a resolution of 0 0003 returns the value of the integrator limit for the specified axis USAGE DEFAULTS While Moving Yes Default Value 9 9988 In a Program Yes Default Format 1 4 Command Line Yes Can be Interrogated Yes Used as an Operand Yes USAGE _ILx contains the value of the integrator limit for the specified axis RELATED COMMANDS KI on page 90 Integrator EXAMPLES KI 2 3 5 8 Integrator constants IL 3 2 7 2 Integrator limits IL Returns the X axis limit 3 000
77. e 0 In a Program Yes Default Format 3 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _FVx contains the feedforward velocity for the specified axis RELATED COMMANDS FA on page 67 Acceleration feedforward EXAMPLES FV 10 20 Set feedforward coefficients to 10 and 20 for x JG 30000 80000 and y respectively This produces 0 366 volts for x and 1 95 volts for y FV Return the x and y values 010 020 72 e Index COM1000 DOC GA DMC 1000 DMC 1500 FUNCTION Master Axis for Gearing DESCRIPTION The GA command specifies the master axis for electronic gearing Only one master may be specified The master may be the main encoder input auxiliary encoder input or the commanded position of any axis The master may also be the commanded vector move in a coordinated motion of LM or VM type When the master is a simple axis it may move in any direction and the slave follows When the master is a commanded vector move the vector move is considered positive and the slave will move forward if the gear ratio is positive and backward if the gear ratio is negative The slave axes and ratios are specified with the GR command and gearing is turned off by the command GRO ARGUMENTS GAn where n X or Y or Zor W or A B C D E F G H for main encoder as axis master n CX or CY or CZ or CW or CA CB CC CD CE CF CG CH for command position as master axis n S for vector motion as master nz DX or DY or
78. e W axis to 400000 count sec AC Request the Acceleration 0149504 0199680 0299008 0399360 Return Acceleration resolution 1024 V _ACY Assigns the Y acceleration to the variable V Hint Specify realistic acceleration rates based on your physical system such as motor torque rating loads and amplifier current rating Specifying an excessive acceleration will cause large following error during acceleration and the motor will not follow the commanded profile The acceleration feedforward command FA will help minimize the error 6 e Index COM1000 DOC COM1000 DOC AD FUNCTION After Distance DESCRIPTION DMC 1000 DMC 1500 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 Thecommanded motion is in the direction which moves away from the specified position The units of the command are quadrature counts Only one axis may be specified at a time The motion profiler must be on or the trippoint will automatically be satisfied Note AD will be affected when the motion smoothing time constant IT is not 1 See IT command for further information ARGUMENTS AD x or AD y or AD z or AD w ADX x AD a b c d e f g h wh
79. e Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _TB Contains the status byte EXAMPLES TB on page 140 Tell status information from the controller 65 Executing program and Echo is on 2 2 64 1 65 140 e Index COM1000 DOC COM1000 DOC DMC 1000 DMC 1500 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 ARGUMENTS TC n where n 0 returns code only n returns code and message TC returns the error code Command not valid while running Array index invalid or out of range Command not valid when not Bad function or array running Empty program line or undefined label Invalid label or line number Subroutine more than 16 deep JG only valid when running in jog mode EEPROM check sum error EEPROM write error IP incorrect sign during position Mismatched parentheses Download error line too long or too many lines Duplicate or bad label Too many labels IN command must have a comma Array space full Too many arrays or variables move
80. e previously saved state of the controller along with parameter values and saved sequences are restored While Moving In a Program Command Line Can be Interrogated Used as an Operand DEFAULTS Yes Default Value Default Format COM1000 DOC DMC 1000 DMC 1500 lt control gt R lt control gt S FUNCTION Master Reset DESCRIPTION The Master Reset command resets the controller to factory default settings and erases EEPROM For the DMC 1500 A master reset can also be performed by setting the MRST dipswitch and resetting the controller power cycle or pressing the reset button Remove the jumper after this procedure USAGE DEFAULTS While Moving Yes Default Value In a Program No Default Format Command Line Yes Can be Interrogated No Used as an Operand No COM1000 DOC Index e 133 134 e Index lt control gt R lt control gt V FUNCTION Revision Information DESCRIPTION USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand DEFAULTS DMC 1000 DMC 1500 This command causes the controller to return firmware revision information Default Value Default Format COM1000 DOC COM1000 DOC SB FUNCTION Set Bit DESCRIPTION DMC 1000 DMC 1500 The SB command sets one of eight bits on the output port ARGUMENTS SBn where nis an integer in the range 1 to 8 decimal USAGE While Moving In a Program Command Line Can be Interrogated Used
81. eceleration Feedforward Bias FA DC 1 5 1077 The Feedforward Bias product is limited to 10 Volts FA will only be operational during independent moves ARGUMENTS FA x y z w where X y Z W are unsigned numbers in the range 0 to 8191 decimal with a resolution of 0 25 2 returns the value of the feedforward acceleration coefficient for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 4 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _FAx contains the value of the feedforward acceleration coefficient for the specified axis RELATED COMMANDS FV on page 72 Velocity feedforward EXAMPLES AC 500000 1000000 Set feedforward coefficient to 10 for the X axis FA 10 15 and 15 for the Y axis The effective bias will be 0 75V for X and 2 25V for Y FA Return X and Y values 010 015 Note If the feedforward coefficient is changed during a move then the change will not take effect until the next move COM1000 DOC Index e 67 FE FUNCTION Find Edge DESCRIPTION USAGE DMC 1000 DMC 1500 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 seq
82. ed as an Operand Yes OPERAND USAGE AV contains the vector distance from the start of the sequence _AV is valid in the linear mode LM and in the vector mode VM EXAMPLES MOVE DP 0 0 Label LMXY Linear move for X Y LI 1000 2000 Specify distance LI 2000 3000 Specify distance LE BGS Begin AV 500 After path distance 500 MG Path gt 500 TPXY Print Message EN End Program Hint Vector Distance is calculated as the square root of the sum of the squared distance for each axis in the linear or vector mode 18 e Index COM1000 DOC COM1000 DOC DMC 1000 DMC 1500 BG FUNCTION Begin DESCRIPTION The BG command starts a motion on the specified axis or sequence ARGUMENTS BGXYZWS BG ABCDEFGH where XYZW are X Y Z W axes and S is coordinated sequence USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _BG contains a 0 if motion complete on the specified axis otherwise contains a 1 RELATED COMMANDS AM on page 12 After motion complete ST on page 139 Stop motion YSTATE BGY VP 1000 2000 VS 20000 BGS VMXY VP 4000 1000 VE PR 8000 5000 BGSZW EXAMPLES PR 2000 3000 5000 Set up for a relative move BG XYW Start the X Y and W motors moving HM Set up for the homing BGX Start only the X axis moving JG 1000 4000 Set up for jog BGY Start only the Y axis moving Assign a
83. ed by controller 104 e Index COM1000 DOC DMC 1000 DMC 1500 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 on the specified axis or axes is completed and the encoder reaches or passes the specified position Any combination of axes ora motion sequence may be specified with the MC command For example MC XY waits for motion on both the X and Y axis to be complete MC with no parameter specifies that motion on all axes is complete TW x y z w 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 An application program will jump to the special label MCTIME When used in stepper mode the controller will hold up execution of the proceeding commands nn until the controller has generated the same number of steps as specified in the commanded position The actual number of steps that have been generated can be monitored by using the interrogation command TD Note The MC command is useful when operating with stepper motors since the step pulses can be delayed from the commanded position due to the stepper motor smoothing function KS ARGUMENTS MC XYZW MC ABCDEFGH where X Y Z W specifies X Y Z or W axis or sequence No argument specifies that motion on all
