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Galil DMC-1400 User's Manual

1. ALL Configure output port Clear Bit Set output line 3 Set output line 1 DMC 1400 Series Command Reference SB e 181 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 MEANING CODE MEANING Motors are running independent Stopped after Finding mode Edge FE Motors decelerating or stopped at 10 Stopped after Homing commanded independent position HM Decelerating or stopped by FWD 11 Stopped by selective limit switch or software limit FL Abort Input Decelerating or stopped by Stop 51 Contour Stop Command ST Stopped by Abort command AB 100 Motors are running vector sequence Decelerating or stopped by Off on 101 Motors stopped at Error OE1 commanded vector 3 Decelerating or stopped by REV 50 Contour running limit switch or software limit BL ARGUMENTS SC USAGE 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 Controller Usage ALL OPERAND USAGE _SC contains the value of the stop code EXAMPLES Tom SC Assign the Stop Code to variable Tom 182 e SC DMC 1400 Series Command Reference SH FUNCTION Servo Here DESCRIPTION The SH command tells the controller to use the current motor position as the command position and to enable servo control here This command can be useful when the position o
2. 6e8 DMC 1400 Series Command Reference O FUNCTION Parentheses order of operations DESCRIPTION The parentheses denote the order of math and logical operations Note that the controller DOES NOT OBEY STANDARD OPERATOR PRECEDENCE For example multiplication is NOT evaluated before addition Instead the controller follows left to right precedence Therefore it is recommended to use parenthesis as much as possible ARGUMENTS n where n is a math or logical amp expression USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS Math Operators amp Logical Operators EXAMPLES MG 1 2 3 9 0000 MG 1 2 3 7 0000 DMC 1400 Series Command Reference Qe 7 we FUNCTION Semicolon Command Delimiter DESCRIPTION The semicolon operator allows multiple Galil commands to exist on a single line It is used for the following three reasons 1 To put comments on the same line as the command BGX begin motion 2 To compress DMC programs to fit within the program line limit Note use a compression utility to do this Do not program this way because it is hard to read 3 To give higher priority to a thread All commands on a line are executed before the thread scheduler switches to the next thread ARGUMENTS n n n where n is a Galil command USAGE DEFAULTS While Moving Yes D
3. Contents CONTENTS carita A Hs da RGA sel cae eco A aed N sabes teeta bici I OVERVIEW oi A A A ieee tea tated A E E E EN E i eai 1 CONTROLLER NOTA TON a e do 1 SERVO AND STEPPER MOTOR NOTATION soria di ici 1 COMMAND DESCRIPTIONS estudis ita att tits 1 AT QUMOCTUS A a id 2 Operand Usate bid id i 2 Usage TINCT ETON dd Ada 2 Default DESCONOCE cot ee aaa eae EA 2 Controller Sar Sidi 3 BER VO UPDATE RATES cage eae Sues a ee a ae Sieh tare 3 Add A db la lia T ATE 4 A sles eels a ee se Sadat ae tel edict cee a a ah etiae et gnecet 5 ONO 6 A E A NE IATE E AS O 7 E AT E TA A o ie oe ad 8 E aa orem anatase 9 a E A AS A T E a eee 10 A a ee ede ah es eee ce ea ees ee a tea 11 NORE AIL ae IN EEE A E O E NI E E RO IN 12 ABa ea aa e a ae aaa ae a TR Tota E 13 MOAB S AY ennnen els a a E E ae a E adel AE a Bal het E O ee ee R 14 a eN adda ta a a dl 15 NS O Be nr OR Oni open rane ee RRR ar eRe ener ae AONE 16 A gh Se eb gushes EN AAAA A AEA Ei aT ia A Naas oe 17 CAT cca tea eek oS nea eget eet alc a a A A a SH a a e e e a et 18 UL EE RN A E o EE 19 BAND DEA E A A AR T A E E S A 20 AMan a a E EA E E Aad A O NEE 21 ANT A Re AE OE AE E A ATA 22 A RR RI A IR II A E E N 23 A A SN aI A A e AO 24 O Da cde NS EIN lk Ct AEs ae A MacDill rea Seas Ue lh pate MAES ode 25 DUS RT Pe me a eter a TRE o a ene oR OR eee ny ed ere eh eee 26 CDAS e ea 27 FAW A AAN E O A E A Dara E A PRO 28 DATAN TN ta 29 A A ene A a a8 a gl Mas td AEEA 30 FA TOE IRI A A teste
4. In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage DMC 1412 1414 OPERAND USAGE _SA gives the serial address of the controller EXAMPLES SA7 Assigns the address 7 to the current controller 7 Talk only to controller 7 PR500 Specify X distance on controller 7 0 Talk only to controller 0 PR500 Specify X distance on controller 0 BG Begin motion on all controllers 180 e SA n DMC 1400 Series Command Reference SB FUNCTION Set Bit DESCRIPTION The SB command sets one of three bits on the output port Note When using Modbus devices DMC 1415 1416 1425 ONLY the I O points of the Modbus devices are calculated using the following formula n SlaveAddress 10000 HandleNum 1000 Module 1 4 Bitnum 1 Slave Address is used when the Modbus device has slave devices connected to it and specified as Addresses 0 to 255 Please note that the use of slave devices for Modbus are very rare and this number will usually be 0 HandleNum is the handle specifier from A to F Module is the position of the module in the rack from 1 to 16 BitNum is the I O point in the module from 1 to 4 ARGUMENTS SBn where n is an integer in the range to 3 decimal USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage RELATED COMMAND OP CB EXAMPLES SB 3 SB 1 Yes Default Value Yes Default Format
5. n Incremental distance between pulses Integer between 65535 and 65535 0 for one shot OCx 0 will disable the Circular Compare function The sign of the parameter n will designate the expected direction of motion for the output compare function When moving in the opposite direction output compare pulses will occur at the incremental distance of 65536 n where n is the absolute value of n Note When changing to CEx 2 if the original command was OCx m n and the starting position was _TPx the new command is OCx 2 _TPx m n For pulses to occur under CEx 2 the following conditions must be met m gt _TPx and n gt 0 for negative moves e g JGx 1000 m lt _TPx and n lt 0 for positive moves e g JGx 1000 USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage DMC 1415 1416 OPERAND USAGE _OCx contains the state of the OC function _OCx 0 OC function has been enabled but not generated any pulses _OCx 1 OC function not enables or has generated the first output pulse EXAMPLES OCX 300 100 Select X encoder as position sensor First pulse at 300 Following pulses at 400 500 DMC 1400 Series Command Reference OC e 149 OE FUNCTION Off on Error DESCRIPTION The OE command causes the controller to shut off the motor command if the position error exceeds the limit specified by the ER command or an abort occurs from either the abort input or an AB comman
6. DMC 1400 Series DMC 1400 Series Command Reference Manual Rev 2 8 By Galil Motion Control Inc Galil Motion Control Inc 3750 Atherton Road Rocklin California 95765 Phone 916 626 0101 Fax 916 626 0102 Internet Address supportOgalilmc com URL www galilmc com Rev 8 06 WC _ wait for buffer CMDERR EN1 LIMSWI RE1 POSERR RE1 AS at speed SP MC complete TP MF forward TP MR reverse TP TW MC timeout MCTIME EN1 ARRAYS CONTROL FEEDBACK MATH PROGRAM STEPPER DA deallocate DV dual loop AF analog feedback ABS n In BK breakpoint KS smoothing _DA arrays left FA accel feedfwd AL arm latch ACOS n arccos DL download VECTOR DM define FV speed feedfwd _AL latch occurred ASIN n arcsin _DL labels left AV wait for arc length _DM space left IL integrator limit CE configure ATAN n arctan ED edit _AVS arc length LA list KD derivative gain OC output compare COM n bitnot ELSE if else CA 2nd vector QD download KI integral gain _OC first pulse COSjn cosine EN end CR circle QU print upload KP proportional gain RL read latch FRAC n fraction ENDIF if endif CS clear sequence RA record MO motor off _RL latch position INT n integer HX halt thread _CS segment RC begin _MO motor off TD tell dual RND n round IF conditional ES elliptical scale _RC recording NB notch width TP tell position SIN n sine JP for while loop
7. FUNCTION Enable ECAM DESCRIPTION The EB function enables or disables the cam mode In this mode the starting position of the master axis is specified within the cycle When the EB command is given the master axis is modularized ARGUMENTS EB n where n starts cam mode and n 0 stops cam mode EB Returns a 0 if ECAM is disabled and 1 if enable USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _EB contains the state of Ecam mode 0 disabled 1 enabled RELATED COMMANDS EM Specify Ecam Cycle EP CAM table intervals amp starting point EXAMPLES EB1 Starts ECAM mode EBO Stops ECAM mode B _EB Assigns status of cam mode to variable B DMC 1400 Series Command Reference EB e 73 EC FUNCTION ECAM Counter DESCRIPTION The EC function sets the index into the ECAM table This command is only useful when entering ECAM table values without index values and is most useful when sending commands in binary See the command ET ARGUMENTS EC n where n is an integer between 0 and 256 n Returns the current value of the index into the ECAM table USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL OPERAND USAGE _EC contains the current value of the index into the ECAM table RELATED COMMANDS EA Choose ECAM mast
8. A1IN 1 01N 2 OB 3 COUNT 1 OB N COUNT 1 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 otherwise set bit 3 If element 1 in the array is zero clear bit N 148 e OB DMC 1400 Series Command Reference OC FUNCTION Output Compare DESCRIPTION The OC command allows the generation of output pulses based on one of the main encoder positions For circular compare the output is a low going pulse with a duration of approximately 600 nanoseconds and is available at the output compare signal labeled CMP ICOM on the ICM 1460 For a one shot compare the output goes low until OC is called again This function cannot be used with any axis configured for a step motor and the auxiliary encoder of the corresponding axis cannot be used while using this function Note The OC function requires that the main encoder and auxiliary encoders be configured exactly the same see the command CE For example CE 0 CE 5 CE 10 CE 15 Note If the ICM 1460 has the Opto Input option the output compare is not brought out to the CMP ICOM terminal If the output compare is to be used the pin will need to be accessed directly from the 37 Pin D cable ARGUMENTS OCX m n where m Absolute position for first pulse Integer between 2 10 and 2 10
9. Electronic CAM nte cios 86 Electronic Ge iii ida 99 EMO ida 99 Ellipse Scale iii 88 ELSE Ficha 79 Encoder Index Pula rai 100 Quadrature dolida 17 24 25 40 115701 E SSOR Ser PR EET A E SEESE EA 20 51 Auxiliary EncoderS ccccecceccseeseeeseeeseeseesseeeees 51 66 Dual Loop O hake damiahos ots 71 A A ated ET 91 Error B00 6 x ee ee 192 A ba nh loc 3 eeseiedideest Aes tenetelen 171 Error Codes io nhs these 1 100 110 138 Error Limit sd Medidas 204 Off On Err Ofer necked alo de 13 Excessive Error cocooocccononcccnononcconononccnonncncnnnnnononnnanonn 151 Execute Progra iiser rtasi iienaa a iE 101 Feedforward c ooooocononcccnononccononancnononcncononnanonnnnnrononnanrnnnns 15 Feedforward Accelerati0M oooocconnncccononccononancnonananonnn 90 Filter Parameter AM LAEE E EEEE SIE EE STE 97 Formatting Hexadecimal oooooconnnnocccnnoncccnonanononnnnonocananonnns 162 213 PT OQUCTICY A O 123 Gain 97 A A E 99 Set Gear MasteL cccononococnccnonnononnononocnonnanonanonconononnnnss 96 DMC 1400 Series Command Reference Index e 225 Halt OUpUtS 45 cork te teen cited iaa 48 Abort tins te ean tata 13 180 181 POSERR OM OMEO a e a er ea a aa oK EET E Re es 13 Position Error eeii eeir a a e pie 17 Home Inputs 00 ee cececeseesseeceeeeeeeceeeceeeeeeeeeenseenseenees 56 Position Capture cccececcseesseesceeseeeeceseceseenaeeseeeaeenses 20 Hoi sia 100 Position Error cccceceeseesseeseeeeceseees
10. If the change is negative specify the absolute value ARGUMENTS EM n m where n change in slave axis between 1 and 2147483647 m change in master encoder between and 8388607 USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE _EM contains the cam cycle modulus of the motor RELATED COMMANDS EP CAM table intervals amp starting point ET Electronic CAM table EB Enable Ecam EXAMPLES EM 0 2000 Define the changes in the motor to be 0 Define master cycle as 2000 V _EM Assigns motor cam cycle distance to variable V DMC 1400 Series Command Reference EM e 79 EN FUNCTION End DESCRIPTION The EN command is used to designate the end of a program or subroutine If a subroutine was called by the JS command the EN command ends the subroutine and returns program flow to the point just after the JS command The EN command is also used to end the automatic subroutines MCTIME CMDERR and COMINT 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 EN m n m 0 Return from subroutines without restoring trippoint m 1 Return from COMINT and restore trippoint
11. TAA creda escent ih A E O A A tis 205 TW panine ie sant gt wea ba tug pasen seve aaa E E wis wah Cosa wats gti A does ed AE Lav eae bata Wanted sing age 206 A O SEEE tes 207 OL E EEE E E E E A E EE E E E E wath diy attain Cenctalcaaiin 208 MA Na 209 NID iata Pa aes A alae iti lsat eta aera ena E ato stand tah A E oa sanres Sb asennad tas 210 Ma ao 211 VA E E EE E suited dia E EE desta dtsesed E buss easels eee ta 212 Vit 213 O eae R oes 214 A stad tuaneitestaetebhanl sucess ta E E ON ast ORE 215 A a di ia 216 NN 217 WE did 218 WEE IA rn EE E savagsaaiedicenigs bois udguatecsay ssvacste giee sue dee Osay ves 219 WE ud A ca 220 A A 221 VA i E A A A A A A Ai 222 LS EA AAA EA AA AA SA E AAA A da 223 UN IO ER NAO OTAN 225 DMC 1400 Series Command Reference ev Overview Controller Notation This command reference is a supplement to the Galil Motion Control User Manual For proper controller operation consult the Users Manual This manual describes commands to be used with the Galil Econo Series Motion Controllers DMC 1410 DMC 1411 DMC 1412 DMC 1414 DMC 1415 DMC 1416 DMC 1417 and DMC 1425 Commands are listed in alphabetical order This command summary includes all executable commands which can be used with the DMC 1400 series motion controller These commands are common to all the controllers in that series with certain exceptions These exceptions are noted on each corresponding command as Controller Usage An example i
12. 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 No Default Value In a Program No Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage DMC 1412 1414 1415 1416 1425 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 5 sec The timeout can be changed in the Galil software but this warning does not affect the operation of the controller or software 44 e BP DMC 1400 Series Command Reference BS FUNCTION Brushless Setup DESCRIPTION The command BS tests the wiring of a sinusoidally commutated brushless motor If no Hall sensors are connected the function tests the wiring of the DAC s If Hall sensors are connected the function also tests the wiring of the Hall sensors The first parameter indicates the voltage level to be applied to each phase and the second parameter indicates the duration in milliseconds that the voltage will be applied This command returns status information regarding the setup of brushless motors The following information will be returned by the contro
13. While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage DMC 1415 1416 1425 RELATED COMMANDS QZ Return DMA Data Record information Note The Galil windows terminal will not display the results of the QR command since the results are in binary format 164 e QR DMC 1400 Series Command Reference QU FUNCTION Upload Array DESCRIPTION The QU command transfers array data from the DMC 1400 to a host computer QU requires that the array name be specified along with the first element of the array and last element of the array The uploaded array will be followed by a 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 the last element of the array default last element delim specifies the character used to delimit the array elements If delim is 1 then the array elements will be separated by a comma Otherwise the elements will be separated by a carriage return USAGE While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage ALL RELATED COMMANDS QD Download array DMC 1400 Series Command Reference QU e 165 QZ FUNCTION Return Data Record information DESCRIPTION The QZ command is an interrogation command that r
14. _EFn 0 when the limit switch input is negative _LFn 1 when the limit switch input is active EXAMPLES MG LF Display the status of the forward limit switch JP A LF 0 Jump to label A forward limit switch is activated This is an Operand Not a command DMC 1400 Series Command Reference _LF e 125 LI FUNCTION Linear Interpolation Distance DESCRIPTION The LM LI x y command specifies the incremental distance of travel for each axis in the Linear Interpolation LM mode LI parameters are relative distances given with respect to the current axis positions Up to 511 LI specifications may be given ahead of the Begin Sequence BGS command Additional LI commands may be sent during motion when the controller sequence buffer frees additional spaces for new vector segments 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 Returns the available spaces for LI segments that can be sent to the buffer 255 returned means the buffer is empty and 255 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 XY design