84. erand Yes OPERAND USAGE _OPO contains the value of the first argument m OPI contains the value of the second argument n RELATED COMMANDS SB on page 135 Set output bit CB on page 26 Clear output bit OB on page 113 Output Byte EXAMPLES OP 0 Clear Output Port all bits OP 85 Set outputs 1 3 8 clear the others MG OPO Returns the first parameter m MG OPI Returns the second parameter n 116 e Index COM1000 DOC COM1000 DOC wwe 7 OQ FUNCTION Output Block DESCRIPTION The OQ command sets the state of 16 bits of output at one time This command is only valid for controllers with the DB 10072 or DB 10096 I O Expansion Board ARGUMENTS For use with the daughter board DB 10096 OQ m n where m is the decimal representation for the outputs 9 to 24 and n is the decimal representation of outputs 25 to 48 Example OQ 3 4 will set output bits 9 10 and 27 For use with the daughter board DB 10072 OQ m n o where m n and o range from 0 to 65535 The data fields define the outputs as follows FIELD MOST SIGNIFICANT TO LEAST SIGNIFICANT BYTE For example the command OQ 259 followed by the command MG OQ will have the response 259 USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 3 0 Command Line Yes Can be Interrogated No Used as an Operand Yes See description OPERAND USAGE FOR DB 10072 _0Q0 contains the decimal representation of outputs 9 24 _OQI contai
85. ere X y Z W are unsigned integers in the range 0 to 2147483647 decimal USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS AD on page 7 AV on page 18 EXAMPLES A DP0 0 0 0 DEFAULTS Yes Yes Yes PR 10000 20000 30000 40000 BG AD 5000 MG Halfway to X TPX AD 10000 MG Halfway to Y TPY AD 15000 MG Halfway to Z TPZ AD 20000 Default Value Default Format After distance for repetitive triggering After distance for vector moves Begin Program Specify positions Begin motion After X reaches 5000 Send message After Y reaches 10000 Send message After Z reaches 15000 Send message After W reaches 20000 Index e 7 MG Halfway to W TPW Send message EN End Program Hint The AD command is accurate to the number of counts that occur in 2 msec Multiply your speed by 2 msec to obtain the maximum position error in counts Remember AD measures incremental distance from the start of a move on one axis 8 e Index COM1000 DOC COM1000 DOC UT sues AF FUNCTION Analog Feedback DESCRIPTION The Analog Feedback AF command is used to set an axis with analog instead of digital feedback quadrature or pulse amp 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 An
86. erpolated motion ARGUMENTS VSn where n specifies the rate nis an unsigned number in the range 0 to 8 000 000 decimal for servo motors and 0 to 8 000 000 decimal for stepper motors Resolution is 2 VS returns the vector speed USAGE DEFAULTS While Moving Yes Default Value 8192 In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _VS contains the vector speed RELATED COMMANDS VA on page 159 Vector Acceleration VP on page 165 Vector Position CR on page 36 Circle LM on page 99 Linear Interpolation VM on page 163 Vector Mode BG on page 19 Begin Sequence VE on page 161 Vector End EXAMPLES VS 2000 Define vector speed as 2000 counts sec VS Return vector speed 002000 Hint Vector speed can be attached to individual vector segments For more information see description of VP CR and LI commands Index e 169 170 e Index DMC 1000 DMC 1500 VT FUNCTION Vector Time Constant S curve 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 S curve 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 ARGUMENTS VTn where nis a positive number
87. f 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 LE returns the length of the vector in counts USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _LE contains the length of the vector in counts RELATED COMMANDS LI on page 96 Linear Distance BG on page 19 BGS Begin Sequence LM on page 99 Linear Interpolation Mode VS on page 169 Vector Speed VA on page 159 Vector Acceleration VD on page 160 Vector Deceleration PF on page 119 Position Formatting EXAMPLES LM ZW Specify linear interpolation mode LI 100 200 Specify linear distance LE End linear move BGS Begin motion 94 e Index COM1000 DOC DMC 1000 DMC 1500 _LF FUNCTION Forward Limit Switch Operand Keyword DESCRIPTION The _LF operand contains the state of the forward limit switch for the specified axis _LFx where x is the specified axis 1 inactive w CN 1 1_LFX 1 when not closed w CN 1 1_LFX 0 when closed 0 active w CN 1 _LFX 0 when open w CN1 _LFX 1 when open EXAMPLES MG LFX Display the status of the X axis forward limit switch This is an Operand Not a command COM1000 DOC Index e 95 LI DMC 1000 DMC
88. f the motion is a coordinated mode of the types VM LM or CM all the participating axes will be stopped ARGUMENTS OE x y z w OEX2m OE a b c d e f g h where the argument may be 0 or 1 0 disables function 1 enables off on error function 2 returns the state of the Off on Error function for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _OEx contains the status of the off on error function for the specified axis 0 off 1 on RELATED COMMANDS AB on page 5 Abort ER on page 64 Error limit SH on page 137 Servo Here POSERR Error Subroutine EXAMPLES OE 1 1 1 1 Enable OE on all axes OE0 Disable OE on X axis other axes remain unchanged OE 1 1 Enable OE on Z axis and W axis other axes remain unchanged OE 1 0 1 0 Enable OE on X and Z axis Disable OE on Y and W axis Hint The OE command is useful for preventing system damage on excessive error 114 e Index COM1000 DOC DMC 1000 DMC 1500 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 ARGUMENTS OF xy z w OFX x OF a b c d e f g h where X y Z W are signed numbers in the range 9 998 to 9 998 volts with resolution of 0 0003 returns the offset for the specified axis US
89. for the specified axes USAGE DEFAULTS While Moving Yes Default Value O In a Program Yes Default Format 2 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _CEx contains the value of encoder type for the axis specified by x RELATED COMMANDS MT on page 111 Specify motor type EXAMPLES CE 0 3 6 2 Configure encoders CBE 5 7 Interrogate configuration V _CEX Assign configuration to a variable Note When using pulse and direction encoders the pulse signal is connected to CHA and the direction signal is connected to CHB COM1000 DOC Index e 29 UT sues 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 threads 1 2 and 3 continue to run in the background without interruption The characters received on the serial port are stored in internal variables such as P2CH See chapter 7 for more detailed information on the communications interrupt ARGUMENTS CI m n o EXPLANATION Do not interrupt Port 1 Interrupt on carriage return character on Port 1 Interrupt on any character Port 1 m Clear interrupt data buffer Do not interrupt Port 2 Interrupt on carriage return character
90. fy vector speed 36 e Index COM1000 DOC CR 1000 0 360 Generate circle with radius of 1000 counts start at 0 degrees and complete one circle in counterclockwise direction CR 1000 0 360 lt 40000 Generate circle with radius of 1000 counts start at 0 degrees and complete one circle in counterclockwise direction and use a vector speed of 40000 VE End Sequence BGS Start motion COM1000 DOC Index e 37 38 e Index CS FUNCTION Clear Sequence DESCRIPTION DMC 1000 DMC 1500 The CS command will remove VP CR or LI commands stored in a motion sequence Note after a sequence has been run 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 Note This command is not valid for single axis controllers ARGUMENTS None USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE DEFAULTS No Default Value Loi Yes Default Format Yes Yes When used as an operand _CS contains the number of the segment in the sequence starting at zero The operand _CS is valid in the Linear mode LM Vector mode VM and contour mode CM RELATED COMMANDS CR on page 36 LI on page 96 LM on page 99 VM on page 163 VP on page 165 EXAMPLES CLEAR VP 1000 2000 VP 4000 8000 CS VP 1000 5000 VP 8000 9000 VE BGS Circular Interpolation Segment Linear Interpolation Segment
91. g Fm n Display variable in decimal format with m digits to left of decimal and n to the right m n Display variable in hexadecimal format with m digits to left of decimal and n to the right Sn Display variable as a string of length n where n is 1 thru 6 N Suppress carriage return line feed For DMC 1500 only Pn Specifies which serial port to send the message 0 main port 1 auxiliary port Note Multiple text variables and ASCII characters may be used each must be separated by a comma Note The order of arguments is not important USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Variable Format Command Line Yes Can be Interrogated No Used as an Operand No EXAMPLES Case 1 Message command displays ASCII strings MG Good Morning Displays the string Case 2 Message command displays variables or arrays MG The Answer is Total F4 2 Displays the string with the content of variable TOTAL in local format of 4 digits before and 2 digits after the decimal point Case 3 Message command sends any ASCII characters to the port Carriage return MG 13 16 48 455 displays characters 0 and 7 COM1000 DOC DMC 1000 DMC 1500 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 XYZW MO ABCDEFGH w
92. gured as an output If the n value is a zero then the block of 8 I O points will be configured as an input For example if blocks 0 1 2 and 4 are to be configured as outputs CO 23 is issued For the DMC 1500 The least significant bit represents block 5 and the most significant bit represents block 3 The decimal value can be calculated by the following formula n 4 n3 2 n4 n5 where n represents the block If the n value is a one then the block of 8 I O points is to be configured as an output If the n value is a zero then the block of 8 I O points will be configured as an input For example if block 5 is to be configured as an output CO 1 is issued USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS CB on page 26 Clear Output Bit SB on page 135 Set Output Bit OP on page 116 Set Output Port TI on page 145 Tell Inputs EXAMPLES CO 0 Configure all points as inputs 34 e Index COM1000 DOC CO2 Configures I O points 17 24 as outputs on DB 10072 Hint See appendix for more information on the extended I O boards COM1000 DOC Index e 35 DMC 1000 DMC 1500 CR FUNCTION Circle DESCRIPTION The CR command specifies a 2 dimensional arc segment of radius r starting at angle 0 and traversing over angle A0 A positive A0 denotes counterclockwise traverse negative A0 denotes clockwise The VE comm
93. h axis If a value is specified outside of the master s range the slave will disengage immediately ARGUMENTS EQ x y z w EQX x EQ a b c d e f g h where X y Z w and a b c d e f g h are the master positions at which the XYZW axes are to be disengaged USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _EQx contains 1 if engage command issued and axis is waiting to engage 2 if disengage command issued and axis is waiting to disengage and 0 if ECAM engaged or disengaged RELATED COMMANDS EA on page 51 Choose ECAM master EB on page 52 Enable ECAM EG on page 54 Engage ECAM EP on page 62 Specify ECAM table intervals amp staring point ET on page 66 ECAM table EXAMPLES EQ 300 700 Disengages the X and Y motors at master positions 300 and 700 respectively Note This command is not a trippoint This command will not hold the execution of the program flow If the execution needs to be held until master position is reached use MF or MR command COM1000 DOC Index e 63 ER FUNCTION Error Limit DESCRIPTION DMC 1000 DMC 1500 The ER command sets the magnitude of the X Y Z and W axis position errors 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 coun
94. he specified inputs m specifies the beginning input and n specifies the final input in the range For example II 2 4 specifies interrupts occurring for Input 2 Input 3 and Input 4 m 0 disables the Input Interrupts If only the m parameter is given only that input will generate an interrupt The parameter o is an interrupt mask for all eight inputs If m and n are unused o contains a number with the mask A 1 designates that input to be enabled for an interrupt Example IL 5 enables inputs 1 and 3 If any of the specified inputs go low during program execution the program will jump to the subroutine with label ZININT Any trippoints set by the program will be cleared but can be re enabled by the proper termination of the interrupt subroutine using RI The RI command is used to return from the ININT routine ARGUMENTS II m n 0 where m is an integer in the range 0 to 8 decimal 0 disable interrupts nis an integer in the range 1 to 8 decimal o is an integer in the range 0 to 255 decimal USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS RI on page 129 ININT AI on page 10 EXAMPLES A Il JG 5000 BGX LOOP JP LOOP EN ININT STX MG INTERRUPT COM1000 DOC DEFAULTS Yes Default Value 0 Yes Default Format 3 0 mask only Return from Interrupt Interrupt Subroutine Trippoint for input Program A Specify interrupt on input 1 Specify jog an
95. hen operating in full or half step mode Note KS will delay the step output ARGUMENTS KS x y z w KSX zx KS a b c d e f g h where X y Z W are positive integers in the range between 5 and 8 with a resolution of 1 32 returns the value of the derivative constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value 2 In a Program Yes Default Format 4 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _KSx contains the value of the derivative constant for the specified axis RELATED COMMANDS MT on page 221 Motor Type EXAMPLES KS2 4 8 Specify x y z axes KS 5 Specify x axis only KS 15 Specify z axis only Hint KS is valid for step motor only 92 e Index COM1000 DOC DMC 1000 DMC 1500 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 ARGUMENTS None USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes RELATED COMMANDS LL on page 98 List Labels LS on page 102 List Program LV on page 103 List Variable EXAMPLES LA CA 10 LA 5 NY 25 VA 17 COM1000 DOC Index e 93 DMC 1000 DMC 1500 LE FUNCTION Linear Interpolation End DESCRIPTION LE signifies the end o
96. here XYZW specify the axes to be turned off returns the state of the motor for the specified axis USAGE DEFAULTS While Moving No Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _MOx contains the state of the motor for the specified axis RELATED COMMANDS SH on page 137 Servo Here EXAMPLES MO Turn off all motors MOX Turn off the X motor Leave the other motors unchanged MOY Turn off the Y motor Leave the other motors unchanged MOZX Turn off the Z and X motors Leave the other motors unchanged SH Turn all motors on Bob _MOX Sets Bob equal to the X axis servo status Bob Return value of Bob If 1 in motor off mode If 0 in servo mode Hint The MO command is useful for positioning the motors by hand Turn them back on with the SH command COM1000 DOC Index e 109 MR DMC 1000 DMC 1500 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 Only one axis may be specified at a time The MR command can also be used when the encoder is the master and not under servo control ARGUMENTS MRx or MR y or MR z or MR w MRX X MR abcdefgh where X y Z W are signed integers in the
97. in the range between 0 004 and 1 0 with a resolution of 1 256 VT returns the vector time constant USAGE DEFAULTS While Moving Yes Default Value 1 0 In a Program Yes Default Format 1 4 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE VT contains the vector time constant RELATED COMMANDS IT on page 85 Independent Time Constant for s moothing independent moves EXAMPLES VT 0 8 Set vector time constant VT Return vector time constant 0 8 COM1000 DOC wc DMC 1000 DMC 1500 FUNCTION Wait for Contour Data DESCRIPTION USAGE 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 While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS CM on page 32 CD on page 28 DT on page 48 EXAMPLES CM XYZW DT 4 CD 200 350 150 500 WC CD 100 200 300 400 WC DTO CD 0 0 0 0 DEFAULTS Yes Default Value 1 0 Yes Default Format 1 4 Yes No No Contour Mode Contour Data Contour Time Specify contour mode Specify time increment for contour Specify incremental position on X Y Z and W X axis moves 200 counts Y axis moves 300 counts Z axis moves 150 counts W axis moves 50
98. ion VE on page 161 End Vector CR on page 36 Circle VM on page 163 Vector Mode BG on page 19 Begin Sequence VD on page 160 Vector Deceleration VT on page 170 Vector smoothing constant S curve EXAMPLES VA 1024 Set vector acceleration to 1024 counts sec VA Return vector acceleration 00001024 VA 20000 Set vector acceleration VA 0019456 Return vector acceleration ACCEL VA Assign variable ACCEL the value of VA Index e 159 160 e Index DMC 1000 DMC 1500 VD FUNCTION Vector Deceleration DESCRIPTION This command sets the deceleration rate of the vector in a coordinated motion sequence The parameter input will be rounded down to the nearest factor of 1024 The units of the parameter is counts per second squared ARGUMENTS VDn where nis an unsigned number in the range 1024 to 68 431 360 decimal returns the value of the vector deceleration for the specified axis USAGE DEFAULTS While Moving No Default Value 262144 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _VDx contains the value of the vector deceleration for the specified axis RELATED COMMANDS VA on page 159 Vector Acceleration VS on page 169 Vector Speed VP on page 165 Vector Position CR on page 36 Circle VE on page 161 Vector End VM on page 163 Vector Mode BG on page 19 Begin Sequence VT on page 170 Smoothing consta
99. ion Complete trippoint 156 e Index COM1000 DOC UI FUNCTION User Interrupt DESCRIPTION aucun I 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 enabled on the controller and the data 2 and 4 written to the control register at address N 1 Interrupts are enabled via jumpers on the DMC 1000 An interrupt service routine must also be incorporated in your host program The interrupt condition can be read by writing a 6 to address N 1 and then reading address N 1 Refer to the user manual for additional information ARGUMENTS UIn where nis an integer between 0 and 15 USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand EXAMPLES 1 PR 10000 SP 5000 BGX AS UI 1 EN DEFAULTS Yes Default Value 0 Yes Default Format Yes Label Position relative Speed Begin motion Wait for at speed Send interrupt 1 End program This program sends an interrupt to the selected IRQ line The host writes a 6 to address N 1 and then reads address N 1 to receive data E1 which corresponds to UII COM1000 DOC Index e 157 UL FUNCTION Upload DESCRIPTION DMC 1000 DMC 1500 The UL command transfers data from the controller to a host computer through port 1 Programs are sent without line numbers The Uploaded program will be followed by a lt contro