15. m is the prompt message May be letters numbers or symbols up to maximum line length and must be placed in quotations Make sure that maximum line length is not exceeded 40 characters DMC 1410 1411 1412 1414 80 characters DMC 1415 1416 1425 n is the name of variable to hold value returned from input P1 specifies Portl the MAIN serial port optional Main port by default DMC 1412 1414 only P2 specifies Port2 the AUX serial port optional Main port by default DMC 1412 1414 only So specifies string data where o is the number of characters from 1 to 6 Note 1 The IN command can not be used over Ethernet The IN command defaults to P1 Note 2 Configure Port 2 communications w the CC command before using IN command w Port 2 Note 3 The IN command can only be used in thread 0 Note 4 Do not include a space between the comma at the end of the input message and the variable name USAGE 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 Controller Usage ALL 108 e IN DMC 1400 Series Command Reference EXAMPLES Operator specifies length of material to be cut in inches and speed in inches sec 2 pitch lead screw 2000 counts rev encoder RA Program A CI 1 Clear Input Buffer IN Enter Speed in sec V1 Prompt operator for speed IN Enter Length in V2 Prompt for length V3 V1 4000 Convert units to counts sec V4 V2 4
16. n 0 Return from COMINT without restoring interrupt n 1 Return from COMINT and restore interrupt Note 1 The default values for the arguments are 0 For example EN 1 and ENO 1 have the same effect Note 2 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 nothing happened or clear the trippoint and continue executing the program at the command Jjust after the trippoint The EN arguments will specify how the COMINT routine handles trippoints Note 3 Use the RE command to return from the interrupt handling subroutines LIMS WI and POSERR Use the RI command to return from the ININT subroutine USAGE 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 Controller Usage ALL RELATED COMMANDS RE Return from error subroutine RI Return from interrupt subroutine 80 e EN DMC 1400 Series Command Reference EXAMPLES RA 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
17. returns the value of the gain USAGE 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 Controller Usage DMC 1410 1411 1412 1414 1417 OPERAND USAGE _GN contains the value of the gain RELATED COMMANDS ZR Zero KI Integrator KP Proportional KD Derivative EXAMPLES GN 12 Set gain to 12 GN Returns gain 0006 96 e GN DMC 1400 Series Command Reference GM FUNCTION Gantry mode DESCRIPTION The GM command specifies the axes in which the gearing function is performed in the Gantry mode In this mode the gearing will not stop by the ST command or by limit switches Only GRO will stop the gearing in this mode ARGUMENTS GM n or GMX n where n 0 Disables gantry mode function n 1 Enables the gantry mode n Returns the state of gantry mode for the specified axis 0 gantry mode disabled 1 gantry mode enabled USAGE While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL OPERAND USAGE _GMx contains the state of gantry mode for the specified axis 0 gantry mode disabled 1 gantry mode enabled RELATED COMMANDS GR Gear Ratio GA Master Axis for Gearing EXAMPLES GM 1 1 Enable GM on all axes GM 0 Disable GM on X axis other axes remain unchanged Hint The GM command is useful for driving heavy load on both sides Gantry Style DMC 1400 Series Command Reference GM e 97 GR FUNCTION
18. 1 180 0000 MG ACOS 0 90 0000 MG ACOS 1 0 0001 16 e MACOSI n DMC 1400 Series Command Reference AD FUNCTION After Distance DESCRIPTION The After Distance AD command is a trippoint used to control the timing of events This command will hold up the execution of the following command until one of the following conditions have been met 1 The commanded motor position crosses the specified relative distance from the start of the move 2 The motion profiling on the axis is complete 3 The commanded motion is in the direction which moves away from the specified position The units of the command are quadrature counts 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 ADn where n is an unsigned integer in the range 0 to 2147483647 with no commas USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage ALL RELATED COMMANDS AR After distance for repetitive triggering EXAMPLES A DPO 0 0 0 Begin Program PR 10000 Specify positions BG Begin motion AD 5000 After motor travels 5000 units MG Halfway TP Send message EN End Program Hint The AD command is accurate to the number of counts that occur in 2 servo samples 2 msec for TM 1000 Multipl
19. 192 e TC DMC 1400 Series Command Reference TCPERR FUNCTION Ethernet communication error automatic subroutine DESCRIPTION The following error see TC occurs when a command such as MG hello EA is sent to a failed Ethernet connection 123 TCP lost sync or timeout This error means that the client on handle A did not respond with a TCP acknowledgement for example because the Ethernet cable was disconnected Handle A is closed in this case TCPERR allows the application programmer to run code for example to reestablish the connection when error 123 occurs USAGE While Moving Yes In a Program Yes Command Line No Controller Usage DMC 14x5 6 ONLY RELATED COMMANDS TC Tell error code _TA4 Last dropped handle MG Print message SA Send ASCII command via Ethernet EXAMPLES L MG EA L WT1000 JP L TCPERR MG P1 TCPERR Dropped handle _IA4 RE NOTE An application program must be executing for the automatic subroutine to function which runs in thread 0 NOTE Use RE to end the routine DMC 1400 Series Command Reference TCPERR e 193 TD FUNCTION Tell Dual Encoder DESCRIPTION This command returns the current position of the dual auxiliary encoder The auxiliary encoder is not available if the controller is set up for stepper When operating with stepper motors the TD command returns the number of counts that have been output by the controller ARGUMENTS TD USAGE While Mo
20. CI m n o A eC Interrupt on carriage return character on Port 2 Interrupt on any character Port 2 Clear interrupt data buffer fo 0sd Disable live data mode for Port 1 o 1 Enable live data mode for Port 1 USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line No Can be Interrogated No Used as an Operand No Controller Usage DMC 1412 1414 EXAMPLES CI 0 1 0 Interrupt on lt enter gt received on Port 2 CI 0 2 0 Interrupt on a single character received on Port 2 CI 1 2 1 Interrupt on lt enter gt 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 DMC 1400 Series Command Reference Cle 53 CM FUNCTION Contouring Mode DESCRIPTION The Contour Mode is initiated by the instruction CM This mode allows the generation of an arbitrary motion trajectory The CD command specifies the position increment and the DT command specifies the time interval The CM or CM commands can be used to check the status of the Contour Buffer A value of 1 returned indicates that the Contour Buffer is full A value of 0 indicates that the Contour Buffer is empty ARGUMENTS CM CM Returns a 1 if the contour buffer is full and
21. DMC 1400 Series Command Reference LA e 123 LE FUNCTION Linear Interpolation End DESCRIPTION LE Signifies the end of a linear interpolation sequence It follows the last LI specification in a linear sequence After the LE specification the controller issues commands to decelerate the motors to a stop The VE command is interchangeable with the LE command ARGUMENTS n Returns the total vector move length in encoder counts for the coordinate system USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL OPERAND USAGE _LEx contains the total vector move length in encoder counts RELATED COMMANDS LI Linear Distance BG BGS Begin Sequence LM Linear Interpolation Mode VS Vector Speed VA Vector Acceleration VD Vector Deceleration PF Position Formatting EXAMPLES LM XY Specify linear interpolation mode for X and Y axes LI 100 200 Specify linear distance LE End linear move BGS Begin motion 124 e LE DMC 1400 Series Command Reference _LF FUNCTION Forward Limit Switch Operand Keyword DESCRIPTION The LF operand contains the state of the forward limit switch for the specified axis The operand is specified as LFn where n is the specified axis Note This operand is affected by the configuration of the limit switches set by the command CN For CN 1 _LFn 1 when the limit swithch input is inactive _LFn 0 when the limit switch input is active For CN 1
22. Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _DA contains the total number of arrays available For example on a DMC 1417 before any arrays have been defined the operand _DA is 7 If one array is defined the operand _DA will return 6 RELATED COMMANDS DM Dimension Array EXAMPLES Cars and Salesmen are arrays and Total is a variable DM Cars 400 Salesmen 50 Dimension 2 arrays Total 70 Assign 70 to the variable Total DA Cars 0 Salesmen 0 Total Deallocate the 2 arrays amp variables DA 0 Deallocate all arrays 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 64 e DA DMC 1400 Series Command Reference DC FUNCTION Deceleration DESCRIPTION The Deceleration command DC sets the linear deceleration rate for independent moves such as PR PA and JG moves The parameters will be rounded down to the nearest factor of 1024 and have units of counts per second squared ARGUMENTS DCn where nis an unsigned numbers in the range 1024 to 67107840 9 returns the value USAGE 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 Controller Usage ALL OPERAND USAGE _DCx contains the
23. Format 3 0 OPERAND USAGE DMC 1410 1411 1412 1414 1417 _OP contains the status of the outputs OPERAND USAGE DMC 1415 1416 1425 _OPO contains the value of the first argument m _OP1 contains the value of the first argument a _OP2 contains the value of the first argument b _OP3 contains the value of the first argument c _OP4 contains the value of the first argument d RELATED COMMANDS SB CB OB Set output bit Clear output bit Output Byte 152 e OP DMC 1400 Series Command Reference EXAMPLES OP 0 Clear Output Port all bits OP 7 Set outputs 1 2 and 3 MG _ OPO Returns the first parameter m DMC 1415 1416 1425 only MG OPI Returns the second parameter a DMC 1415 1416 1425 only DMC 1400 Series Command Reference OP e 153 GOUTIn FUNCTION Read digital output DESCRIPTION Returns the value of the given digital output either 0 or 1 ARGUMENTS IN n where n is an unsigned integer in the range to 80 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS AN Read analog input IN Read digital input SB Set digital output bit CB Clear digital output bit OF Set analog output offset EXAMPLES MG OUT I print digital output 1 1 0000 xx OUT assign digital output 1 to a variable 154 e OUT n DMC 1400 Series Command Reference P1CD P2CD FUNCTION Serial port 1 or seri
24. In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL RELATED COMMANDS LV List Variables EXAMPLES LL FIVE FOUR ONE THREE TWO DMC 1400 Series Command Reference LL e 129 LM FUNCTION Linear Interpolation Mode DESCRIPTION The LM command specifies the linear interpolation mode and specifies the axes for linear interpolation Only the DMC 1425 supports the linear interpolation mode LI commands are used to specify the travel distances for linear interpolation The LE command specifies the end of the linear interpolation sequence Several LI commands may be given as long as the controller sequence buffer has room for additional segments 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 XY designates linear interpolation for the X and Y axes The speed of these axes will be computed from VS7 XS Y87 where XS and YS are the speed of the X and Y axes The controller always uses the axis specifications from LM not LI to compute the speed ARGUMENTS LMxx where x is always X and Y for the DMC 1425 x Returns the number of spaces available in the sequence buffer for additional LI commands USAGE While Moving Yes In a Program Yes Command Line Yes Controller Usag
25. LE linear end RD data NF notch frequency TV tell velocity SQRJ n x40 5 JS jump subroutine _LE total arc length _RD address NZ notch zero GEAR TAN n tangent LL list labels LI linear point index OF offset GA axes add LS list LM linear axes COMMUNICATE PL low pass GM gantry mode subtract LV list variables _LM buffer space CC aux serial SH servo here GR ratio i multiply NO comment TN tangent scale CF unsolicited TE tell error HOME divide RE return error _TN 1st position Cl interrupt TK peak torque DE define dual parenthesis REM fast comment VA acceleration CW unsolicited bit TL torque limit DP define position amp and RI return interrupt VD deceleration DR data record TM sample time FE find home only or SL single step VE vector end EO echo TT tell torque Fl find index only hexadecimal TB tell status byte VM vector axes HS handle switch ECAM HM home lt less than TR debug trace _VM velocity IA IP address EA master axis _HM home input gt greater than UL upload VP vector point _IA Ethernet info EB enable INFO assign equal _UL variables left _VP last point IH open handle EC counter _BN serial number lt less or equal XQ execute VR VS multiplier _IH handle info EG engage slave _BV axes gt greater or equal _XQ current line VS speed IN user input EM modulus ARAV firmware rev lt gt not equal ZS zero stack VT s curve LZ leading zeros EP master positions vO MOTION _ZS stack level MG message EQ disengage slave AN
26. Limit DESCRIPTION The ER command sets the magnitude of the position error that will trigger an error condition When the limit is exceeded the Error output will go low true If the Off On Error OE1 command is active the motors will be disabled The units of ER are quadrature counts ARGUMENTS ER nwhere n is an unsigned number in the range to 32767 9 returns the value of the Error limit USAGE While Moving Yes Default Value 16384 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _ER contains the value of the Error limit RELATED COMMANDS POSERR Automatic Error Subroutine EXAMPLES ER 200 Set the error limit to 200 ER Return value 00200 V1 _ER Assigns V1 value of ER vl Returns V1 00200 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 86 e ER DMC 1400 Series Command Reference ES FUNCTION Ellipse Scale DESCRIPTION The ES command divides the resolution of one of the axes in a vector mode VM This function allows for the generation of circular motion when encoder resolutions differ It also allows for the generation of an ellipse instead of a circle The command has two parameters m and n The arguments m and n apply t
27. Motor is in the Jog Mode An IP n command will cause the motor to instantly try to servo to a position n 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 motor is in jog mode an IP will create an instantaneous position error In this mode the IP should only be used to make small incremental position movements ARGUMENTS IPn where n is a signed number in the range 2147483648 to 2147483647 decimal returns the current position USAGE 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 Controller Usage ALL EXAMPLES IP 50 50 counts with set acceleration and speed CORRECT Label AC 100000 Set acceleration JG 10000 BG Jog at 10000 counts sec rate WT 1000 Wait 1000 msec IP 10 Move the motor 10 counts instantaneously ST Stop Motion DMC 1400 Series Command Reference IP e 113 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 fi
28. O O a O trtaaae 167 A E A EE EE E o eese les Lass a Medea cio he Sata ah anche tiated de ease 168 ID a acai ea Saha heed Sh Sse ah eed Sead Ae a ag ad hae Rand MY call Atel Bee 169 A a a ia A II A A A 170 A O Ait Nie Cae ie ddd Sande ae Pe hon Ain eda 171 O SR 172 SE 5 cid ica E NO 173 IA a RR ee tee 174 N a ata Sia E A ad ade sae Ase Alt EEA Ceci Rae a cad mda ea tae A 175 A ta e a aaa a a e a a a TA 176 KAI O SIES AE S Was 177 lt CONTOL gt RECOMTOL gt Vrei anena aar a aa a a aaae ae 178 DA AE A E E de Suc gaia E adic asked estat orate EE 179 NY RGR Pen EEO OTST Pea TED AL IT OT PAPE EN 180 A O IS 181 VOLTA LD AS SAA TAS RAS A A To 182 era ara le lo arto a da da bared teal aba bales nl as 183 OSININ A O AN 184 e E athe tl 185 A A AA N O A 186 iv Contents DMC 1400 Series Command Reference SDE a ia tds A ra dea ata aS dea cca E Maa E A alain a ost cea taut 188 COTA lA A A AA A A A A ak 189 A co av cbs ca dus yedsse n dastaes eassnduewads tes OA A uta beak AAA A A E AATRE 190 DC sascha tatiana cde das acu EE A nen O 19 AILCPERR Oia 193 A AI nea dea RS eal a aN Rasen ad eas 194 A AN 195 WEL EENE EAEE EEEE eagh catetusus nee vussanssaeaests T E EE 196 IH E T O A ashes 197 TIME WA AAA O 198 MA iio 199 MA a is 200 A ctae usin ain Pv occa bard ws gs PRS ae baad E ewan Ua A es AN Aas GaSb be AC slo Sao 201 TAS AAA oss an sane Sosa waten a aceon oases e a 202 A an dey sion E dso E T 203 A E coo ibuiaae soda E conte haauaeseos E E AT 204
29. a dbus duce ta uta balaaeta tees ada E hehe baad esate teaata de 31 A A telson aoe na 32 A Sees 33 Bd Aral 34 A A A a eo ta Ie ca 35 BD rennan aaa a a abet can r A ast an la ce tees a tales caaahan As lace baahad Yalan teres acd 36 a cade aed last tN cada E ea Hogs eas Cotas dase Lae NEHA Sa ones SO N 37 DMC 1400 Series Command Reference Contents e i DB By sess tapi a O 39 O A 40 Y aI ETETEA EEEE EEE 41 BN CPI oo O 42 DOS AA A ia 43 DOP cs dade vais sie ig A Ad 44 Ta E E cna aaah sbauheuad veh iage sudo ovassdou saa seaeauunnvan eosondoaines 45 VA AA A AAA soc eS oat Satie AA A AAA TE 46 DSi 47 O O A 48 CEA AAA 49 A asics ees Sea ade seas T aatevads Meade asiigweaan viva Saacdvada AS 50 UCTS aa ees EE A SIS es FABIA GRA oa Sa ERs Sab Poe eid s PRR a RE 51 COP EIEE nase nan A A A 52 NOT pide as aie Ga chan de ne sda gia Bain Pease nds Se Gade id sda ent adushe dat nev AGUa WL aaitsen sada astanddavones 53 CM EEE AAA AAA A 54 CMDERR IET Td 55 IN sites A AA AAA AAA AAA A a bg A AA RAS 56 O O EITE ENI EEE EEEE EE ENE E EE SPE EAE 57 DOOM iniri ii eiii so aa Ad A AAA RA AE ai a is 58 RCOMINT 0 a 59 DEDOS RS E ad 60 A Sean scan vd eclawesta on vse sagas Sais atiebecana E E ET 61 ES A A EEEE OO REC ER ECERO A SERRE TFT TY OO SPER 62 EN at 63 DA o 64 DEAD AAA Ad 65 DEA a eae 66 DES AAA ERA AA ARA AAA AAA AA 67 DM ida dei 68 AAA o NO 69 DVI ARA E 70 OVA A eas T eae ae vas tne tatiana ts 71 A A 72 O EEEE TOPE PED E TERT TCT ESOT
30. a trippoint which is used to hold up execution of the next command during coordinated moves such as VP CR or LI This trippoint occurs when the path distance of a sequence reaches the specified value The distance is measured from the start of a coordinated move sequence or from the last AV command The units of the command are quadrature counts ARGUMENTS AV s t where s and t are unsigned integers in the range 0 to 2147483647 decimal s represents the vector distance to be executed in the S coordinate system and t represents the vector distance to be executed in the T coordinate system USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Controller Usage ALL OPERAND USAGE _AVS contains the vector distance from the start of the sequence in the S coordinate system and AVT contains the vector distance from the start of the sequence in the T coordinate system EXAMPLES MOVE DP 0 0 Label CAT Specify the T coordinate system LMXY Linear move for X Y LI 1000 2000 Specify distance LI 2000 3000 Specify distance LE BGT Begin motion in the T coordinate system 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 32 e AV DMC 1400 Series Command Reference BA FUNCTION Brushless Axis DESCRIPTION The BA command se
31. active when daisy chain feature is off USAGE While Moving Yes Default Value 0 0 0 In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand No Controller Usage DMC 1412 1414 RELATED COMMANDS CI Communications Interrupt EXAMPLES CC 9600 0 0 1 9600 baud no handshake daisy chain off echo on Typical setting with TERM 1500 CC 19200 1 1 0 19 200 baud handshake on daisy chain on echo off Typical setting in daisy chain mode DMC 1400 Series Command Reference CC e 49 CD FUNCTION Contour Data DESCRIPTION ARGUMENTS CDn The CD command specifies the incremental position The units of the command are in quadrature counts for servo mode steps for stepper mode This command is used only in the Contour Mode CM where n is an integer in the range of 32762 USAGE RELATED COMMANDS While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage CM WC DT EXAMPLES CM DT 4 CD 200 WC CD 100 WC DTO CDO Yes Default Value 0 Yes Default Format Yes No No ALL Contour Mode Wait for Contour Time Increment Specify Contour Mode Specify time increment for contour Specify incremental positions of 200 counts Wait for complete New position data Wait for complete Stop Contour Exit Mode 50 e CD DMC 1400 Series Command Reference CE FUNCTION Configure Encoder DESCRIPTION The CE command configur
32. command evaluates false the controller will skip commands until the ELSE command If the argument for the IF command evaluates true the controller will execute the commands between the IF and ELSE command ARGUMENTS ELSE Default Value Default Format USAGE While Moving Yes In a Program Yes Command Line No Controller Usage DMC 1415 1416 1425 RELATED COMMANDS ENDIF End of IF conditional Statement EXAMPLES IF N 1 0 IF IN 2 0 MG INPUT 1 AND INPUT 2 ARE ACTIVE ELSE MG ONLY INPUT 1 IS ACTIVE ENDIF ELSE MG ONLY INPUT 2 IS ACTIVE ENDIF IF conditional statement based on input 1 2 TF conditional statement executed if 1 IF conditional true Message to be executed if 2 IF conditional is true ELSE command for 2 IF conditional statement Message to be executed if 2 IF conditional is false End of 2 conditional statement ELSE command for 1 IF conditional statement Message to be executed if 1 IF conditional statement End of 1 conditional statement 78 e ELSE DMC 1400 Series Command Reference EM FUNCTION Cam cycles DESCRIPTION The EM command is part of the ECAM mode It is used to define the change in position over one complete cycle of the master The field for the master axis is the cycle of the master position For the slave the field defines the net change in one cycle Ifa slave will return to its original position at the end of the cycle the change is zero
33. equal to lt gt not equal USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line No Can be Interrogated No Used as an Operand No Controller Usage ALL RELATED COMMANDS EN End EXAMPLES JS SQUARE V1 lt 5 Jump to subroutine SQUARE if V1 is less than 5 JS LOOP V 1 lt gt 0 Jump to LOOP if V1 is not equal to 0 JS A Jump to subroutine A no condition 118 e JS DMC 1400 Series Command Reference KD FUNCTION Derivative Constant DESCRIPTION KD designates the derivative constant in the controller filter The filter transfer function is D z 4 KP 4 KD z 1 z Klz 2 z 1 For further details on the filter see the section Theory of Operation in the product manual ARGUMENTS KDn where n is an unsigned number in the range 0 to 4095 875 with a resolution of 125 9 returns the value of the derivative constant USAGE 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 Controller Usage ALL OPERAND USAGE _KD contains the value of the derivative constant RELATED COMMANDS KP Proportional Constant KI Integral EXAMPLES KD 100 Specify KD KD Return KD 0100 00 DMC 1400 Series Command Reference KD e 119 KI FUNCTION Integrator DESCRIPTION The KI command sets the integral gain of the control loop It fits in the control equation as follows D z 4 KP 4 KD z 1 z KI z 2 z 1 The inte
34. limit switch is activated This is an Operand Not a command DMC 1400 Series Command Reference _LR e 131 LS FUNCTION List DESCRIPTION The LS command sends a listing of the program memory The listing will start with the line pointed to by the first parameter which can be either a line number or a label If no parameter is specified it will start with line 0 The listing will end with the line pointed to by the second parameter again either a line number or label If no parameter is specified the listing will go to the last line of the program ARGUMENTS LS n m where n m are valid numbers from 0 to 250 0 to 500 for the DMC 1415 1416 1425 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 Controller Usage EXAMPLES LS A 6 002 HA 003 PR 500 004 BG 005 AM 006 WT 200 Yes Default Value 0 Last Line No Default Format Yes No No ALL 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 132 e LS DMC 1400 Series Command Reference LV FUNCTION List Variables DESCRIPTION The LV command returns a listing of all of the program labels in memory The listing will be in alphabetical order ARGUMENTS None USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage
35. 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 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 lt less than gt greater than equal to lt less than or equal to gt greater than or equal to lt gt not equal to USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line No Can be Interrogated No Used as an Operand No Controller Usage ALL 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 AB Jump to B no condition HINT JP is similar to an IF THEN command Text to the right of the comma is the condition that must be met for a jump to occur The destinat
36. not valid because no sequence 103 Master axis modulus greater than defined 256 EP value Variable not given in IN command 104 Not valid when axis performing DMC 1400 Series Command Reference TC e 191 ECAM EB1 command must be given first No hall effect sensors detected Must be made brushless by BA command BZ command timeout No movement in BZ command BZ command runaway Controller has GL1600 not GL1800 S operand not valid Not valid during coordinated move Sequence segment too short ia Total move distance in a sequence gt 2 billion More than 511 segments in a sequence VP or CR commands cannot be mixed with LI commands O is mo e z Eae eaa as ja aras ear axis botn maser and follower 121 Pad Fihernet pecker received orinar emitieron CUTE AN ETE sing ostingtootong 124 temente nuse CE0 O s No ARP response om aes F Quexionmankpar faring 126 Closed emer tande CMisinelorg A MIT Lamy ndeximalidorow otang 125 IPAdiesnotwaid nd incionoramay 150 gs 10C Command Not a valid Command Operand Serial Port Handshake timeout 1 e GNX Mismatched parentheses USAGE While Moving Yes Default Value In a Program Yes Default Format 3 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _TC contains the value of the error code EXAMPLES GF32 Bad command 2TC Tell error code 1 Unrecognized command
37. off by the command GRO NOTE To gear to the dual encoder using a 141X controller simply use the GR command ARGUMENTS GA x x or GAX x where x can be X or Y The value of x is used to set the specified main encoder axis as the gearing master The slave axis is specified by the position of the argument The first position of the argument corresponds to the X axis the second position corresponds to the Y axis etc A comma must be used in place of an argument if the corresponding axes will not be a slave x can be CX or CY The value of x is used to set the commanded position of the specified axis as the gearing master returns the GA setting USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS GR GM EXAMPLES GEAR GA X GR 5 JG 5000 BGX WT 10000 STX Yes Default Value Yes Default Format Yes DMC 1425 Gear Ratio Gantry Mode Gear program Specify X axis as master for Y Specify Y ratio Specify master jog speed Begin motion Wait 10000 msec Stop Hint Using the commanded position as the master axis is useful for gantry applications DMC 1400 Series Command Reference GA e 95 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 GNn where n is an unsigned integer in the range 0 to 2047 decimal 2
38. require a specific port value If not specified the controller will specify the port value as 1000 ARGUMENTS IHh ip0 ip1 ip2 ip3 lt p gt q or IHh n lt p gt q or IHh gt r where h is the handle specified as A B C D E or F ip0 ip1 ip2 ip3 are integers between 0 and 255 and represent the individual fields of the IP address These values must be separated by commas n is a signed integer between 2147483648 and 2147483648 This value is the 32 bit IP address and can be used instead of specifying the 4 address fields IHS gt C closes the handle that sent the command where C 1 for UDP IP or C 2 for TCP IP IHN gt C closes all handles except for the one sending the command where C 1 UDP or C 2 for TCP lt p specifies the port number of the slave where p is an integer between 0 and 65535 This value is not required for opening a handle gt q specifies the connection type where q is 0 for no connection for UDP and 2 for TCP gt r specifies that the connection be terminated and the handle be freed where r is 1 for UDP 2 for TCP IP and 3 for TCP IP reset 2 returns the IP address as 4 1 byte numbers OPERAND USAGE _THhO contains the IP address as a 32 bit number _IHh1 contains the slave port number _THh2 contains a 0 if the handle is free contains a if it is fora UDP slave contains a 2 if it is for a TCP slave contains a 1 if it is for a UDP master contains a 2 if it is for a TCP master contains 5
39. 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 WTn where n is an integer in the range 0 to 2 Billion decimal USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage ALL CONTROLLERS EXAMPLES Assume that 10 seconds after a move is over a relay must be closed A Program A PR 50000 Position relative move BG Begin the move AM After the move is over WT 10000 Wait 10 seconds SB 1 Turn on relay EN End Program HINT To achieve longer wait intervals just stack multiple WT commands 220 e WT DMC 1400 Series Command Reference XQ FUNCTION Execute Program DESCRIPTION The XQ command begins execution of a program residing in the program memory of the controller Execution will start at the label or line number specified Up to two programs may be executed simultaneously to perform multitasking ARGUMENTS XQ A n XQm n where A is a program name of up to seven characters m is a line number n is the thread number 0 or 1 for multitasking NOTE The arguments for the command XQ are optional If no arguments are given the first program in memory will be executed as thread 0 USAGE While Moving Yes Default Value n 0 In a Program Yes Default Format Command Line Yes Can be Interro
40. segments using the operator lt and gt DMC 1400 Series Command Reference VR e 215 VS FUNCTION Vector Speed DESCRIPTION The VS command specifies the speed of the vector in a coordinated motion sequence in either the LM or VM modes VS may be changed during motion Vector Speed can be calculated by taking the square root of the sum of the squared values of speed for each axis specified for vector or linear interpolated motion ARGUMENTS VSn where n is an unsigned even number in the range 2 to 12 000 000 for servo motors and 2 to 3 000 000 for stepper motors The units are counts per second n Returns the value of the vector speed for the coordinate plane USAGE While Moving Yes Default Value 8192 In a Program Yes Default Format Command Line Yes Controller Usage ALL OPERAND USAGE _VSx contains the vector speed of the coordinate system RELATED COMMANDS VA Vector Acceleration VP Vector Position CR Circle LM Linear Interpolation VM Vector Mode BG Begin Sequence VE Vector End EXAMPLES VS 2000 Define vector speed of the coordinate system VS Return vector speed of the coordinate system 002000 Hint Vector speed can be attached to individual vector segments For more information see description of VP CR and LI commands 216 e VS DMC 1400 Series Command Reference VT FUNCTION Vector Time Constant DESCRIPTION The VT command filters the acceleration and deceleration functions in vector mo
41. separated by a comma or by lt CR gt lt LF gt The downloaded array is terminated by a ARGUMENTS QD array start end where array is a valid array name start is the first element of the array default 0 end is the last element of the array default last element USAGE While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage ALL RELATED COMMANDS QU 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 DMC 1400 Series Command Reference QD e 163 QR FUNCTION Data Record DESCRIPTION The QR command causes the controller to return a record of information regarding controller status This status information includes 4 bytes of header information and specific blocks of information as specified by the command arguments The details of the status information are described in Chapter 4 of the user s manual ARGUMENTS QR xx where x is X Y Z W A B C D E F G H or I or any combination to specify the axis axes sequence or T O status I represents the status of the I O Chapter 4 of the user manual provides the definition of the data record information USAGE
42. serial port 2 string DESCRIPTION P1ST returns the last string followed by carriage return sent to the serial port when in the operator data entry mode CI 1 P2ST returns the last string followed by carriage return sent to auxiliary serial port port 2 NO MORE THAN SIX CHARACTERS CAN BE ACCESSED USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage DMC 1412 4 ONLY RELATED COMMANDS P1CD P2CD Serial port 1 2 code P1CH P2CH Serial port 1 2 character PINM P2NM Serial port 1 2 number CI Configure COMINT and set operator data entry mode CC Configure serial port 2 COMINT Communication interrupt automatic subroutine EXAMPLES CC 9600 0 0 0 MG TEST P2 MG P2ST S3 ABC 158 e P1ST P2ST DMC 1400 Series Command Reference POSERR FUNCTION Position error automatic subroutine DESCRIPTION The factory default behavior of the Galil controller upon a position error TE gt ER is to do nothing more than turn on the red light If OE is set to 1 the motor whose position error ER was exceeded will be turned off MO POSERR can be used if the programmer wishes to run code upon a position error for example to notify a host computer The POSERR label causes the statements following it to be automatically executed if the error TE on any axis exceeds the error limit specified by ER The error routine must be closed with the RE command The RE comm
43. tangent of the given angle in degrees ARGUMENTS TAN n where n is a signed number in degrees in the range 2147483648 to 2147483647 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS ASIN Arc sine COS Cosine ATAN Arc tangent ACOS Arc cosine SIN Tangent EXAMPLES MG TAN 90 2147483647 0000 MG TAN 0 0 0000 MG TAN 90 2147483647 0000 DMC 1400 Series Command Reference TANJn e 189 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 BIT STATUS Executing program DMA Active when available Contouring Executing error or limit switch routine Input interrupt enabled Bit 2 Executing input interrupt routine 0 Reserved Bit 0 Echo on ARGUMENTS None USAGE 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 Controller Usage ALL OPERAND USAGE _TB contains the status byte EXAMPLES TB Tell status information from the controller 65 Executing program and echo on 2f 2 64 1 65 190 e TB DMC 1400 Series Command Reference TC FUNCTION Tell Error Code DESCRIPTION The TC command returns a number between 1 and 255 This number is a code tha
44. the specified relative distance from either the start of the move or the last AR or AD command 2 The motion profiling on the axis is complete 3 The commanded motion is in the direction which moves away from the specified position The units of the command are quadrature counts The motion profiler must be on or the trippoint will automatically be satisfied where n is unsigned integer in the range 0 to 2147483647 decimal While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage AP EXAMPLES A DP 0 JG 50000 BG B AR 25000 MG Passed_X TP JP B EN Yes Default Value Yes Default Format Trippoint for after absolute position Begin Program Specify speed Begin motion Label After passing 25000 counts of relative distance on X axis Send message Jump to Label B End Program 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 DMC 1400 Series Command Reference AR e 25 AS FUNCTION At Speed DESCRIPTION The AS command is a trippoint that occurs when the generated motion profile has reached the specified speed This command will hold up execution of the following command until the speed is reached The AS command will operate after either accelerating or decelerating If the speed is not reached the trippoint will be triggered after the