100. ircular segments Up to 511 segments may be given before the Begin Sequence BGS command The Vector End VE command must be given after the last segment This tells the controller to decelerate to a stop during the last segment Itis the responsibility of the user to keep enough motion segments in the buffer to ensure continuous motion VM returns the available spaces for motion segments that can be sent to the buffer 511 returns means that the buffer is empty and 511 segments may be sent A zero means that the buffer is full and no additional segments may be sent ARGUMENTS VM nmp where n and m specifies the plane of vector motion The parameters can be any two axes of X Y Z W or A B C D E F G H The parameter p is the tangent axis X Y Z W or A B C D E F G H A value of N for the parameter p turns off tangent Vector Motion can be specified for one axis by specifying the parameter m as N This allows for sinusoidal motion on 1 axis USAGE While Moving In a Program Command Line Can be Interro gated Used as an Operand OPERAND USAGE DEFAULTS No Default Value X Y Yes Default Format Yes No No _VM contains instantaneous commanded vector velocity RELATED COMMANDS VP on page 165 VS on page 169 VA on page 159 VD on page 160 CR on page 36 VE on page 161 BG on page 19 CS on page 38 CS on page 38 VT on page 170 COM1000 DOC Vector Position Vector Speed Vector Acceleratio
101. l be lost USAGE DEFAULTS While Moving Yes Default Value 2 0 In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _CW contains the value of the data adjustment bit 2 off 1 on Note The CW command can cause garbled characters to be returned by the controller The default state of the controller is to disable the CW command however the Galil Servo Design Kit software and terminal software may sometimes enable the CW command for internal usage If the controller is reset while the Galil software is running the CW command could be reset to the default value which would create difficulty for the software It may be necessary to re enable the CW command The CW command status can be stored in EEPROM Index e 39 40 e Index COM1000 DOC DMC 1000 DMC 1500 DA FUNCTION Deallocate the Variables amp 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 deallocation of memories Different arrays and variables are separated by comma when specified in one command The argument deallocates all the variables and 0 deallocates all the arrays ARGUMENTS DA c 0 variable name where c 0 2 Defined array name variable name Defined variable name Deallocates all the variables 0 Deallocates all the arrays DA returns the number of arrays available on the control
102. l gt Z or a as an end of text marker ARGUMENTS None USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE DEFAULTS Yes Default Value 0 No Default Format When used as an operand _UL gives the number of available variables CONTROLLER NUMBER OF AVAILABLE VARIABLES DMC 1500 254 DMC 1010 thru DMC 1040 DMC 1050 thru DMC 1080 DMC 1010 MX thru DMC 1040 MXx RELATED COMMAND DL on page 45 EXAMPLES UL A NO This is an Example NO Program EN lt cntrl gt Z 158 e Index Download Begin upload Line 0 Line 1 Line 2 Line 3 Terminator COM1000 DOC COM1000 DOC DMC 1000 DMC 1500 VA FUNCTION Vector Acceleration DESCRIPTION This command sets the acceleration rate of the vector in a coordinated motion sequence The parameter input will be rounded down to the nearest factor of 1024 The units of the parameter is counts per second squared ARGUMENTS VAn where nis an unsigned number in the range 1024 to 68 431 360 decimal returns the value of the vector acceleration for the specified axis USAGE DEFAULTS While Moving Yes Default Value 262144 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _VAx contains the value of the vector acceleration for the specified axis RELATED COMMANDS VS on page 169 Vector Speed VP on page 165 Vector Posit
103. lation 94 96 165 Vector Mode 18 65 165 Cycle Time Clock 146 148 D Data Capture 124 Data Output Set Bit 26 135 Daughter Board DB 10096 117 DB 10096 117 Debugging 151 Deceleration 5 16 43 67 85 170 Default Setting 133 Master Reset 4 133 134 146 Digital Output Clear Bit 26 Dip Switch Address 125 157 Download 45 122 Dual Encoder 44 50 Backlash 50 Dual Loop 50 Dual Loop 50 Backlash 50 Index e 177 E Ecam 51 52 54 58 62 66 Electronic Cam 51 63 66 Echo 61 140 Edit Mode 53 102 173 EEPROM 22 39 133 Electronic Cam 51 63 66 Electronic Gearing 73 75 Ellipse Scale 65 Encoder Auxiliary Encoder 29 44 73 Dual Encoder 44 50 Index Pulse 69 76 Quadrature 7 13 14 18 21 28 36 47 64 83 107 110 118 121 131 150 155 165 Error Codes 141 142 Error Code 2 11 29 44 50 64 68 73 76 82 105 107 110 136 156 Error Handling 128 Error Limit 64 152 Off On Error 5 114 Execute Program 173 F Feedforward Acceleration 67 Feedrate 168 Filter Parameter Gain 74 90 Integrator 81 Stability 50 Find Edge 68 Formatting 104 Frequency 92 Sample Time 148 Function 58 G Gain 74 90 Gear Ratio 73 75 Gearing 73 75 H Halt 10 12 78 139 Abort 5 Off On Error 5 114 Stop Motion 139 Hardware 21 71 133 Address 125 157 Clear Bit 26 178 e Index Jumper 33 111 Set Bit 26 135 Torque Limit 147 Home Input 68 Homing 68 76 Find Edge 68 IO Clear Bit 26 DB 1009
104. ler USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _DA contains the total number of arrays available For example before any arrays have been defined If an array is defined the operand _DA will return 13 CONTROLLER NUMBER OF AVAILABLE ARRAYS DMC 1500 30 DMC 1010 thru DMC 1040 DMC 1050 thru DMC 1080 DMC 1010 MX thru DMC 1040 M1X RELATED COMMANDS DM on page 46 Dimension Array EXAMPLES Cars and Sales are arrays and Total is a variable DM Cars 400 Sales 50 Dimension 2 arrays Total 70 Assign 70 to the variable Total DA Deallocate the 2 arrays amp variables Cars 0 Sales 0 Total DA 0 Deallocate all arrays COM1000 DOC Index e 41 DA 0 Deallocate all variables and all arrays Note Since this command deallocates the spaces and compacts the array spaces in the memory it is possible that execution of this command may take longer time than 2 ms 42 e Index COM1000 DOC DMC 1000 DMC 1500 DC FUNCTION Deceleration DESCRIPTION The Deceleration command DC sets the linear deceleration rate of the motors 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 xyz w DCX x DC a b c d e f g h where X y Z W are unsigned numbers in the range 1024 to 6
105. ll axes USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS FE on page 68 Find Edge HM on page 76 Home BG on page 19 Begin AC on page 6 DC on page 43 SP on page 138 Acceleration Rate Deceleration Rate Search Speed EXAMPLES HOME Home Routine JG 500 Set speed and forward direction FIX Find index BGX Begin motion AMX After motion MG FOUND INDEX Hint Find Index only searches for a change in state on the Index Use FE to search for the Home Use HM Home to search for both the Home input and the Index Remember to specify BG after each of these commands COM1000 DOC Index e 69 70 e Index DMC 1000 DMC 1500 FL FUNCTION Forward Software Limit DESCRIPTION The FL command sets the forward software position limit If this limit is exceeded during motion motion on that axis will decelerate to a stop Forward motion beyond this limit is not permitted The forward limit is activated at X 1 Y 1 Z 1 W 1 The forward limit is disabled at 2147483647 The units are in counts When the reverse software limit is activated the automatic subroutine LIMSWI will be executed if it is included in the program and a program is executing See User s Manual Automatic Subroutine ARGUMENTS FL x y z w FLX x FL a b c d e f g h where X y Z W are signed integers in the range 2147483648 to 2147483647 21474836
106. lue corresponding to bit pattern 00001111 Y axis not in motion bit 7 has a value of 0 Y axis error limit not exceeded bit 6 has a value of 0 Y axis motor is on bit 5 has a value of 0 Y axis forward limit is inactive bit 3 has a value of 1 Y axis reverse limit is inactive bit 2 has a value of 1 Y axis home switch is high bit 1 has a value of 1 Y axis latch is not armed bit 0 has a value of 1 Index e 153 DMC 1000 DMC 1500 TT FUNCTION Tell Torque DESCRIPTION The TT command reports the value of the analog output signal which is a number between 9 998 and 9 998 volts ARGUMENTS TT XYZW TT ABCDEFGH where the argument specifies the axes to be affected USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 1 4 Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _TTx contains the value of the torque for the specified axis RELATED COMMANDS TL on page 147 Torque Limit EXAMPLES Vl _TTX Assigns value of TTX to variable V1 TTX Report torque on X 0 2843 Torque is 2843 volts 154 e Index COM1000 DOC DMC 1000 DMC 1500 TV FUNCTION Tell Velocity DESCRIPTION The TV command returns the actual velocity of the axes in units of quadrature count s The value returned includes the sign ARGUMENTS TV XYZW TV ABCDEFGH where the argument specifies the axes to be affected USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 7 0