45. the status of each handle indicating connection type and IP address ARGUMENTS None USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage RELATED COMMANDS IH WH EXAMPLES TH Yes Default Value Yes Default Format Yes Yes No DMC 1415 1416 1425 Internet Handle Which Handle Tell current handle configuration CONTROLLER IP ADDRESS 10 51 0 87 ETHERNET ADDRESS 00 50 4C 08 01 1F IHA TCP PORT 1050 TO IP ADDRESS 10 51 0 89 PORT 1000 IHB TCP PORT 1061 TO IP ADDRESS 10 51 0 89 PORT 1001 IHC TCP PORT 1012 TO IP ADDRESS 10 51 0 93 PORT 1002 IHD TCP PORT 1023 TO IP ADDRESS 10 51 0 93 PORT 1003 IHE TCP PORT 1034 TO IP ADDRESS 10 51 0 101 PORT 1004 IHF TCP PORT 1045 TO IP ADDRESS 10 51 0 101 PORT 1005 196 e TH DMC 1400 Series Command Reference TI FUNCTION Tell Inputs DESCRIPTION This command returns the state of all 7 general digital inputs or 3 inputs for the DMC 1425 Response is a decimal number which when converted to binary represents the status of all 7 digital inputs ARGUMENTS TI USAGE While Moving Yes Default Value In a Program Yes Default Format 3 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _TI contains the status byte of the input block Note that the operand can be masked to return only specified bit information see section on Bitwise operations EXAMPLES TI 08
46. to 5 digits of integers and 2 of fractions TP Tell Position 00021 00 PF 5 2 New format Change format to hexadecimal TP Tell Position 00015 00 Report in hex DMC 1400 Series Command Reference PF e 161 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 Ifa is used then the current incremental distance is returned even if it was set by a PA command Units are in quadrature counts ARGUMENTS PRn where n is a signed integer in the range 2147483648 to 2147483647 decimal 9 returns the current incremental distance USAGE While Moving No Default Value 0 In a Program Yes Default Format Position Format setting Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _PR will return the current incremental distance RELATED COMMANDS BG Begin AC Acceleration DC Deceleration SP Speed IP Increment Position EXAMPLES PR 100 On the next move the X axis will go 100 counts BG PR Return relative distances 0000000100 162 e PR DMC 1400 Series Command Reference QD FUNCTION Download Array DESCRIPTION The QD command transfers array data from the host computer to the DMC 1400 QD array start end requires that the array name be specified along with the first element of the array and last element of the array The array elements can be
47. to the ECAM internal master interval EP 100 Phase shift all slaves by 100 master counts 84 e EP DMC 1400 Series Command Reference EQ FUNCTION ECAM quit disengage DESCRIPTION The EQ command disengages an electronic cam slave axis at the specified master position If a value is specified outside of the master s range the slave will disengage immediately ARGUMENTS EQ n where n is the master position at which the axis is to be disengaged contains a if engage command issued and slave is waiting to engage 2 if disengage command issued and slave is waiting to disengage and 0 if ECAM engaged or disengaged USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _EQ contains 1 if engage command issued and slave is waiting to engage 2 if disengage command issued and slave is waiting to disengage and 0 if ECAM engaged or disengaged RELATED COMMANDS EB Enable Ecam EG Engage Ecam EM Specify Ecam Cycle EP CAM table intervals amp starting point ET Electronic CAM table EXAMPLES EQ 300 Disengages the motor at master position 300 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 DMC 1400 Series Command Reference EQ e 85 ER FUNCTION Error
48. were shut off by Abort and OE1 Stops motion Enable off on error Shuts off motor command and stops motion Label Start of program Specify jog speed on X axis Begin jog on X axis Wait 5000 msec Stop motion without aborting program Wait 5000 milliseconds Servo Here Jump to Label A End of the routine Hint Remember to use the parameter I following AB if you only want the motion to be aborted Otherwise your application program will also be aborted DMC 1400 Series Command Reference AB e 13 ABS n FUNCTION Absolute value DESCRIPTION Takes the absolute value of the given number Returns the value if positive and returns 1 times the value if negative ARGUMENTS ABS n where n is a signed number in the range 2147483647 to 2147483647 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS SQR Square Root EXAMPLES MG ABS 2147483647 2147483647 0000 14 e ABS n DMC 1400 Series Command Reference AC FUNCTION Acceleration DESCRIPTION The Acceleration AC command sets the linear acceleration rate for independent moves such as PR PA and JG moves The parameters input will be rounded down to the nearest factor of 1024 The units of the parameters are counts per second squared The acceleration rate may be changed during motion The DC command is used to specify the deceleration rate ARGUMENTS ACn
49. 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 n is a number either 0 1 or 2 0 Causes the controller to return the copyright information 1 Causes the controller to set the MSB of unsolicited returned characters to 1 2 Causes the controller to not set the MSB of unsolicited characters oe 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 will be lost USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE _CW contains the value of the data adjustment bit 1 on 2 off 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 howev
50. while establishing UDP handle contains 6 while establishing TCP handle _THh3 contains a 0 if the ARP was successful contains a 1 if it has failed or is still in progress DMC 1400 Series Command Reference IH e 103 _Thh4 contains a if waiting for a slave response contains 2 if transmission is successful contains 3 if transmission error occurs contains 4 if transmission timeout USAGE While Moving No Default Value In a Program Yes Default Format Command Line Yes Controller Usage DMC 1415 1416 1425 RELATED COMMANDS IA Internet Address EXAMPLES IHA 251 29 51 1 Open handle A at IP address 251 29 51 1 IHA 2095238399 Open handle A at IP address 251 29 51 1 Note When the IH command is given the controller initializes an ARP on the slave device before opening a handle This operation can cause a small time delay before the controller responds 104 e IH DMC 1400 Series Command Reference I FUNCTION Input Interrupt DESCRIPTION The II command enables the interrupt function for the specified inputs This function triggers when the controller sees a logic change from high to low on a specified input If any of the specified inputs go low during program execution the program will jump to the subroutine with label ININT Any trippoints set by the program will be cleared but can be re enabled by the proper termination of the interrupt subroutine using RI The RI command is used to return from the ININT routine To a
51. x analog in AC acceleration AUTO EN P2CD port 2 code ET table IN x digital in BG begin AUTOERR EN P2CH character EEPROM OUT x digital out _BG in motion command delimiter P2NM number ARAS master reset Al wait for input DC deceleration tt subroutine P2ST string BN burn AO set analog output IP increment position TIME PF position format BP burn program CB clear digital out IT s curve AT wait reference QR query record BV burn variables CN configure JG jog TIME clock QZ record info RS reset CO extended l O PA position absolute WT wait SA send command ERRORS II input interrupt _PA last target SINE DRIVE _SA response AB abort MB Modbus TCP PR position relative BA axes TH tell handles _AB abort input MW Modbus wait _PR relative target _BA 2nd DAC axis VF variable format BL reverse soft limit OB output bit PT position tracking BB hall offset WH which handle _ED program line OP output port RP desired position BC calibration _WH numeric _ED1 thread SB set digital out SP speed _BC hall state COMINT N1 1 ER maximum TE Tl tell input byte ST stop BD degrees TCPERR RE FL forward soft limit TS tell switches a axis variable Bl hall inputs CONTOUR _LF forward limit TZ tell Ethernet I O MOTION WAIT BM magnetic cycle CD data _LR reverse limit ININT RI AD distance RP BO DAC offset CM axes OE off on error AM complete RP BS setup _CM buffer full sc stop code AP position TP BZ find zero DT delta time TC tell code AR distance RP _BZ distance to zero
52. 0 if the contour buffer is empty USAGE While Moving No Default Value In a Program No Default Format 1 0 Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE _CM contains a 0 if the contour buffer is empty otherwise contains a 1 RELATED COMMANDS CD Contour Data WC Wait for Contour DT Time Increment EXAMPLES V _CM V Return Contour Buffer Status 1 Contour Buffer is full CM Specify Contour Mode 54 e CM DMC 1400 Series Command Reference CMDERR FUNCTION Command error automatic subroutine DESCRIPTION Without CMDERR defined if an error see TC command occurs in an application program running on the Galil controller the program all threads will stop CMDERR allows the programmer to handle the error by running code instead of stopping the program USAGE While Moving Yes In a Program Yes Command Line No Controller Usage ALL RELATED COMMANDS TC Tell Error Code _ED Last program line with an error EN End routine EXAMPLES BEGIN i IN ENTER SPEED Speed JG Speed BGX i EN 7 CMDERR A JP DONE _ED lt gt 2 JP DONE _TC lt gt 6 A MG SPEED TOO HIGH MG TRY AGAIN J Aal i JP BEGIN 7 DONE ZSO EN1 NOTE An application program must be executing for the automatic subroutine to function which runs in thread 0 NOTE Use EN to end the routine DMC 1400 Series Command
53. 00 WC CD 100 WC DTO CDO Yes Default Value Yes Default Format Yes No No ALL CONTROLLERS Contour Mode Contour Data Contour Time Specify contour mode Specify time increment for contour Specify incremental position Wait for contour data to complete Wait for contour data to complete Stop contour Exit mode 218 e WC DMC 1400 Series Command Reference WH FUNCTION Which Handle DESCRIPTION The WH command is used to identify the handle in which the command is executed The command returns IHA through IHF to indicate on which handle the command was executed The command returns RS232 if communicating serially ARGUMENTS None USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage DMC 1415 1416 1425 RELATED COMMANDS TH Tell Handle IH Internet Handle OPERAND USAGE _WH contains the numeric representation of the handle in which a command is executed Handles A through H are indicated by the value 0 5 while a 1 indicates the serial port EXAMPLES WH Request handle identification IHC Command executed in handle C WH Request handle identification RS232 Command executed in RS232 port DMC 1400 Series Command Reference WH e 219 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
54. 000 Convert units to counts SP V3 Speed command PR V4 Position command BGX AMX Begin motion Wait for motion complete MG MOVE DONE Print Message EN End Program NOTE It is a good practice to clear the input buffer before executing the IN command DMC 1400 Series Command Reference IN e 109 IN n FUNCTION Read digital input DESCRIPTION Returns the value of the given digital input either 0 or 1 ARGUMENTS IN n where n is an unsigned integer in the range to 96 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS AN Read analog input OUT Read digital output SB Set digital output bit CB Clear digital output bit OF Set analog output offset EXAMPLES MG QIN 1 print digital input 1 1 0000 x IN 1 assign digital input 1 to a variable 110 e IN n DMC 1400 Series Command Reference FININT FUNCTION Input interrupt automatic subroutine DESCRIPTION ININT runs upon a state transition of digital inputs 1 to 8 and is configured with II ININT runs in thread 0 and requires something running in thread 0 to be active USAGE While Moving Yes In a Program Yes Command Line No Controller Usage ALL RELATED COMMANDS II Input interrupt IN Read digital input RI Return from interrupt EXAMPLES TEL F MAIN MG MAIN WT1000 JP MAIN ININT MG ININT All RI NOTE An application program must be e
55. 10 1411 1412 1414 80 characters DMC 1415 1416 1425 n is an ASCII character specified by the value n V is a variable name or array element where the following specifiers can be used for formatting 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 Pn DMC 1412 1414 only Specifies which serial port to send the message 1 main port 2 auxiliary port Defaults to 1 if not specified U for USB port Ex for Ethernet and x specifies the Ethernet handle A B C D E F or H 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 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 Controller Usage ALL 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 MG 1
56. 3 430 937 N Sends carriage return characters 0 and 7 followed by no carriage return line feed command to the port 140 e MG DMC 1400 Series Command Reference MO FUNCTION Motor Off DESCRIPTION The MO command shuts off the control algorithm The controller will continue to monitor the motor position To turn the motor back on use the Servo Here command SH ARGUMENTS MO USAGE While Moving No Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE _MO will return the state of the motor 0 servo loop on and 1 servo loop off RELATED COMMANDS SH Servo Here EXAMPLES MO Turn off motor SH Turn motor on Bob _MO Sets Bob equal to the 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 DMC 1400 Series Command Reference MO e 141 MR FUNCTION Reverse Motion to Position DESCRIPTION The MR command is a trippoint used to control the timing of events This command will hold up the execution of the following command until the specified motor moves backward and crosses the position specified The units of the command are in quadrature counts The MR command can also be used when the encoder is the master and not under servo control ARGUMENTS MRn where n is a signed integ
57. 83648 to 2147483647 The length of each segment must be limited to 8 106 The values for n and m will specify a coordinate system from the beginning of the sequence o specifies a vector speed to be taken into effect at the execution of the vector segment n is an unsigned even integer between 0 and 12 000 000 for servo motor operation and between 0 and 3 000 000 for stepper motors p specifies a vector speed to be achieved at the end of the vector segment p is an unsigned even integer between 0 and 8 000 000 USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL OPERAND USAGE _VPx contains the absolute coordinate of the axes at the last intersection 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 CR Circle VM Vector Mode VA Vector Acceleration VD Vector Deceleration VE Vector End VS Vector Speed BG Begin Sequence VT Vector smoothing EXAMPLES A Program A VM X Y Specify motion plane VP 1000 2000 CR 1000 0 360 VE VS 2000 VA 400000 BGS EN Specify vector position X Y Specify arc Vector end Specify vector speed vector acceleration Begin motion sequence End program Hint The first vector in a coordinated motion sequence defines the origin for that sequence All other vec
58. Brushless Degrees 34 e BB DMC 1400 Series Command Reference BC FUNCTION Brushless Calibration DESCRIPTION The function BC monitors the status of the Hall sensors of a sinusoidally commutated motor and upon transition replaces the estimated value of a commutated phase by an exact value ARGUMENTS BC USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage DMC 1412 1415 1410 1417 OPERAND USAGE _BC contains the state of the Hall sensor inputs This value should be between 1 and 6 RELATED COMMANDS BA Brushless Axis BB Brushless Phase Begins BD Brushless Degrees DMC 1400 Series Command Reference BC e 35 BD FUNCTION Brushless Degrees DESCRIPTION This command sets the commutation phase of a sinusoidally commutated motor When using hall effect sensors a more accurate value for this parameter can be set by using the command BC This command should not be used except when the user is creating a specialized phase initialization procedure ARGUMENTS BDx where x sets the commutation phase in degrees within 0 360 USAGE While Moving No Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage DMC 1412 1415 1410 1417 OPERAND USAGE _BD contains the commutation phase of the brushless motor RELATED COMMANDS BA Brushless Axis BB Brus
59. Command Line Controller Usage RELATED COMMANDS O EXAMPLES x 1 2 3 7 2 DEFAULTS Yes Default Value Yes Default Format Yes ALL Parenthesis assign 1 to x 10 e DMC 1400 Series Command Reference lt gt lt gt lt gt FUNCTION Comparison Operators DESCRIPTION The comparison operators are as follows lt less than gt greater than equals lt less than or equal gt greater than or equal lt gt not equals These are used in conjunction with IF JP JS amp and to perform conditional jumps The result of a comparison expression can also be printed with MG or assigned to a variable ARGUMENTS n lt m or n gt m or n m or n lt m or n gt m or n lt gt m where n and m are signed numbers in the range 2147483648 to 2147483647 USAGE DEFAULTS While Moving Yes In a Program Yes Command Line Yes Controller Usage ALL RELATED COMMANDS Parentheses IF If statement JP Jump JS Jump subroutine EXAMPLES IF x gt 2 amp y 4 x must be greater than 2 and y equal to 4 for the message to print MG true ENDIF DMC 1400 Series Command Reference lt gt lt gt lt gt e 11 FUNCTION Equals Assignment Operator DESCRIPTION The assignment operator is used for three reasons 1 to define and initialize a variable x 0 before it is used 2 to assign a new value to a variable x 5 3 to print a
60. F Return offset 1 0000 DMC 1400 Series Command Reference OF e 151 OP FUNCTION Output Port DESCRIPTION The OP command sends data to the output ports of the controller You can use the output port to control external switches and relays ARGUMENTS DMC 1410 1411 1412 1414 1417 OP m n where m is an integer in the range 0 to 7 and is the decimal representation of the 3 output bits n is an integer in the range to 3 decimal and is used to specify the number of bits effected starting with the LSB For example if n 2 only outputs and 2 will be changed by OP m Ifthe n parameter is not specified all bits will be changed ARGUMENTS DMC 1415 1416 1425 OP m a b c d where m is an integer in the range 0 to 7 and is the decimal representation of the general output bits a b c d represent the extended I O in consecutive groups of 16 bits values from 0 to 65535 Arguments that are given for I O points which are configured as inputs will be ignored The following table describes the arguments used to set the state of outputs Arguments Blocks m 0 a 2 3 b 4 5 c 6 7 d 8 9 Bits 1 3 17 32 33 48 49 64 65 80 Description General Outputs Extended I O Extended I O Extended I O Extended I O n returns the value of the argument where n is any of the above arguments USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage DEFAULTS Default Value 0 Default
61. Gear Ratio DESCRIPTION GR specifies the Gear Ratios for the slave axis in the electronic gearing mode The master axis for the DMC 1425 is specified with the GA command For all 141X controllers the master axis need not be set Simply assign a ratio GRN to gear the x axis to the dual encoder The master axis for all other Econo series controllers is the auxiliary encoder in servo mode the main encoder input in stepper mode Gear ratio may range between 127 9999 The slave axis will be geared to the actual position of the master The master can go in both directions GR 0 disables gearing A limit switch sets the GR to 0 gearing ARGUMENTS GRn where n is a signed number in the range 127 with a fractional resolution of 0001 0 disables gearing returns the value of the gear ratio USAGE 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 Controller Usage ALL OPERAND USAGE _GR contains the value of the gear ratio EXAMPLES GEAR GR 25 Specify gear ratio EN End program 98 eGR DMC 1400 Series Command Reference HM FUNCTION Home DESCRIPTION The HM command performs a three stage homing sequence for servo systems and two stage sequence for stepper motor operation S 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 ax
62. In a Program Yes Default Value All others 1 0 Command Line Yes Default Format 1 0 Can be Interrogated No Used as an Operand No Controller Usage ALL EXAMPLES EO 0 Turns echo off EO 1 Turns echo on DMC 1400 Series Command Reference EO e 83 EP FUNCTION Cam table master interval and phase shift DESCRIPTION The EP command defines the ECAM table master interval and phase shift The interval m is the difference in master position between table entries The phase shift n instantaneously moves the graph of slave position versus master position left negative or right positive and is used to make on the fly corrections to the slaves Up to 257 points may be specified ARGUMENTS EP m n where m is the master interval and is a positive integer in the range between and 32 767 master counts m cannot be changed while ECAM is running M Returns the value of the interval m n is the phase shift and is an integer between 2 147 483 648 and 2 147 483 647 master counts m can be changed while ECAM is running USAGE While Moving Yes Default Value 256 0 In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes m only Controller Usage ALL OPERAND USAGE _EP contains the value of the interval m RELATED COMMANDS EB Enable Ecam EG Engage Ecam EM Specify Ecam Cycle EQ Ecam quit ET Electronic CAM table EXAMPLES EP 20 Sets the cam master points to 0 20 40 D EP Set the variable D equal
63. 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 DMC 1400 Series Command Reference ED e 75 EG FUNCTION ECAM go engage DESCRIPTION The EG command engages an ECAM operation at a specified position of the master encoder If a value is specified outside of the master s range the slave will engage immediately Once a slave motor is engaged its position is redefined to fit within the cycle ARGUMENTS EGn where n is the master position at which the slave axis must be engaged returns 1 if specified axis is engaged and 0 if disengaged USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE _EG contains ECAM status 0 axis is not engaged axis is engaged RELATED COMMANDS EB Enable Ecam EQ Ecam quit EXAMPLES EG 700 Engages axes at master position 700 MG _EG Return the status of the axis 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 76 EG DMC 1400 Series Command Reference EI FUNCTION Enable Interrupts DESCRIPTION The EI command enables an ISA PC 104 or PCI bus interrupt on conditions such as motion complete or excess positional error The cond
64. Input 4 is high others low TI 00 All inputs low Input _TI Sets the variable Input with the TI value TI 127 All inputs high DMC 1400 Series Command Reference TI e 197 TIME FUNCTION Time Operand Keyword DESCRIPTION The TIME operand contains the value of the internal free running real time clock The returned value represents the number of servo loop updates and is based on the TM command The default value for the TM command is 1000 With this update rate the operand TIME will increase by 1 count every update of approximately 1000usec Note that a value of 1000 for the update rate TM command will actually set an update rate of 976 microseconds 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 The keyword TIME does not require an underscore _ as with the other operands USAGE Used as an Operand Yes Format TIME Controller Usage ALL EXAMPLES MG TIME Display the value of the internal clock 198 e TIME DMC 1400 Series Command Reference 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 TLn where n is an unsigned number in the range 0 to 9 998 volts with resolution of 0 0003 USAGE While Moving Yes Default Value 9 9988 In a P
65. MBh addr 16 m n array where m is the starting register number n is the number of registers array contains the data one 16 bit word per element MBh addr 17 array where array is where the returned data is stored While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage DMC 1415 1416 1425 136 e MB DMC 1400 Series Command Reference MC FUNCTION Motion Complete In Position DESCRIPTION The MC command is a trippoint used to control the timing of events This command will hold up execution of the following commands until the current move is completed and the encoder reaches or passes the specified position TW sets the timeout to declare an error if the encoder is not in position within the specified time If a timeout occurs the trippoint will clear and the stopcode will be set to 99 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 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 USAGE While Moving Yes Default V
66. NDS VP Vector Position VS Vector Speed VD Vector Deceleration VA Vector Acceleration VM Vector Mode VE End Vector BG BGS Begin Sequence EXAMPLES VMXY Specify vector motion in the X and Y plane VS 10000 Specify vector speed CR 1000 0 360 Generate circle with radius of 1000 counts start at 0 degrees and complete CR 1000 0 360 lt 40000 Generate circle with radius of 1000 counts start at 0 degrees and complete VE End Sequence BGS Start motion DMC 1400 Series Command Reference CR e 61 CS FUNCTION Clear Sequence DESCRIPTION The CS command will remove VP CR or LI commands stored in a motion sequence for the coordinate system After a sequence has been executed the CS command is not necessary to put in a new sequence This command is useful when you have incorrectly specified VP CR or LI commands USAGE While Moving No Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL OPERAND USAGE _CSx contains the segment number in the sequence specified by x S or T This operand is valid in the Linear mode LM Vector mode VM RELATED COMMANDS CR Circular Interpolation Segment LI Linear Interpolation Segment LM Linear Interpolation Mode VM Vector Mode VP Vector Position 62 e CS DMC 1400 Series Command Reference 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
67. PRED TF CE PEE IPOS YE PLES ETE EDR ER AE SP oTERTY CORTESE AR 73 DEA AA o 74 A E E LAs lice te A E da ttaiatetets E EEA 75 POS A AR 76 A nouns ygbsdesadesbacea E TT 77 PES AAA AAA AAA E A AE EA EA A 78 A A E E E TE E EE aa E neon 79 EN ssc sss eda Bs inini iaa e i a a i i ae i a ii 80 A O AT saad 82 A te COR CRED Err ECC PUREE Er CECE COPEL A EET SU Der Er eer nECHECR e eR one Pete MRE er eee eT Tree Tee 83 TT eds ied AAA AAA Ed PH Can EA Cd pe eG Pe GE ed 84 DOS EE S EN E E 85 ii e Contents DMC 1400 Series Command Reference BES a cea dua Stuer alan tseea ei havan adn 87 DET E E E A E A A 88 TEAL TEE O 89 SEE E 05 Ren E E E E T 90 I EE E EEE ata dee Mec E E E E E T 9 A E deo eg A E E E TA 92 DERA CA a a e R e A a a a A 93 FV ananman aa aaa aaa a a dye cise a a a ea aa an 94 CA 95 Ni 96 A a sun Set Sa sade tas Meagan aut ta sade cada eae beak candi inc tela diga tes andalaelted a E R 97 A E Sata dade sea auiea untiraan Sy ad sade Sande E T S 98 MAA a GAN eeu gS ECT a va San A dE PCL ens PRA and ee ON 99 A tos acca a Suto say a ne tau a eae NO eset ana ne oes aps SMa tee ARON 100 VA AA EA AAA dais sua td di ss San AAA AAA E E E 101 LAA AR AA a 102 Td 103 MM AA AAA AA AA 105 VA A A A E E E iS sees 107 TIN AAA PPP nO 108 DIN ada dae 110 ANNE TS A USC 111 DN a Re 112 A 113 A AO 114 O 115 E E tainted E cla bbond S saad d cuanto E T E 116 A E E E A E 117 N A NN seein de 118 O EEEN EAA E E E EE EE E tones 119 TIT CO toes E E E E E E
68. RELATED COMMANDS LL EXAMPLES LV APPLE 60 0000 BOY 25 0000 ZEBRA 37 0000 ALL List Labels Default Value Default Format DMC 1400 Series Command Reference LV e 133 LZ FUNCTION Inhibit leading zeros DESCRIPTION The LZ command is used for formatting the values returned from interrogation commands or interrogation of variables and arrays By enabling the LZ function all leading zeros of returned values will be removed ARGUMENTS LZn where nis 1 to remove leading zeros 0 to disabled the leading zero removal LZ Returns the state of the LZ function USAGE While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL EXAMPLES TE Tell error 0004 LZ 1 Inhibit leading zeros TE Tell error 4 134 e LZ DMC 1400 Series Command Reference MB FUNCTION Modbus DESCRIPTION The MB command is used to communicate with I O devices using the first two levels of the Modbus protocol The format of the command varies depending on each function code The function code 1 designates that the first level of Modbus is used creates raw packets and receives raw data The other codes are the 10 major function codes of the second level that the DMC 1415 1416 1425 supports Read Input Status Read Bits os Force Single Coil Write One Bit 05 Joo Preset Single Register Write One Word Preset Multiple Re
69. Reference CMDERR e 55 CN FUNCTION Configure DESCRIPTION The CN command configures the polarity of the limit switches the home switch and the latch input ARGUMENTS CN m n o where m n o are integers with values 1 or 1 lomo ft iit switches active high 1 Limit switches active low Home switch configured to drive motor in forward direction when input is high See HM and FE commands Home switch configured to drive motor in reverse direction when input is high See HM and FE commands le 1 ach inputs active high ll tat input is active tow USAGE While Moving Yes Default Value 1 1 1 In a Program Yes Default Format 2 0 Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage ALL RELATED COMMANDS MT Motor Type EXAMPLES CN 1 1 Sets limit and home switches to active high CN 1 Sets input latch active low 56 e CN DMC 1400 Series Command Reference CO FUNCTION Configure Outputs DESCRIPTION The CO command configures the extended I O in blocks of 8 ARGUMENTS COn where n is a decimal value which represents a binary number Each bit of the binary number represents one block of extended I O When set to 1 the corresponding block is configured as an output The least significant bit represents block 2 and the most significant bit represents block 9 The decimal value can be calculated by the following formula n n 2 n3 4 ny 8 ns 16 ng 32 n7 64 ng 128 no where
70. Returns the current commanded position 0000000 BG Start the move PA 700 X axis will go to 700 on the next move BG 160 e PA DMC 1400 Series Command Reference 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 PA DE PR DP TE FL IP TP ARGUMENTS PF m n where m is an integer between 8 and 10 The negative sign for m specifies hexadecimal representation n is an integer between 0 and 4 PF Returns the value of m USAGE 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 Controller Usage ALL OPERAND USAGE _PF contains the value of position format parameter EXAMPLES TP Tell position 0000000000 Default format PF 5 2 Change format
71. The commanded motion is in the direction which moves away from the specified position The units of the command are quadrature counts The motion profiler must be on or the trippoint will automatically be satisfied ARGUMENTS APn where n is a signed integer in the range 2147483648 to 2147483647 decimal USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage RELATED COMMANDS AD EXAMPLES TEST DPO JG 1000 BG AP 2000 V1 TP MG Position is V1 sT EN Yes Default Value Yes Default Format Yes Trippoint for relative distances 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 samples 2 msec for TM 1000 Multiply the speed by the time period of 2 samples to obtain the maximum error AP tests for absolute position Use the AD command to measure incremental distances 24 e AP DMC 1400 Series Command Reference AR FUNCTION After Relative Distance DESCRIPTION ARGUMENTS ARn USAGE RELATED COMMANDS 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
72. Yes Default Format Yes No No ALL Enable Ecam Engage Ecam Specify Ecam Cycle Specify Ecam intervals and starting point Ecam quit Specifies the position of the slave that must be synchronized with the eighth increment of the master 88 e ET DMC 1400 Series Command Reference 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 Deceleration 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 FAn where n is an unsigned number in the range 0 to 8191 decimal returns the value of the feedforward acceleration coefficient FA has a resolution of 25 USAGE While Moving Yes Default Value In a Program Yes Default Format 4 0 Command Line Yes Can be Interrogated Yes FA Used as an Operand Yes Controller Usage ALL OPERAND USAGE _FA contains the value of the feedforward acceleration coefficient RELATED COMMANDS FV Velocity feedforward EXAMPLES AC 500000 Set feedforward coefficient to 10 FA 10 The effective bias will be 0 75V FA Return value 010 NOTE If the feedforward coeffi
73. al port 2 code DESCRIPTI ON DMC 21x2 3 P1CD returns the status of the serial port when in the operator data entry mode CL1 DMC 2xx0 P2CD returns the status of the auxiliary serial port port 2 USAGE While Moving In a Command Line Controller Usage Program RELATED COMMANDS P1CH P2CH PINM P2NM P1ST P2ST CI CC COMINT EXAMPLES AR DMC2240 Rev 1 00 ISR V Ss CC 9600 0 0 0 MG MG 0 MG MG 0000 0000 TEST P2CD 0000 P2CD P2CD P2CD 2 0000 P2 r DEFAULTS Yes Default Value Yes Default Format Yes DMC 1412 4 ONLY Serial port 1 2 character Serial port 1 2 number Serial port 1 2 string Configure COMINT and set operator data entry mode Configure serial port 2 Communication interrupt automatic subroutine DMC 1400 Series Command Reference P1CD P2CD e 155 P1CH P2CH FUNCTION Serial port 1 or serial port 2 character DESCRIPTION P1CH returns the last character sent to the serial port when in the operator data entry mode CL1 P2CH returns the last character sent to the auxiliary serial port port 2 USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS P1CD P2CD PINM P2NM P1ST P2ST CI CC COMINT EXAMPLES SARV DMC2240 Rev 1 00 ERES CC 9600 0 0 0 MG TEST P2 MG P2CH S1 6 r r DEFAULTS Yes Defaul
74. alue In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage ALL RELATED COMMANDS BG Begin AM After Move TW Timeout EXAMPLES MOVE Program MOVE PR 5000 Position relative moves BG Start the axis MC After the move is complete SB1 Set output 1 to logic 1 EN End of Program Hint MC can be used to verify that the actual motion has been completed DMC 1400 Series Command Reference MC e 137 MCTIME FUNCTION MC command timeout automatic subroutine DESCRIPTION MCTIME runs when the MC command is used to wait for motion to be complete and the actual position TP does not reach or pass the target _PA PR within the specified timeout TW USAGE While Moving Yes In a Program Yes Command Line No Controller Usage ALL RELATED COMMANDS MC Wait for motion complete trip point TW MC timeout EN End routine EXAMPLES BEGIN TWX 1000 i PRX 10000 BGX MCX EN MCTIME MG X fell short EN1 NOTE An application program must be executing for the automatic subroutine to function which runs in thread 0 NOTE Use EN to end the routine 138 e MCTIME DMC 1400 Series Command Reference MF FUNCTION Forward Motion to Position DESCRIPTION The MF command is a trippoint used to control the timing of events This command will hold up the execution of the following command until the specified motor moves forward and crosses the position s