107. mo unted on the motor ARGUMENTS DV x y z w where x y z w may be 0 or 1 0 disables the function 1 enables the dual loop 2 returns a 0 if dual velocity mode is disabled and 1 if enabled for the specified axes USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE DEFAULTS Yes Default Value 0 Yes Default Format 1 0 Yes Yes Yes _DVx contains the state of dual velocity mode for specified axis 0 disabled 1 enabled RELATED COMMANDS KD on page 89 FV on page 72 EXAMPLES DV 1 1 1 1 DVO DV 11 DV 1 0 1 0 Damping constant Velocity feedforward Enables dual loop on all axes Disables DV on X axis Enables dual loop on Z axis and WX axis Other axes remain unchanged Enables dual loop on X and Z axis Disables dual loop on Y and W axis Hint The DV command is useful in backlash and resonance compensation 50 e Index COM1000 DOC DMC 1000 DMC 1500 EA FUNCTION Choose ECAM master DESCRIPTION The EA command selects the master axis for the electronic cam mode Any axis may be chosen ARGUMENTS EA p where pis XYZW or EFGH USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS EB on page 52 Enable ECAM EG on page 54 Engage ECAM EP on page 62 Specify ECAM table intervals amp staring point EQ on page 63 Disengage EC
108. n Vector Deceleration Circle End Vector Sequence Begin Sequence Clear Sequence CS Segment counter Vector smoothing constant S curve Index e 163 164 e Index AV on page 18 EXAMPLES VM X Y CR 500 0 180 VP 100 200 VE BGS Vector distance Specify coordinated mode for X Y Specify arc segment Specify linear segment End vector Begin sequence COM1000 DOC DMC 1000 DMC 1500 VP FUNCTION Vector Position DESCRIPTION The VP command defines the target coordinates of a straight line segment in a 2 axis motion sequence The axes are chosen by the VM command The motion starts with the Begin sequence command The units are in quadrature counts and are a function of the vector scale factor For three or four axis linear interpolation use the LI command ARGUMENTS VPnom n o where n and m are signed integers in the range 2147483648 to 2147483647 The length of each segment must be limited to 8 106 n specifies a vector speed to be taken into effect at the execution of the vector segment nis an unsigned even integer between 0 and 8 000 000 for servo motor operation and between 0 and 2 000 000 for stepper motors o is not valid for DMC 1000 and DMC 1500 controllers USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _VPx contains the absolute coordinate of the axes at the last in
109. ndependent time constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 7 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE ITx contains the value of the independent time constant for the specified x axis RELATED COMMANDS VT on page 170 Vector Time Constant for smoothing vector moves EXAMPLES IT 0 8 0 6 0 9 0 1 Set independent time constants for x y z w axes IT Return independent time constant for X axis 0 8 COM1000 DOC Index e 85 86 e Index DMC 1000 DMC 1500 JG FUNCTION Jog DESCRIPTION The JG command sets the jog mode The parameters following the JG set the slew speed of the axes Use of the question mark returns the previously entered value or default value The units of this are counts second ARGUMENTS JGxy zw JGXzx JG a b c d e f g h where X y Z W are signed numbers in the range 0 to 12 000 000 decimal for stepper motor operation the maximum value is 2 000 000 steps second returns the absolute value of the jog speed for the specified axis USAGE DEFAULTS While Moving Yes Default Value 16385 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _JGx contains the absolute value of the jog speed for the specified axis RELATED COMMANDS BG on page 19 Begin ST on page 139 Stop AC on page 6 Acceleration
110. ng the record array feature The order is important Each data type corresponds with the array specified in the RA command USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE RD contains the address for the next array element for recording RELATED COMMANDS RA on page 124 Record Array RC on page 125 Record Interval DM on page 46 Dimension Array EXAMPLES DM ERRORX 50 ERRORY 50 Define array RA ERRORX ERRORYT Specify record mode 126 e Index COM1000 DOC RD TEX TEYS Specify data type RCI Begin record JG 1000 BG Begin motion COM1000 DOC Index e 127 RE DMC 1000 DMC 1500 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 If the program sequencer was waiting for a trippoint to occur prior to the error interrupt the trippoint condition is preserved on the return to the program if REI is used REO clears the trippoint To avoid returning to the main program on an interrupt use the ZS c
111. ns the decimal representation of outputs 25 48 OPERAND USAGE FOR DB 10096 _00Q0 contains the current state of blocks 2 to 1 OQI contains the current state of blocks 4 to 3 _0Q2 contains the current state of blocks 6 to 5 RELATED COMMANDS SB on page 135 Set output bit CB on page 26 Clear output bit Index e 117 118 e Index DMC 1000 DMC 1500 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 ARGUMENTS PA x u zw PAX x PA a b c d e f g h where X y Z W are signed integers in the range 2147483647 to 2147483648 decimal USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _PAx contains current destination current command position if not moving destination if in a move RELATED COMMANDS PR on page 121 Position relative SP on page 138 Speed AC on page 6 Acceleration DC on page 43 Deceleration BG on page 19 Begin PF on page 119 Position Formatting EXAMPLES PA 400 600 500 200 X axis will go to 400 counts Y axis will go to 600 counts
112. nt S curve VP 10000 20000 VE BGS EXAMPLES VECTOR Vector Program Label VMXY Specify plane of motion VA1000000 Vector Acceleration VD 5000000 Vector Deceleration VS 2000 Vector Speed Vector Position End Vector Begin Sequence COM1000 DOC DMC 1000 DMC 1500 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 returns the length of the vector in counts USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _VE contains the length of the vector in counts RELATED COMMANDS VM on page 163 Vector Mode VS on page 169 Vector Speed VA on page 159 Vector Acceleration VD on page 160 Vector Deceleration CR on page 36 Circle VP on page 165 Vector Position BG on page 19 Begin Sequence CS on page 38 Clear Sequence PF on page 119 Position Formatting EXAMPLES VM XY Vector move in XY VP 1000 2000 Linear segment CR 0 90 180 Arc segment VP 0 0 Linear segment VE End sequence BGS Begin motion COM1000 DOC Index e 161 DMC 1000 DMC 1500 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 displa
113. ntroller to return parameter information listed in the command description Type the command followed by a for each axis requested The syntax format is the same as the parameter arguments described above except replaces the values PR The controller will return the PR value for the X axis PR The controller will return the PR value for the W axis PR The controller will return the PR value for the A B C and D axes PR 655557 The controller will return the PR value for the H axis Operand Usage Most commands have a corresponding operand that can be used for interrogation The Operand Usage description provides proper syntax and the value returned by the operand Operands must be used inside of valid DMC expressions For example to display the value of an operand the user could use the command MG operand All of the command operands begin with the underscore character _ For example the value of the current position on the X axis can be assigned to the variable V with the command V _TPX Usage Description The Usage description specifies the restrictions on proper command usage The following provides an explanation of the command information provided While Moving states whether or not the command is valid while the controller is performing a previously defined motion In a program states whether the command may be used as part of a user defined program Command Line states whether the command ma
114. ogram Command Line Can be Interrogated Used as an Operand OPERAND USAGE DEFAULTS Yes Default Value 0 Yes Default Format 1 0 Yes No Yes _ALx contains the state of the specified latch 0 not armed 1 armed RELATED COMMANDS RL on page 130 EXAMPLES START ALY JG 50000 BGY LOOP JP LOOP _ALY 1 RLY EN COM1000 DOC Report Latch Start program Arm Y axis latch Set up jog at 50000 counts sec Begin the move Loop until latch has occurred Transmit the latched position End of program Index e 11 12 e Index AM FUNCTION After Move DESCRIPTION DMC 1000 DMC 1500 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 Any combination of axes or a motion sequence may be specified with the AM command For example AM XY waits for motion on both the X and Y axis to be complete AM with no parameter specifies that motion on all axes be complete ARGUMENTS AM XYZWS or AM SX SY SZ SW or AL ABCDEFGH or AL SASBSCSDSESFSGSH where X Y Z W S specifies X Y Z or W axis or sequence No argument specifies that motion on all axes 1s complete USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS BG on page 19 EXAMPLES MOVE PR 5000 5000 5000 5000 BGX MX GY MY GZ MZ GW MW W gt W PW P