75. am Yes Default Format Position format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _BLx contains the value of the reverse software limit RELATED COMMANDS FL Forward Limit _ER Reverse Limit Operand PF Position Formatting EXAMPLES TEST Test Program AC 1000000 Acceleration Rate DC 1000000 Deceleration Rate BL 15000 Set Reverse Limit JG 5000 Jog Reverse BG Begin Motion AM After Motion limit occurred TP Tell Position EN End Program HINT The DMC 141X also provides hardware limits 40 e BL DMC 1400 Series Command Reference BM FUNCTION Brushless Modulo DESCRIPTION The BM command defines the length of the magnetic cycle in encoder counts ARGUMENTS BMx where x is a decimal value between 1 and 1000000 with a resolution of 1 10 that represents the magnetic cycles of the brushless motor This value can also be specified as a fraction with a resolution of 1 16 USAGE While Moving No Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage DMC 1412 1415 1410 1411 OPERAND USAGE _BM indicates the cycle length in counts for the brushless motor RELATED COMMANDS BA Brushless Axis BB Brushless Phase Begins BC Brushless Commutation BD Brushless Degrees DMC 1400 Series Command Reference BM e 41 BN FUNCTION Burn DESCRIPTION The BN command saves certain contr
76. and returns from the error subroutine to the main program USAGE While Moving Yes In a Program Yes Command Line No Controller Usage ALL RELATED COMMANDS OE Off on error TE Tell error ER Error limit RE Return from error routine EXAMPLES A JP A POSERR MG TE gt ER RE1 NOTE An application program must be executing for the automatic subroutine to function which runs in thread 0 NOTE Use RE to end the routine DMC 1400 Series Command Reference POSERR e 159 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 Ifa 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 PAn where n is a signed integer in the range 2147483647 to 2147483648 decimal n Returns the commanded position USAGE 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 Controller Usage ALL OPERAND USAGE _PA contains current command position if not moving start position if given during motion RELATED COMMANDS PR Position relative SP Speed AC Acceleration DC Deceleration BG Begin EXAMPLES PA 400 X axis will go to 400 counts PA
77. ates linear interpolation for the X and Y axes The speed of these axes will be computed from VS7 xS7 Y8 where XS and YS are the speed of the X and Y axes The controller always uses the axis specifications from LM not LI to compute the speed The parameters o and p are optional and can be used to define the vector speed that is attached to the motion segment ARGUMENTS LI n n lt o gt p or LIX n where n is a signed integer in the range 8 388 607 to 8 388 607 and represents the incremental move distance at least one n must be non zero o specifies a vector speed to be taken into effect at the execution of the linear segment o is an unsigned even integer between 0 and 12 000 000 for servo motor operation and between 0 and 3 000 000 for stepper motors p specifies a vector speed to be achieved at the end of the linear segment p is an unsigned even integer between 0 and 12 000 000 USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS LE Linear end BG BGS Begin sequence LM Linear Interpolation Mode CS Clear Sequence VS Vector Speed VA Vector Acceleration VD Vector Deceleration 126 e LI DMC 1400 Series Command Reference EXAMPLES LM XY Specify linear interpolation mode LI 1000 2000 Specify distance LE Last segment BGS Begin sequence DMC 1400 Series Command Reference LI e 127 LIMSWI FUNCTION Limit switch automatic subro
78. be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE _TP contains the current position value EXAMPLES PF 7 Position format of 7 TP Return position 0000200 PF 6 0 Change to hex format TP Return in hex 0000C8 Position _TP Assign the variable Position the value of TP DMC 1400 Series Command Reference TP e 201 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 TRn where n 0 or 1 0 disables function 1 enables function USAGE While Moving Yes Default Value TRO In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL 202 e TR DMC 1400 Series Command Reference TS FUNCTION Tell Switches DESCRIPTION TS returns the state of the Home switch Forward and Reverse Limit switch error conditions motion condition and motor state The value returned by this command is decimal and represents an 8 bit value decimal value ranges from 0 to 255 Each bit represents the following status information BIT Note The value for bits 1 2 and 3 depend on the limit switch and home switch configuration see CN command For active low configuration default these bits are 1 when the switch is inactive and 0 when active Fo
79. c 1 disables the timeout 9 returns the timeout in msec for the MC command USAGE While Moving Yes Default Value 32766 In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _ TW contains the timeout in msec for the MC command RELATED COMMANDS MC Motion Complete In Position 206 e TW DMC 1400 Series Command Reference UI FUNCTION User Interrupt DESCRIPTION The UI command causes an interrupt on the selected IRQ line There are 16 user interrupts where UI n n 0 through 15 Prior to using the UI command one IRQ line must be jumpered on the DMC 141X An interrupt service routine must also be incorporated in your host program The IV command should be sent from this routine for interrupt status and to re enable the interrupt Refer to Chapter 4 in the product manual for details ARGUMENTS Uln where n is an integer between 0 and 15 USAGE While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage DMC 1410 1411 1417 EXAMPLES AI Label PR 10000 Position relative SP 5000 Speed BG Begin motion AS Wait for at speed UI 1 Send interrupt 1 EN End program This program sends an interrupt to the selected IRQ line The host should have an interrupt service routine written to handle the interrupts The IV command may be used to return interrupt info
80. cient is changed during a move then the change will not take effect until the next move DMC 1400 Series Command Reference FA e 89 FE FUNCTION Find Edge DESCRIPTION The FE command moves a motor until a transition is seen on the homing input for that axis The direction of motion depends on the initial state of the homing input use the CN command to configure the polarity of the home input Once the transition is detected the motor decelerates to a stop This command is useful for creating your own homing sequences ARGUMENTS FE USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage RELATED COMMANDS FI HM BG AC DC SP EXAMPLES FE BG No Default Value Yes Default Format Yes No ALL Find Index Home Begin Acceleration Rate Deceleration Rate Speed for search Set find edge mode Begin 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 90 e FE DMC 1400 Series Command Reference FI FUNCTION Find Index DESCRIPTION The FI and BG commands move the motor until an encoder index pulse is detected The controller looks for a transition from low to high When the transition is detected motion stops and the position is defined as zero To improve acc
81. d The OE command in addition to shutting off the motor command will toggle the amplifier enable signal ARGUMENTS OEn where n may be 0 or 1 O disables function 1 enables off on error 9 returns the state of the off on error function USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage OPERAND USAGE Yes Default Value Yes Default Format Yes No Yes ALL _OE contains the status of the off on error function RELATED COMMANDS ER SH POSERR EXAMPLES OE 1 OE 0 Error limit Servo Here Error Subroutine Enable OE Disable OE HINT The OE command is useful for preventing system damage on excessive error 150 e OE DMC 1400 Series Command Reference OF FUNCTION Offset DESCRIPTION The OF command sets a bias voltage in the motor command output or returns a previously set value This can be used to counteract gravity or an offset in an amplifier If the PID values are zero then the output voltage will be the OF value The OF command works in servo mode only ARGUMENTS OFn where n is a signed number in the range 9 998 to 9 998 volts with resolution of 0003 9 returns the offset USAGE While Moving Yes Default Value 0 In a Program Yes Default Format 1 4 Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _ OF contains the offset EXAMPLES OF 1 Set offset to 1 O
82. d USAGE While Moving In a Program Command Line Controller Usage OPERAND USAGE DEFAULTS Yes Default Value of m 0 No Yes ALL CONTROLLERS _BK will tell whether a breakpoint has been armed whether it has been encountered and the program line number of the breakpoint LineNumber LineNumber 2147483648 RELATED COMMANDS SL TR EXAMPLES BK 3 BK 5 SL SL3 BK breakpoint armed breakpoint encountered breakpoint not armed Single Step Trace Pause at line 3 the 4 line in thread 0 Continue to line 5 Execute the next line Execute the next 3 lines Resume normal execution DMC 1400 Series Command Reference BK e 39 BL FUNCTION Reverse Software Limit DESCRIPTION The BL command sets the reverse software limit If this limit is exceeded during a commanded motion the motion will decelerate to a stop Reverse motion beyond this limit is not permitted The reverse limit is activated at position n 1 To disable the reverse limit set n to 2147483648 The units are in quadrature counts When the reverse software limit is activated the automatic subroutine LIMSWI will be executed if it is included in the program and the program is executing See the section on Automatic Subroutines in the user manual ARGUMENTS BLn where n is a signed integer in the range 2147483648 to 2147483647 214783648 turns off the reverse limit USAGE While Moving Yes Default Value 214783648 In a Progr
83. d once will set the time interval for all following contour data until a new DT command is sent 2 samples is the time interval Sending DTO followed by CDO command terminates the Contour Mode ARGUMENTS DTn where n is an integer in the range 0 to 8 0 terminates the Contour Mode n 1 thru 8 specifies the time interval of 2 samples By default the sample period is 1 msec set by TM command with n 1 the time interval would be 2 msec DT Returns the value for the time interval for contour mode USAGE 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 Controller Usage ALL OPERAND USAGE _ DT contains the value for the time interval for Contour Mode RELATED COMMANDS CM Contour Mode CD Contour Data WC Wait for next data TM Time EXAMPLES DT 4 Specifies time interval to be 16 msec DT7 Specifies time interval to be 128 msec CONTOUR Begin CM Enter Contour Mode DT 4 Set time interval CD 1000 Specify data WC Wait for contour CD 2000 New data WC Wait DTO Stop contour CDO Exit Contour Mode EN End 70 e DT DMC 1400 Series Command Reference DV FUNCTION Dual Velocity Dual Loop DESCRIPTION The DV function changes the operation of the PID servo filter It causes the KD derivative term to operate on the dual encoder instead of the main encoder To take advantage of this mode mount the main encoder to the load and the dual encoder to
84. d Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE When used as an operand DL gives the number of available labels The total number of labels is 126 RELATED COMMANDS UL Upload EXAMPLES DL Begin download A PR 4000 BG Data AM MG DONE Data EN Data lt control gt Z End download DMC 1400 Series Command Reference DL e 67 DM FUNCTION Dimension DESCRIPTION The DM command defines a single dimensional array with a name and n total elements The first element of the defined array starts with element number 0 and the last element is at n 1 ARGUMENTS DM c n where c is a name of up to eight alphanumeric characters starting with an uppercase alphabetic character n is the number of entries from 1 to 1000 1 to 2000 for the DMC 1415 1416 1425 DM Returns the number of array elements available USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _DM contains the available array space For example on a DMC 1417 before any arrays have been defined the operand _DM will return 1000 Ifan array of 100 elements is defined the operand _DM will return 900 RELATED COMMANDS DA Deallocate Array EXAMPLES DM Pets 5 Dogs 2 Cats 3 Define dimension of arrays pets with 5 elements Dogs with 2 elements Cats with 3 elements DM Tests 1000 Def
85. d sets the frequency of the notch filter which is placed in series with the PID compensation ARGUMENTS NF n n or NFX n where n ranges from 1 Hz to gt where TM is the update rate default TM is 1 msec 4 TM n Returns the value of the Notch filter for the specified axis USAGE While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Controller Usage DMC 1415 1416 1425 OPERAND USAGE _NFx contains the value of notch filter for the specified axis RELATED COMMANDS NB Notch bandwidth NZ Notch Zero EXAMPLES NF 20 Sets the notch frequency of Y axis to 20 Hz NOTE This command is only valid for the DMC 1415 1416 and 1425 controllers DMC 1400 Series Command Reference NF e 145 NO FUNCTION No Operation DESCRIPTION The NO command performs no action in a sequence but can be used as a comment in a program After the NO characters can be given to form a program comment up to the maximum line length of the controller This helps to document a program An apostrophe may also be used instead of the NO to document a program This feature is only supported on the DMC 1415 1416 1425 ARGUMENTS NOm where m is any group of letter number symbol or lt cntrl gt G USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage EXAMPLES HA NO NO This Program NO Does Absolutely NO Nothing EN Yes Yes Yes Program A No Operat
86. deceleration rate RELATED COMMANDS AC Acceleration PR Position Relative SP Speed JG Jog BG Begin IT Smoothing constant S curve EXAMPLES PR 10000 Specify position AC 2000000 Specify acceleration rate DC 1000000 Specify deceleration rate SP 5000 Specify slew speed BG Begin motion NOTE The DC command may be changed during the move in JG move but not in PR or PA move DMC 1400 Series Command Reference DC e 65 DE FUNCTION Dual Auxiliary Encoder Position DESCRIPTION The DE n command defines the position of the auxiliary encoder The DE n command defines the encoder position when used with stepper motors Note The auxiliary encoder is not available for the stepper axis ARGUMENTS DEn where n is a signed integer in the range 2147483648 to 2147483647 decimal returns the position of the auxiliary encoder returns the commanded reference position of the motor in step pulses when used with a stepper motor Example DEO 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 USAGE While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _DE contains the current position of the specified auxiliary encoder EXAMPLES DE 0 Set the current auxiliary encoder position to 0 DE Return auxiliary e
87. e 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 ILn where n is a number in the range 0 to 9 9988 Volts with a resolution of 0003 returns the value of the integrator limit USAGE While Moving Yes Default Value 9 9982 In a Program Yes Default Format 1 4 Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _IL contains the value of the integrator limit RELATED COMMANDS KI Integrator EXAMPLES KI2 Integrator constants IL3 Integrator limits IL Returns the limit 3 0000 DMC 1400 Series Command Reference IL e 107 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 ARGUMENTS IN P1 or P2 m n So where
88. e ALL OPERAND USAGE Default Value Default Format B _LMx contains the number of spaces available in the sequence buffer for the coordinate system RELATED COMMANDS LE LI VA VS VD CS EXAMPLES LM XY VS 10000 VA 100000 VD 1000000 LI 100 200 LI 200 300 LE BGS Linear end Linear Distance Vector acceleration Vector Speed Vector deceleration _CS Sequence counter Specify linear interpolation mode Specify vector speed acceleration and deceleration Specify linear distance Specify linear distance Last vector then begin motion 130 e LM DMC 1400 Series Command Reference _LR FUNCTION Reverse Limit Switch Operand Keyword DESCRIPTION The LR operand contains the state of the reverse limit switch Note This is not a command NOTE This operand is affected by the configuration of the limit switches set by the command CN For CN 1 _LRx 1 when the limit switch input is inactive _LRx 0 when the limit switch input is active For CN 1 _LRx 0 when the limit switch input is inactive _LRx 1 when the limit switch input is active The term active refers to the condition when at least 1 ma of current is flowing through the input circuitry The input circuitry can be configured to sink or source current to become active See Chapter 3 of product manual for further details EXAMPLES MG LR Display the status of the reverse limit switch JP A LR 0 Jump to label A when reverse
89. ed as an Operand No Controller Usage DMC 1410 1411 1417 EXAMPLES IV Limit switch occurred 4 2 Binary equivalent DMC 1400 Series Command Reference IV e 115 JG FUNCTION Jog DESCRIPTION The JG command sets the jog mode The parameters following the JG set the slew speed and direction of motion Use of the question mark returns the previously entered value or default value The units of this are counts second ARGUMENTS JGn where n is a signed number in the range 0 to 8 000 000 decimal 12 000 000 for the DMC 1415 1416 1425 Use JGN n for virtual axis For stepper motor operation the maximum value is 2 000 000 3 000 000 for the DMC 1415 1416 1425 returns the absolute value of the jog speed USAGE While Moving Yes Default Value 25000 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _JG will return the absolute value of the jog speed RELATED COMMANDS BG Begin ST Stop AC Acceleration DC Deceleration IP Increment Position TV Tell Velocity EXAMPLES JG 100 Set for jog mode with a slew speed of 100 counts sec BG Begin Motion JG 2000 Change speed and direction Note JG2 is the minimum non zero speed 116 JG DMC 1400 Series Command Reference JP FUNCTION Jump to Program Location DESCRIPTION The JP command causes a jump to a program location on a specified condition The program
90. eedforward coefficient or returns the previously set value This coefficient generates an output bias signal in proportion to the commanded velocity Velocity feedforward bias 1 22 106 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 FVn where n is an unsigned number in the range 0 to 8191 decimal returns the feedforward velocity for the specified axis USAGE While Moving Yes Default Value 0 In a Program Yes Default Format 3 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _FV contains the feedforward velocity RELATED COMMANDS FA Acceleration feedforward EXAMPLES FV 10 Set feedforward coefficients to 10 JG 30000 This produces 0 366 volts FV Return the value 010 94 e FV DMC 1400 Series Command Reference GA FUNCTION Master Axis for Gearing DESCRIPTION The GA command specifies the master axes for electronic gearing Note This command is only valid for the DMC 1425 All other Econo series controllers must use the auxiliary encoder as the master The master axis of the DMC 1425 must be either the X or Y axis These may be specified as either the commanded position or the actual position When the master is a simple axis it may move in any direction and the slave follows The slave axes and ratios are specified with the GR command and gearing is turned
91. eeeeceeecneeeeenseenaes 17 TF conditional ccccceeseeescessceeeceeeceseeeeeeseeeeeeneeees 103 Position Latch cceccesseesseeseeesceeseeeeceeeeeseesseeeenseenaes 20 IF Conditional Statements Program FIOW c cccccseseesecesecesecesecseeeeeeseeeneeeeeeneeenes 86 RESET a ate eet 79 LSE EATE E A ET AE EEA E EATE E AT 82 109 191 IF Statement Protection ENDIE TEATS E TEA E E E 83 E A ETI CE E TA NEA A ATT 204 Independent Motion Quadrature ccccccccccssceescecsseceeseecstseeeseees 17 24 25 40 Jog 187 Quit ING EX sheet tthe titers tik testo E 91 ADO on e histatins cnet ae 13 180 181 Index Pulse cion care 100 Record ica dae nas 168 ININ Tica ia 82 Record Array iii iii tintas 168 70 Input Intermuptss c2505 jcctesveeessccecte ava cotsdeiveeanten ee 82 191 aA EEE EET EEE 63 199 ININ Tira liado 82 Master RSet iniciarte 179 199 Inputs Standard ciones dees 199 A Llc aniline 91 Sample Time Limit S with sesca nei ran nie 56 Update Rate win eine 199 SAA cede e A E 121 Scaling Internal Variable c2 c cccsccsce seccstescitiecseevssteacessecees 180 Ellipse Scale ninia 88 Interrupt ennist 19 82 109 191 AAA cee 180 Jog 24 187 Slew 187 Keywotd senesnninsnre niis 126 132 180 199 JS inio a i 65 Pabel rrna n E ice E E oO 138 SMOOthING n e ie ee as 123 Special Label cuate 138 Special Eabele minna cate ack sa 138 Limit Switch 56 109 126 132 183 191 Standard Reset orren r E ANE 199 Linear Interpolation oooooocnioninonino
92. efault Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS NO or comment EXAMPLES BGX comment PRX 1000 BGX AMX Save program line space High High priority thread executes twice as fast as Low when run in a a l b b 1 parallel JP High Low c c 1 d d 1 JP Low DMC 1400 Series Command Reference FUNCTION Square Brackets Array Index Operator DESCRIPTION The square brackets are used to denote the array index for an array or to denote an array name ARGUMENTS mmmmmmmm n where mmmmmmmm is the array name n is the array index and is an integer between 0 and 7999 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS DM Dimension Array QU Print Upload Array EXAMPLES DM A 100 define a 100 element array A 0 3 set first element to 3 MG A 0 print element 0 QU Af print entire array DMC 1400 Series Command Reference e9 FUNCTION Math Operators DESCRIPTION The addition subtraction multiplication and division operators are binary operators they take two arguments and return one value used to perform mathematical operations on variables constants and operands ARGUMENTS n m or n m or n m or n m where n and m are signed numbers in the range 2147483648 to 2147483647 USAGE While Moving In a Program
93. en Operating in Fast Mode Gearing Mode Commands which are Altered when Operating in Fast Mode Command Modification Command argument 2 2 5 2 2 5 not valid AD AI AM AP AR AS AT AV MC Commands not allowed in thread 1 MF MR WC DMC 1400 Series Command Reference Overview e 3 FUNCTION Label subroutine DESCRIPTION The operator denotes the name of a program label for example Move Labels can be up to seven characters long and are often used to implement subroutines or loops Labels are divided into a user defined and b automatic subroutines User defined labels can be printed with LL and the number of labels left available can be queried with MG _DL The automatic subroutines include CMDERR LIMSWI POSERR ININT AUTO and MCTIME ARGUMENTS nnnnnnn where nnnnnnn is a label name up to seven characters USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS LL _UL JP JS EXAMPLES Loop JP Loop x 10 Move PRX 1000 BGX AMX EN DEFAULTS Yes Default Value Yes Default Format No ALL List labels Labels left Jump statement Jump subroutine wait until x becomes 10 define a subroutine to move the x axis DMC 1400 Series Command Reference FUNCTION Hexadecimal DESCRIPTION The operator denotes that the following string is in hexadecimal notation ARGUMENTS nnnnnnnn mmmm nis up to eight hexadecima
94. er EB Enable ECAM EG Engage ECAM EM Specify ECAM cycle EP Specify ECAM table intervals amp staring point EQ Disengage ECAM ET ECAM table EXAMPLES ECO Set ECAM index to 0 ET 200 400 Set first ECAM table entries to 200 400 ET 400 800 Set second ECAM table entries to 400 800 74 EC DMC 1400 Series Command Reference 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 cntri gt D Deletes a line lt cntrl gt I Inserts a line before the current one lt cntri gt P Displays the previous 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 ARGUMENTS ED n where n specifies the line number to begin editing The default line number is the last line of program space with commands USAGE While Moving No Default Value In a Program No Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE _ED contains the line number of the last line to have an error EXAMPLES 000 START 001 PR 2000 002 BG 003 SLKJ Bad line 004 EN 005 CMDERR Routine which occurs upon a command error 006 V ED 007 MG An error has occurred n 008 MG
95. er 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 Note 2 The CW 1 Command should not be used with the DMC 1415 or DMC 1425 These controllers have only a 1 byte UART and are subsequently always seen as full Note 3 Specifying both fields of the CW command is not valid If CW 2 1 is issued for instance the controller will not recognize the second field Instead the user must issue CW2 amp CW 1 individually DMC 1400 Series Command Reference CW e 63 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 memory de allocation Different arrays and variables are separated by commas when specified in one command The argument deallocates all the variables and 0 deallocates all the arrays ARGUMENTS DA c 0 d etc where c 0 Defined array name d Defined variable name Deallocates all the variables 0 Deallocates all the arrays DA Returns the number of arrays available on the controller USAGE While Moving Yes Default Value In a Program Yes Default
96. er in the range 2147483648 to 2147483647 decimal USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage RELATED COMMANDS AD MF AP EXAMPLES FTEST DPO JG 1000 BG MR 3000 V1 TP MG Position is V1 sT EN Yes Default Value Yes Default Format Yes No No ALL Trippoint for after Relative Distance Forward motion to position Trippoint After absolute position Program B Define zero Jog mode speed of 1000 counts sec Begin move After passing the position 3000 Assign current position to variable V1 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 142 e MR DMC 1400 Series Command Reference 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 MTn where nis 1 Servo motor 1 Servo motor reversed polarity 2 Step mot
97. error subroutine and limit subroutine Use the RI command to end the input interrupt ININT subroutine DMC 1400 Series Command Reference EN e 81 ENDIF FUNCTION End of IF conditional statement DESCRIPTION The ENDIF command is used to designate the end of an IF conditional statement An IF conditional statement is formed by the combination of an IF and ENDIF command An ENDIF command must always be executed for every IF command that has been executed It is recommended that the user not include jump commands inside IF conditional statements since this causes re direction of command execution In this case the command interpreter may not execute an ENDIF command ARGUMENTS ENDIF USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line No Controller Usage DMC 1415 1416 1425 RELATED COMMANDS ELSE Optional command to be used only after IF command JP Jump command JS Jump to subroutine command EXAMPLES IF IN 1 0 IF conditional statement based on input 1 MG INPUT 1 IS ACTIVE Message to be executed if IF conditional is false ENDIF End of conditional statement 82 e ENDIF DMC 1400 Series Command Reference 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 EOn where n 0 or 1 0 turns echo off 1 turns echo on USAGE While Moving Yes Default Value DMC 1410 1411 1417 0
98. es Can be Interrogated No Used as an Operand No Controller Usage ALL DMC 1400 Series Command Reference lt control gt R lt control gt S e 177 lt control gt R lt control gt V FUNCTION Revision Information DESCRIPTION The Revision Information command causes the controller to return the firmware revision information USAGE While Moving Yes Default Value In a Program No Default Format Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage ALL 178 e lt control gt R lt control gt V DMC 1400 Series Command Reference SA FUNCTION Send Command DESCRIPTION SA sends a command from one Galil controller to another controller or IOC 7007 board over Ethernet Any command can be sent to another Galil card and will be interpreted by the card as a local command Note A wait statement e g WT5 must be inserted between successive calls to SA ARGUMENTS SAh arg or SAh arg arg arg arg arg arg arg arg where h is the handle being used to send commands to other Galil Ethernet controller arg is a command number Galil controller or IOC 7007 operand variable mathematical function or string The range for numeric values is 4 bytes of integer 2 followed by two bytes of fraction 2 147 483 647 9999 The maximum number of characters for a string is 6 characters Strings are identified by quotations Typical usage would have the first argument as a string such as KI and the subsequent arg
99. es the encoder inputs to the quadrature type or the pulse and direction type It also allows inverting the polarity of the encoders The configuration applies independently to the main axis encoder and the auxiliary encoder inputs ARGUMENTS CEn where n is an integer in the range of 0 to 15 Each integer is the sum of two integers r and s which configure the main and the auxiliary encoders The values of r and s are R MAIN ENCODER TYPE AUXILIARY ENCODER TYPE Normal quadrature o Normal quadrature Reversed quadrature s Reversed quadrature Reversed pulse and direction Reversed pulse and direction For example n 6 implies r 2 and s 4 both encoders are reversed quadrature eal o USAGE While Moving Yes Default Value In a Program Yes Default Format 2 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _CE contains the value of encoder type for the main and auxiliary encoder RELATED COMMMANDS MT Specify motor type EXAMPLES CE 0 Configure encoders CE Interrogate configuration V _CE Assign configuration to a variable Note 1 When using pulse and direction encoders the pulse signal is connected to CHA and the direction signal is connected to CHB Note 2 when the controller is a DMC 1425 the y axis encoder is still considered the x axis auxiliary encoder for the sake of the CE command DMC 1400 Series Command Reference CE e 51 CF FUNCTION Conf
100. et and saved in non volatile memory it will be restored upon reset until a master reset is given to the controller The default format describes the format for numerical values which are returned when the command is interrogated The format value represents the number of digits before and after the decimal point Controller Usage The controller usage indicates which models within the DMC 1400 Econo Series line support the current command Controllers referenced in this manual are the DMC 1410 DMC 1411 DMC 1412 DMC 1414 DMC 1415 DMC 1416 DMC 1417 and DMC 1425 ALL indicates that all Econo controllers support the specific command Servo Update Rates The standard servo update period on all E Series Motion Controllers is Imsec To change the servo update use the command TM The controller firmware will allow operation down to 250 usec per sample Fast Firmware DMC 1415 1416 1425 The DMC 1415 DMC 1416 and DMC 1425 motion controllers can operate in fast mode that allows operation down to 125 usec per sample In order to run the motion controller in fast mode the fast firmware must be uploaded This can be done through the Galil terminal software such as DMCTERM and WSDK Use the menu option Update Flash EEPROM to change the controller firmware The fast firmware is included with the controller utilities When operating in fast mode there are functions that are disabled and or altered Commands which are not Allowed wh
101. eturns information regarding the Data Record DMC 1415 1416 1425 The controller s response to this command will be the return of 4 integers separated by commas The four fields represent the following First field returns the number of axes Second field returns the number of bytes to be transferred for general status Third field returns the number bytes to be transferred for coordinated move status Fourth field returns the number of bytes to be transferred for axis specific information ARGUMENTS QZ USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS QR Yes Default Value Yes Default Format Yes DMC 1415 1416 1425 Data Record 166 e QZ DMC 1400 Series Command Reference RA FUNCTION Record Array DESCRIPTION The RA command selects one or two arrays for automatic data capture The selected arrays must have been dimensioned by the DM command The data to be captured is specified by the RD command and time interval by the RC command ARGUMENTS RA n m where n m are dimensioned arrays as defined by DM command The contain nothing USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage RELATED COMMANDS DM RD RC EXAMPLES Record DM POS 100 RA POS RD_TP RC 1 PR 1000 BG EN Yes Default Value Yes Default Format Yes Dimension Array Record Data Record Interval Label Define a
102. f a motor has been manually adjusted following a motor off MO command ARGUMENTS SH USAGE While Moving No Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage ALL RELATED COMMANDS MO Motor off EXAMPLES SH Servo motor 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 DMC 1400 Series Command Reference SH e 183 SIN n FUNCTION Sine DESCRIPTION Returns the sine of the given angle in degrees ARGUMENTS SIN n where n is a signed number in degrees in the range 2147483648 to 2147483647 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS ASIN Arc sine COS Cosine ATAN Arc tangent ACOS Arc cosine TAN Tangent EXAMPLES MG SIN 0 0 0000 MG SIN 90 1 0000 MG SIN 180 0 0000 MG SIN 270 1 0000 MG SIN 360 0 0000 184 e SIN n DMC 1400 Series Command Reference SL FUNCTION Single Step DESCRIPTION For debugging purposes Single Step through the program after execution has paused at a breakpoint BK Optional argument allows user to specify the number of lines to execute before pausing again The BK command resumes normal program execution ARGUMENTS SLn where n is an integer rep
103. gated No Used as an Operand Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _XQ contains the current line number of execution for thread n and 1 if thread n is not running RELATED COMMANDS HX Halt execution EXAMPLES XQ Apple 0 Start execution at label Apple thread zero XQ data 1 Start execution at label data thread one XQ 0 Start execution at line 0 HINT Don t forget to quit the edit mode first before executing a program DMC 1400 Series Command Reference XQ e 221 ZR FUNCTION Zero DESCRIPTION The ZR command sets the compensating zero by changing the KD value in the control loop or returns the previously set value It fits in the control equation as follows D z GN z ZR z ARGUMENTS ZRn where n is an unsigned number in the range 0 to 1 decimal with a resolution of 1 256 USAGE While Moving Yes Default Value 9143 In a Program Yes Default Format 3 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage DMC 1410 1411 1412 1414 1417 OPERAND USAGE _ZR contains the value of the compensating zero RELATED COMMANDS KD Derivative KP Proportional KI Integral Gain EXAMPLES ZR 95 Set zero to 0 95 ZR Zero 0 9527 222 e ZR DMC 1400 Series Command Reference 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 stac
104. gisters Write Words Report Slave ID Note For those command formats that have addr this is the slave address The slave address may be designated or defaulted to the device handle number Note All the formats contain an h parameter This designates the connection handle number A thru F ARGUMENTS MBh 1 len array where len is the number of the bytes Array is the name of array containing data MBh addr 1 m n array where m is the starting bit number n is the number of bits array of which the first element will hold result MBh addr 2 m n array where m is the starting bit number n is the number of bits array of which the first element will hold result MBh addr 3 m n array where m is the starting register number DMC 1400 Series Command Reference MB e 135 USAGE n is the number of registers array will hold the response MBh addr 4 m n array where m is the starting register number n is the number of registers array will hold the response MBh addr 5 m n where m is the starting bit number nis 0 or 1 and represents the coil set to off or on MBh addr 6 m n where m is the register number nis the 16 bit value MBh addr 7 array where array is where the returned data is stored one byte per element MBh addr 15 m n array where m is the starting bit number n is the number of bits array contains the data one byte per element