115. ommand to zero the subroutine stack ARGUMENTS REn where n 0orl 0 clears the interrupted trippoint restores state of trippoint USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS POSERR LIMSWI EXAMPLES A JP A EN POSERR MG ERROR SBI RE DEFAULTS No Default Value Yes Default Format Error Subroutine Limit Subroutine Label for main program Begin Error Handling Subroutine Print message Set output bit 1 Return to main program and clear trippoint Hint An applications program must be executing for the LIMSWI and POSERR subroutines to function 128 e Index COM1000 DOC COM1000 DOC RI DMC 1000 DMC 1500 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 RII restores the trippoint on the return to the program RIO clears the trippoint To avoid returning to the main program on an interrupt use the command ZS to zero the subroutine stack This turns the jump subroutine into a jump only ARGUMENTS RIn where n Oorl 0 clears interrupt trippoint restores trippoint USAGE While Moving In a Program Command Line Can
116. on Port 2 Interrupt on any character Port 2 Clear interrupt data buffer fo 0 0 Disable live data mode for Port 1 o 1 Enable live data mode for Port 1 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Can be Interrogated No Used as an Operand No EXAMPLES CI 0 1 0 Interrupt on enter received on Port 2 CI 0 2 0 Interrupt on a single character received on Port 2 30 e Index COM1000 DOC CI 1 2 1 Interrupt on enter received on Port 1 interrupt on any character received on Port 2 Note The third field of the CI command enables or disables live data mode on Port 1 If live data mode is enabled then the controller will not respond to commands sent to the main serial port This setting is necessary to use the communications interrupt on the main serial port COM1000 DOC Index e 31 DMC 1000 DMC 1500 CM FUNCTION Contouring Mode DESCRIPTION The Contour Mode is initiated by the instruction CM This mode allows the generation of an arbitrary motion trajectory with any of the axes The CD command specified the position increment and the DT command specifies the time interval The command CM can be used to check the status of the Contour Buffer A value of 1 returned from the command CM indicates that the Contour Buffer is full A value of 0 indicates that the Contour Buffer is empty ARGUMENTS CM XYZW CM ABCDEFGH where the argument specifies the axes to be
117. ontroller is reset or upon 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 4e Index COM1000 DOC DMC 1000 DMC 1500 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 on page 114 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 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No OPERAND USAGE _AB gives state of Abort Input RELATED COMMANDS SH on page 137 Turns servos back on if they were shut off by Abort and OE1 EXAMPLES AB Stops motion OE 1 1 1 1 Enable off on error AB Shuts off motor command and stops motion A Label Start of program JG 20000 Specify jog speed on X axis BGX Begin jog on X axis WT 5000 W
118. option is available for 16 bits where an input voltage of 10 volts is decoded as a position of 32 768 counts and a voltage of 10volts corresponds to a position of 32 768 counts ARGUMENTS AF x y z w AFX x AF a b c d e f g h where X y Z W are integers 1 Enables analog feedback 0 Disables analog feedback and switches to digital feedback 2 returns a 0 or 1 which states whether analog feedback is enabled for the specified axes USAGE DEFAULTS While Moving No Default Value 0 0 0 0 In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _AFx contains the value of acceleration for the specified axis RELATED COMMANDS MT on page 111 Motor Type CE on page 29 Configure Encoder EXAMPLES AF 1 0 0 1 Analog feedback on X and W axis VI _AFX Assign feedback type to variable AF Interrogate feedback type th Note AF on the 8 axis of DMC 1580 requires special modification from the factory Consult Galil Index e 9 AI FUNCTION After Input DESCRIPTION USAGE DMC 1000 DMC 1500 The AI command is used in motion programs to wait until 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 nis an integer in the range 1 to 8 decimal While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS IN n
119. or IP given during forced ERN EH Variable error Unrecognized command in a command response i e GNX deceleration Index e 141 ED BN and DL not valid while 71 IN only valid in task 0 program running Command not valid when Record mode already running contouring Application strand already 81 No array or source specified executing Begin not valid with motor off 82 Undefined Array Begin not valid while running 83 Not a valid number 22 Begin not possible due to Limit 84 Too many elements Switch Begin not valid because no Only X Y Z W valid operand sequence defined Variable not given in IN command SM jumper needs to be installed for stepper motor operation S operand not valid 100 Not valid when running ECAM Not valid during coordinated move 101 Improper index into ET must be 0 256 Sequence segment too short 102 No master axis defined for ECAM 31 Total move distance in a sequence 103 Master axis modulus greater than gt 2 billion 256 EP value More than 511 segments in a 104 Not valid when axis performing sequence ECAM Contouring record range error 105 EB1 command must be given first Contour data being sent too slowly 118 Controller has GL1600 not GL1800 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 3 0 Not in a Program Yes Can be Interrogated Yes Used in an Operand Yes USAGE _TC contains the error code EXAMPLES GF32 Bad command TC Tell error code 001
120. ore the motion begins RELATED COMMANDS VM on page 163 Vector mode PF on page 119 Position Formatting EXAMPLES VM X Y Z Specify coordinated mode for X and Y axis Z axis is tangent to the motion path TN 100 50 Specify scale factor as 100 counts degree and 50 counts at which tangent angle is zero VP 1000 2000 Specify vector position X Y VE End Vector BGS Begin coordinated motion with tangent axis Index e 149 DMC 1000 DMC 1500 Default Value Default Format TP FUNCTION Tell Position DESCRIPTION This command returns the current position of the motor s ARGUMENTS TP XYZW TP ABCDEFGH where the argument specifies the axes to be affected USAGE DEFAULTS While Moving Yes In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _TPx contains the current position value for the specified axis RELATED COMMANDS PF on page 119 Position Formatting EXAMPLES Assume the X axis is at the position 200 decimal the Y axis is at the position 10 decimal the Z axis is at position 0 and the W axis is at 110 decimal The returned parameter units are in quadrature counts PF 7 TP 0000200 0000010 0000000 00001 10 TPX 0000200 TPY 0000010 PF 6 0 TP 0000C8 FFFFF6 000000 FFFF93 Position _TPX 150 e Index Position format of 7 Return X Y Z W positions Return the X motor position Return the Y motor position Change to hex format Return X Y Z W in hex As
121. ous line lt cntrl gt Q Exits the Edit subsystem lt return gt Saves a line Using Galil Windows Terminal Software The ED command causes the Windows terminal software to open the terminal editor USAGE Used as an Operand Yes OPERAND USAGE ED contains the line number of the last line to have an error EXAMPLES ED 000 START 001 PR 2000 002 BGX 003 SLKJ Bad line 004 EN 005 CMDERR Routine which occurs upon a command error 006 V2 ED 007 MG An error has occurred n 008 MG In line V F3 0 009 ST 010 ZSO 011 EN Hint Remember to quit the Edit Mode prior to executing or listing a program COM1000 DOC Index e 53 DMC 1000 DMC 1500 EG FUNCTION ECAM go engage DESCRIPTION The EG command engages an ECAM slave axis at a specified position of the master 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 x y z w EGX x EG a b c d e f g h where X y Z w and a b c d e f g h are the master positions at which the X Y Z W axis must be engaged USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _EGx contains ecam status for specified axis 0 axis is not engaged 1 axis is engaged RELATED COMMANDS EA on page 51 Choose ECAM master EB on page 52 Enable EC
122. pe 1 reversed polarity servo motor MO Turn motor off BN Burn parameters may take up to 15 seconds COM1000 DOC Index e 23 24 e Index BP FUNCTION Burn Program DESCRIPTION UT sues 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 ARGUMENTS None USAGE While Moving In a Program Not in a Program Can be Interrogated Used in an Operand RELATED COMMANDS BN on page 22 BV on page 25 DEFAULTS No Default Value Burn Parameters Burn Variable Note This command may cause the Galil software to issue the following warning A time out occurred while waiting for a response from the controller This warning is normal and is designed to warn the user when the controller does not respond to a command within the timeout period This occurs because this command takes more time than the default timeout of 1 sec The timeout can be changed in the Galil software but this warning does not affect the operation of the controller or software COM1000 DOC COM1000 DOC BV FUNCTION Burn Variables DESCRIPTION owe The BV command saves the controller variables 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 is complete ARGUMENTS None USAGE
123. r with active low step pulses 2 Step motor with active high step pulses 2 5 Step motor with reversed direction and active low step pulses 2 5 Step motor with reversed direction and active high step pulses returns the value of the motor type for the specified axis USAGE DEFAULTS While Moving No Default Value 1 1 1 1 In a Program Yes Default Format 1 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _MTx contains the value of the motor type for the specified axis RELATED COMMANDS CN on page 33 Configure step pulse width EXAMPLES MT 1 1 2 2 Configure x as servo y as reverse servo z and w as steppers MT Interrogate motor type V2 MTX Assign motor type to variable Hint When using step motors you must install the SM jumper for each axis For the DMC 1000 and DMC 1500 the step and direction signals are accessed through the J4 20 pin connector on the controller Index e 111 DMC 1000 DMC 1500 NO FUNCTION No Operation DESCRIPTION The NO command performs no action in a sequence but can be used as a comment in a program This helps to document a program ARGUMENTS NO m where m is any group of letter number symbol or lt cntrl gt G For DMC 1000 up to 37 characters can follow the NO command USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No EXAMPLES TA Program A
124. rt of the move or the last AR or AD command 2 The motion profiling on the axis is complete 3 The commanded motion is in the direction which moves away from the specified position The units of the command are quadrature counts Only one axis may be specified at a time The motion profiler must be on or the trippoint will automatically be satisfied Note AR will be affected when the motion smoothing time constant IT is not 1 See IT command for further information ARGUMENTS ARx or AR y or AR z or AR w ARX X AR abcdefgh where X y Z W are unsigned integers in the range 0 to 2147483647 decimal USAGE DEFAULTS While Moving Yes In a Program Yes Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS AV on page 18 AP on page 13 EXAMPLES A DP 0 0 0 0 JG 50000 7000 BG XW B AR 25000 MG Passed_X TPX JP B EN Default Value Default Format Trippoint for after vector position for coordinated moves Trippoint for after absolute position Begin Program Specify speeds Begin motion Label After passing 25000 counts of relative distance on X axis Send message on X axis Jump to Label B End Program COM1000 DOC Hint AR is used to specify incremental distance from last AR or AD command Use AR if multiple position trippoints are needed in a single motion sequence COM1000 DOC Index e 15 16 e Index AS FUNCTION At Speed DESCRIPTION DMC 10
125. s a line number nis an integer representing the thread number for multitasking n is an integer in the range of 0 to 3 NOTE The arguments for the command XQ are optional If no arguments are given the first program in memory will be executed as thread 0 USAGE DEFAULTS While Moving Yes Default Value of n 0 In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE XQn contains the current line number of execution for thread n and 1 if thread n is not running RELATED COMMANDS HX on page 78 Halt execution EXAMPLES XQ Apple 0 Start execution at label Apple thread zero XQ data 2 Start execution at label data thread two XQ0 Start execution at line 0 Hint Don t forget to quit the edit mode first before executing a program COM1000 DOC Index e 173 DMC 1000 DMC 1500 ZR FUNCTION Zero DESCRIPTION The ZR command sets the compensating zero 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 x y z w ZRX x ZR a b c d e f g h where X y Z w are unsigned numbers in the range 0 to 1 decimal with a resolution of 1 256 2 returns the value of the compensating zero for the specified axis USAGE DEFAULTS While Moving Yes Default Value 9143 In a Program Yes Default Format 3 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _ZRx contains the
126. s for automatic data capture The selected arrays must be 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 0 p RA n m o p g r s t where n m o and p are dimensioned arrays as defined by DM command The contain nothing USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS DM on page 46 Dimension Array RD on page 126 Record Data RC on page 125 Record Interval EXAMPLES Record Label DM POS 100 Define array RA POS Specify Record Mode RD_TPX Specify data type for record RC 1 Begin recording at 2 msec intervals PR 1000 BG Start motion EN End Hint The record array mode is useful for recording the real time motor position during motion The data is automatically captured in the background and does not interrupt the program sequencer The record mode can also be used for a teach or learn of a motion path 124 e Index COM1000 DOC COM1000 DOC RC FUNCTION Record DESCRIPTION DMC 1000 DMC 1500 The RC command begins recording for the Automatic Record Array Mode RA RC 0 stops recording ARGUMENTS RC n m where nis an integer 1 thru 8 and specifies 2 samples between records RC 0 stops recording m is optional and specifies the number of records to be recorded If m is not
127. sign the variable Position the value of TPX COM1000 DOC COM1000 DOC DMC 1000 DMC 1500 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 TRO disables it The trace command is useful in debugging programs ARGUMENTS TR n where n 0 or 1 0 disables function 1 enables function USAGE DEFAULTS While Moving Yes Default Value TRO In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No Index e 151 152 e Index DMC 1000 DMC 1500 TS FUNCTION Tell Switches DESCRIPTION TS returns status information of the Home switch Forward Limit switch 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 ARGUMENTS TS XYZW TS ABCDEFGH where the argument specifies the axes to be affected USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _TS contains the current status of the switches EXAMPLES Vi TSY Assigns value of TSY to the variable V1 Vl Interrogate value of variable V1 3 0 COM1000 DOC COM1000 DOC 015 returned value Decimal va
128. specified the DM number will be used A negative number for m causes circular recording over array addresses 0 to m 1 The address for the array element for the next recording can be interrogated with RD While Moving In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE DM on page 46 RD on page 126 RA on page 124 EXAMPLES RECORD DM Torque 1000 RA Torque RD TTX RC2 JG 1000 BG A JP A RC 1 MG DONE RECORDING EN RC returns status of recording 1 if recording 0 if not recording DEFAULTS Yes Default Value Yes Default Format _RC contains status of recording 1 if recording 0 if not recording RELATED COMMANDS Dimension Array Record Data Record Array Mode Record Define Array Specify Record Mode Specify Data Type Begin recording and set 4 msec between records Begin motion Loop until done Print message End program Index e 125 DMC 1000 DMC 1500 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 o pee O O Tell torque Note the values recorded for torque are in the range of 32767 where 0 is 0 torque 32767 is 10 volt command output and 32767 is 10 volt where x is the axis specifier ARGUMENTS RD m m ms m ms mgm m where The arguments are data types to be captured usi
129. ter is specified downloading a data file will clear all programs in the controllers RAM The data is entered beginning at line 0 If there are too many lines or too many characters per line the controller will return a To download a program after a label specify the label name following DL The argument may be used with DL to append a file at the end of the program in RAM ARGUMENTS DL n where n no argument Downloads program beginning at line 0 Erases programs in RAM n Label Begins download at line following Label n Begins download at end of program in RAM USAGE DEFAULTS While Moving Yes Default Value In a Program No Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE When used as an operand DL gives the number of available labels CONTROLLER NUMBER OF AVAILABLE LABELS DMC 1500 254 126 DMC 1010 thru DMC 1040 DMC 1050 thru DMC 1080 DMC 1010 MX thru DMC 1040 M1x RELATED COMMANDS UL on page 158 Upload EXAMPLES DL Begin download A PR 4000 BGX Data AMX MG DONE Data EN Data lt control gt Z End download COM1000 DOC Index e 45 DMC 1000 DMC 1500 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 characters
130. tersection along the sequence For example during the first motion segment this instruction returns the coordinate at the start of the sequence The use as an operand is valid in the linear mode LM and in the Vector mode VM RELATED COMMANDS COM1000 DOC CR on page 36 VM on page 163 VA on page 159 VD on page 160 VE on page 161 VS on page 169 BG on page 19 VT on page 170 Circle Vector Mode Vector Acceleration Vector Deceleration Vector End Vector Speed Begin Sequence Vector smoothing Index e 165 EXAMPLES TA Program A VM X Y Specify motion plane VP 1000 2000 Specify vector position X Y CR 1000 0 360 Specify arc VE Vector end VS 2000 Specify vector speed VA 400000 Specify vector acceleration BGS Begin motion sequence EN End Program Hint The first vector in a coordinated motion sequence defines the origin for that sequence All other vectors in the sequence are defined by their endpoints with respect to the start of the move sequence 166 e Index COM1000 DOC COM1000 DOC VR FUNCTION Vector Speed Ratio DESCRIPTION DMC 1000 DMC 1500 The VR command multiplies the current vector speed by the value specified by r ris between O and 10 with a resolution of 0001 VR takes effect immediately and will ratio all the following VS commands and any vector Speed specified with the operators lt or gt The change in speed is accomplished by accelerating or decelerating at the r
131. ts ARGUMENTS ER x y z w ERX x ER a b c d e f g h where X y Z W are unsigned numbers in the range 1 to 32767 returns the value of the Error limit for the specified axis USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE DEFAULTS Yes Default Value 16384 Yes Default Format Position Format Yes Yes Yes _ERx contains the value of the Error limit for the specified axis RELATED COMMANDS OE on page 114 POSERR EXAMPLES ER 200 300 400 600 ER 1000 ER 00200 00100 00400 006 00 ER 00200 V1 ERX Vil 00200 Off On Error Automatic Error Subroutine Set the X axis error limit to 200 the Y axis error limit to 300 the Z axis error limit to 400 and the W axis error limit to 600 Sets the Y axis error limit to 1000 leave the X axis error limit unchanged Return X Y Z and W values Return X value Assigns V1 value of ERX Returns V1 Hint The error limit specified by ER should be high enough as not to be reached during normal operation Examples of exceeding the error limit would be a mechanical jam or a fault in a system component such as encoder or amplifier 64 e Index COM1000 DOC COM1000 DOC ES FUNCTION Ellipse Scale DESCRIPTION DMC 1000 DMC 1500 The ES command divides the resolution of one of the axes in a vector mode This allows the generation of an ellipse instead of a circle The command has two
132. uences ARGUMENTS FE XYZW FE ABCDEFGH where X Y Z W specify XYZ or W axis No argument specifies all axes While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS FI on page 69 HM on page 76 BG on page 19 AC on page 6 DC on page 43 SP on page 138 EXAMPLES FE BG FEX BGX FEY BGY FEZW BGZW DEFAULTS No Default Value Yes Default Format Yes No No Find Index Home Begin Acceleration Rate Deceleration Rate Speed for search Set find edge mode Begin all axes Only find edge on X Only find edge on Y Find edge on Z and W Hint Find Edge only searches for a change in state on the Home Input Use FI Find Index to search for the encoder index Use HM Home to search for both the Home input and the Index Remember to specify BG after each of these commands COM1000 DOC FI FUNCTION Find Index DESCRIPTION ARGUMENTS FI XYZW Where DMC 1000 DMC 1500 The FI and BG commands move the motor until an encoder index pulseis 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 X Y Z W specify XYZ or W axis No argument specifies a
133. umber of places after the decimal point PF returns the value of m USAGE DEFAULTS While Moving Yes Default Value 10 0 In a Program Yes Default Format 10 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _PF contains the value of m position format parameter EXAMPLES TPX Tell position of X 0000000000 Default format PF 5 2 Change format to 5 digits of integers and 2 of fractions TPX Tell Position COM1000 DOC Index e 119 00021 00 PF 5 2 New format Change format to hexadecimal TPX Tell Position 00015 00 Report in hex 120 e Index COM1000 DOC COM1000 DOC DMC 1000 DMC 1500 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 ARGUMENTS PR x y z w PR a b c d e f g h X y Z W are signed integers in the range 2147483648 to 2147483647 decimal PRX x where 2 returns the current incremental distance for the specified axis USAGE DEFAULTS While Moving No Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand No OPERAND USAGE _PRx contains the current incremental distance for the specified axis RELATED COMMANDS PA on page 118
134. value of the compensating zero for the specified axis RELATED COMMANDS GN on page 74 Gain KD on page 52 Derivative KP on page 91 Proportional KI on page 90 Integral Gain EXAMPLES ZR 95 9 8 822 Set X axis zero to 0 95 Y axis to 0 9 Z axis to 0 8 W axis zero to 0 822 ZR Return all zeroes 0 9527 0 8997 0 7994 0 8244 ZR Return X zero only 0 9527 ZR Return Y zero only 0 8997 174 e Index COM1000 DOC DMC 1000 DMC 1500 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 The status of the stack can be interrogated with the operand _ZSx see operand usage below ARGUMENTS ZS n where 0 returns stack to original condition 1 eliminates one return on stack USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 3 0 Command Line No Can be Interrogated No Used as an Operand Yes OPERAND USAGE _ZSn contains the stack level for the specified thread where n 0 1 2 or 3 Note n can also be specified using X thread 0 Y thread1 Z thread2 or W thread3 EXAMPLES Il A JP A EN ININT MG INTERRU
135. x SP a b c d e f g h where x y z w or a b c d e f g h are unsigned numbers in the range 0 to 8 000 000 for servo motors OR x y z w or a b c d e f g h are unsigned numbers in the range 0 to 2 000 000 for stepper motors x y z w or a b c d e f g h are unsigned numbers in the range 0 to 3 000 000 for stepper motors returns the speed for the specified axis USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE DEFAULTS Yes Default Value Yes Default Format Yes Yes Yes _SPx contains the speed for the specified axis RELATED COMMANDS AC on page 6 DC on page 43 PA on page 118 PR on page 121 BG on page 19 EXAMPLES PR 2000 3000 4000 5000 SP 5000 6000 7000 8000 BG AMZ Acceleration Deceleration Position Absolute Position Relation Begin Specify x y z w parameter Specify x y z w speeds Begin motion of all axes After Z motion is complete Note For vector moves use the vector speed command VS to change the speed of motion like JOG JG 25000 Position Format SP is not a mode COM1000 DOC COM1000 DOC ST FUNCTION Stop DESCRIPTION USAGE DMC 1000 DMC 1500 The ST command stops motion on the specified axis Motors will come to a decelerated stop If ST is given without an axis specification program execution will stop in addition to XYZW XYZW specification will not halt program execution ARGUMENTS ST
136. y be used other than in a user defined program Can be Interrogated states whether or not the command can be interrogated by using the as a command argument Used as an Operand states whether the command has an associated operand Default Description In the command description the DEFAULT section provides the default values for controller setup parameters These parameters can be changed and the new values can be saved in the controller s non volatile memory by using the command BN If the setup parameters are not saved in non volatile memory the default values will automatically reset when the system is reset A reset occurs when the power is turned off and on when the reset button is pushed or the command RS is given When a master reset occurs the controller will always reset all setup parameters to their default values and the non volatile memory is cleared to the factory state A master reset is executed by the command lt ctrl R gt ctrl S Return OR by powering up or resetting the controller with the MRST jumper or dip switch on Index e 3 For example the command KD is used to set the Derivative Constant for each axis The default value for the derivative constantis 64 If this parameter is not set by using the command KD the controller will automatically set this value to 64 for each axis If the Derivative Constant is changed but not saved in non volatile memory the default value of 64 will be used if the c
137. yed 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 If a number exceeds the format the number will be displayed as the maximum possible positive or negative number i e 999 99 999 8000 or 7FF ARGUMENTS VF mn where m and n are unsigned numbers in the range 0 lt m lt 10 and O n 4 A negative m specifies hexadecimal format VF returns the value of the format for variables and arrays USAGE DEFAULTS While Moving Yes Default Value 10 4 In a Program Yes Default Format 2 1 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _VF contains the value of the format for variables and arrays RELATED COMMANDS PF on page 73 Vector Position EXAMPLES VF 5 3 Sets 5 digits of integers and 3 digits after the decimal point VF 8 0 Sets 8 digits of integers and no fractions VF 4 0 Specify hexadecimal format with 4 bytes to the left of the decimal 162 e Index COM1000 DOC DMC 1000 DMC 1500 VM FUNCTION Coordinated Motion Mode DESCRIPTION The VM command specifies the coordinated motion mode and the plane of motion This mode may be specified for motion on any set of two axes The motion is specified by the instructions VP and CR which specify linear and c

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