105. grator term will reduce the position error at rest to zero ARGUMENTS Kln where n in an unsigned number in the range 0 to 2047 875 with a resolution of 1 128 returns the value of the integrator USAGE While Moving Yes Default Value In a Program Yes Default Format 4 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _KI contains the value of the integrator RELATED COMMANDS KP Proportional Gain KD Derivative ZR Zero IL Integrator Limit EXAMPLES KI 12 Specify integral gain KI Return value 0012 120 e KI DMC 1400 Series Command Reference KP FUNCTION Proportional Constant DESCRIPTION KP designates the proportional constant in the controller filter The filter transfer function is D z 4 KP 4 KD z 1 z KI z 2 z 1 For further details see the section Theory of Operation in the product manual ARGUMENTS KPn where n is an unsigned number in the range 0 to 1023 875 with a resolution of 125 returns the value of the proportional constant USAGE While Moving Yes Default Value In a Program Yes Default Format 4 2 Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _KP contains the value of the proportional constant RELATED COMMANDS KP Proportional Gain KI Integral constant DMC 1400 Series Command Reference KP e 121 KS FUNCTION Step Motor Smoothing DESCRIPTION The KS parameter smoothes t
106. he frequency of the step motor pulses Larger values of KS provide greater smoothness This parameter will also increase the motion time by 3KS sampling periods KS adds a single pole low pass filter onto the output of the motion profiler This function smoothes out the generation of step pulses and is most useful when operating in full or half step mode Note The KS will cause the step output to be delayed ARGUMENTS KSn where n is a positive integer in the range between 0 5 and 16 with a resolution of 1 USAGE 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 Controller Usage ALL OPERAND USAGE _KS contains the value of the smoothing constant RELATED COMMANDS MT Motor Type IT Independent Time Constant Smoothing Function MC Motion Complete EXAMPLES KS 5 Set smoothing parameter to 5 Hint KS is valid for step motor only 122 e KS DMC 1400 Series Command Reference 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 While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS LL List Labels ES List Program LV List Variable EXAMPLES LA CA 10 LA 5 NY 25 VA 17
107. he reference and establishes a new reference after the elapsed time period ARGUMENTS ATn 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 0 USAGE While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage ALL EXAMPLES The following commands are sent sequentially ATO Establishes reference time 0 as current time AT 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 28 e AT DMC 1400 Series Command Reference GATANIn FUNCTION Inverse tangent DESCRIPTION Returns in degrees the arc tangent of the given number ARGUMENTS ATAN n n is a signed number in the range 2147483647 to 2147483647 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS ASIN Arc sine SIN sine ACOS Arc cosine COS Cosine TAN Tangent EXAMPLES MG ATAN 10 84 2894 MG ATAN 0 0 0000 MG ATAN 10 84 2894 DMC 1400 Series Command Reference ATAN n e 29 AUTO FUNCTION Subrouti
108. hless Phase Begins BC Brushless Commutation 36 e BD DMC 1400 Series Command Reference BG FUNCTION Begin DESCRIPTION The BG command starts a motion When Used as an Operand the BG command will return a 1 if there is a commanded motion in progress a 0 otherwise ARGUMENTS BG USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE _BGx contains a 0 if motion complete on the axis otherwise contains a 1 RELATED COMMANDS AM After motion complete ST Stop motion EXAMPLES PR 2000 Set up for a relative move BG Start motion HM Set up for the homing BG Start motion JG 1000 Set up for jog BG Start motion STATE _BG Assign a to STATE if the axis is performing a move 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 DMC 1400 Series Command Reference BG e 37 BI FUNCTION Brushless Inputs DESCRIPTION The BIx indicates the starting number for the input lines to which the Hall sensors have been wired for sinusoidally commutated motors These inputs must be the general use inputs bits 1 7 The Hall sensors of the motor must be connected with consecutive numbers of input lines The brushless setup comma
109. igital outputs Note When using Modbus devices DMC 1415 1416 1425 only the 1 O points of the Modbus devices are calculated using the following formula n SlaveAddress 10000 HandleNum 1000 Module 1 4 Bitnum 1 Slave Address is used when the Modbus device has slave devices connected to it and specified as Addresses 0 to 255 Please note that the use of slave devices for Modbus are very rare and this number will usually be 0 HandleNum is the handle specifier from A to F Module is the position of the module in the rack from 1 to 16 BitNum is the I O point in the module from 1 to 4 USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage ALL RELATED COMMANDS SB Set Bit OP Define all outputs EXAMPLES CB 1 Clear output bit 1 CB 2 Clear output bit 2 CB 3 Clear output bit 3 48 e CB DMC 1400 Series Command Reference CC FUNCTION Configure Communications Port 2 DESCRIPTION The CC command configures baud rate handshake echo and daisy chain features for the AUX SERIAL PORT referred to as Port 2 This command must be given before using the MG IN or CI commands with Port 2 ARGUMENTS CC m n r p m Baud rate 300 1200 4800 9600 19200 38400 n Handshake 0 for handshake off 1 for handshake on r Mode 0 for daisy chain off 1 for daisy chain on p Echo 0 for echo off 1 for echo on Note echo only
110. igure DESCRIPTION The CF command is used to specify the communication port to which unsolicited responses are sent By default the DMC 1415 1416 1425 will send unsolicited responses to the serial port ARGUMENTS CF n where n is A thru F for Ethernet handles 1 thru 6 S for Main serial port USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line No Controller Usage DMC 1415 1416 1425 OPERAND USAGE _CF will return the current port selected for unsolicited responses from the controller The _CF will return a decimal value EXAMPLES CFA Select Ethernet handle A to return unsolicited responses MG CF Interrogate configuration 65 000 Response from CF showing handle A as default port The number 65 is the decimal representation for the ASCII character A 52 e CF DMC 1400 Series Command Reference CI FUNCTION Communication Interrupt DESCRIPTION The CI command configures a program interrupt based on characters received on either Port 1 the MAIN serial port or Port 2 the AUX serial port An interrupt causes program flow to jump to the COMINT subroutine label If multiple program threads are used the COMINT subroutine runs in thread 0 and thread 1 continues to run in the background without interruption The characters received on the serial port are stored in internal variables such as P2CH See chapter 7 for more detailed information on the communications interrupt ARGUMENTS
111. in 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 RE is used REO clears the trippoint To avoid returning to the main program on an interrupt use the ZS command to zero the subroutine stack No RE needed after ZS ARGUMENTS REn where n 00r1 0 clears the interrupted trippoint 1 restores state of trippoint USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage RELATED COMMANDS POSERR LIMSWI EXAMPLES A JP A EN POSERR MG ERROR SB1 RE No Default Value Yes Default Format ALL 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 ALIMSWI and POSERR subroutines to function DMC 1400 Series Command Reference REM FUNCTION Remark DESCRIPTION REM is used for comments The REM statement is NOT a controller command Rather it is recognized by Galil PC software which strips away the REM lines before downloading the DMC file to the controller REM differs from NO or in the following ways 1 NO comments are downloaded to the cont
112. ine dimension of array Tests with 1000 elements 68 e DM DMC 1400 Series Command Reference DP FUNCTION Define Position DESCRIPTION The DP command sets the current motor position and current command positions to a user specified value The units are in quadrature counts This command will set both the TP and RP values The DP command sets the commanded reference position in stepper mode The units are in steps Example DPO This will set the DE value to zero but will not effect the TP value ARGUMENTS DPn where n is a signed integer in the range 2147483648 to 2147483647 decimal returns the current position of the motor USAGE While Moving No Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _DP contains the current position EXAMPLES DP 0 Sets the current position of the X axis to 0 DP 50000 Sets the current position to 50000 DP 0050000 Returns the 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 DMC 1400 Series Command Reference DP e 69 DT FUNCTION Delta Time DESCRIPTION The DT command sets the time interval for Contouring Mode Sending the DT comman
113. 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 1 restores trippoint USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage RELATED COMMANDS ININT II EXAMPLES FASIM JP A EN FININT MG INPUT INTERRUPT SB 1 RI1 No Default Value Yes Default Format Yes No ALL 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 172 e RI DMC 1400 Series Command Reference RL FUNCTION Report Latched Position DESCRIPTION The RL command will return the last position captured by the latch The latch must first be armed by the AL command and then a 0 must occur on the Input 1 The armed state of the latch can be configured using the CN command ARGUMENTS RL USAGE While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE _RL contains the latched position RELATED COMMAND AL Arm Latch EXAMPLES JG 5000 Set up to jog BG Begin jog AL Arm the latch assume that after about 2 seconds input goes l
114. interrupted The controller returns a when the Burn variables is complete Operand returns size of installed EEPROM ARGUMENTS None USAGE While Moving No Default Value In a Program No Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage DMC 1412 1414 1415 1416 1425 Notel This command will store the ECAM table values in non volatile EEPROM memory Note2 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 5 sec The timeout can be changed in the Galil software but this warning does not affect the operation of the controller or software 46 e BV DMC 1400 Series Command Reference BZ FUNCTION Brushless Zero DESCRIPTION The BZ command is when the controller is configured for sinusoidal commutation This command drives the motor to zero magnetic phase and then sets the commutation phase to zero This command may be given when the motor is off ARGUMENTS BZx where x is a real number between 9 998 and 9 998 The parameter x sets the voltage to be applied to the amplifier during the initialization In order to be accurate the BZ command must be large enough to move the motor When the argument is
115. ion No Operation No Operation No Operation End of Program Default Value Default Format 146 e NO DMC 1400 Series Command Reference NZ FUNCTION Notch Zero DESCRIPTION The NZ command sets the real part of the notch zero ARGUMENTS NZ n n or NZX n where n is ranges from 1 Hz to 16 TM n Returns the value of the Notch filter zero for the specified axis USAGE While Moving Yes Default Value 0 5 In a Program Yes Default Format Command Line Yes Controller Usage DMC 1415 1416 1425 OPERAND USAGE _NZx contains the value of the Notch filter zero for the specified axis RELATED COMMANDS NB Notch Bandwidth NOTE This command is only valid for the DMC 1415 1416 and 1425 controllers NF NF Notch Filter EXAMPLES NZX 10 Sets the real part of the notch zero to 10 2 Hz NOTE This command is only valid for the DMC 1415 1416 and 1425 controllers DMC 1400 Series Command Reference NZ e 147 OB FUNCTION Output Bit DESCRIPTION The OB n logical expression command defines output bit n as either 0 or 1 depending on the result from the logical expression Any non zero value of the expression results in a one on the output ARGUMENTS OB n expression where n is output bit expression is any valid logical expression variable or array element USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage EXAMPLES OB 1 POS 1 OB 2
116. ion the value of RP HINT RP command is useful when operating step motors since it provides the commanded position in steps when operating in stepper mode DMC 1400 Series Command Reference RP e 175 RS FUNCTION Reset DESCRIPTION The RS command resets the state of the processor to its power on condition The previously saved state of the controller along with parameter values and saved sequences are restored The RS 1 command resets the state of the processor to its factory default without modifying the EEROM USAGE While Moving Yes Default Value In a Program No Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE _RS contains the power up error bit 0 for variable checksum error bit 1 for parameter checksum error bit 2 for program checksum error bit 3 for master reset error no program to execute EXAMPLES RS Reset the controller 176 RS DMC 1400 Series Command Reference lt control gt R lt control gt S FUNCTION Master Reset DESCRIPTION The Master Reset command resets the DMC 1400 to factory default settings and erases EEPROM A master reset can also be performed by installing a jumper on the DMC 14XX at the location labeled MRST and resetting the controller power cycle or pressing the reset button Remove the jumper after this procedure USAGE While Moving Yes Default Value In a Program No Default Format Command Line Y
117. ion is the specified label before the comma DMC 1400 Series Command Reference JP e117 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 subroutine statement The conditional statements are combined in pairs using the operands amp and 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 Note Subroutines can be nested 8 deep in the standard controller ARGUMENTS JS destination condition where destination is a line number or label condition is a conditional statement using a logical operator The logical operators are lt less than or equal to gt greater than equal to lt less than or equal to gt greater than or
118. ion on Automatic Subroutines in the user manual ARGUMENTS FL n where n is a signed integer in the range 2147483648 to 2147483647 2147483647 turns off the forward limit 9 returns the value of the forward limit switch USAGE 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 Controller Usage ALL OPERAND USAGE _FL contains the value of the forward software limit RELATED COMMANDS BL Reverse Limit _LF Forward Limit Operand PF 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 HINT The DMC 141X also provides hardware limits 92 e FL DMC 1400 Series Command Reference GAFRACIN FUNCTION Fractional part DESCRIPTION Returns the fractional part of the given number ARGUMENTS FRAC n n is a signed number in the range 2147483648 to 2147483647 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS INT Integer part EXAMPLES MG FRAC 1 2 0 2000 MG FRAC 2 4 0 4000 DMC 1400 Series Command Reference FRAC n e 93 FV FUNCTION Velocity Feedforward DESCRIPTION The FV command sets the velocity f
119. is 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 0 For stepper mode operation the sequence consists of the first two stages The frequency of the motion in stage 2 is 256 cts sec ARGUMENTS None USAGE While Moving No Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE _HM contains the state of the home switch RELATED COMMANDS CN Configure Home FI Find Index Only FE Find Home Only EXAMPLES HM Set Homing Mode BG Begin Homing HINT You can create your own custom homing sequence by using the FE Find Home Sensor only and FI Find Index only commands DMC 1400 Series Command Reference HX FUNCTION Halt Execution DESCRIPTION The HX command halts the execution of any of the two programs that may be running independently in multitasking The parameter n specifies either program to be halted ARGUMENTS HXn
120. isplayed 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 m n where m and n are unsigned numbers in the range 0 lt m lt 10 and 0 lt n lt 4 A negative m specifies hexadecimal format VF returns the value of the format for variables and arrays USAGE 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 Controller Usage ALL OPERAND USAGE _VF contains the value of the format for variables and arrays 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 212 e VF DMC 1400 Series Command Reference VM FUNCTION Coordinated Motion Mode DESCRIPTION The VM command specifies the coordinated motion mode and the plane of motion This command is only used for the DMC 1425 two axis controller The motion is specified by the instructions VP and CR which specify linear and circular segments Up to 511 segments may be given before the Begin Sequence BGS command Additional segments may be given during the motion when the buffer frees additional spaces for new segments It is the responsibility of the user to keep enough motio
121. itions are selected by the parameter m where m is the bit mask for the selected conditions as shown below Prior to using the EI command one IRQ line must be jumpered on the DMC 141X An interrupt service routine must also be incorporated in your host program See Chapter 4 in the product manual for details ARGUMENTS EI n where n is interrupt condition for bits set n XBit number 2 Condition Application Program stopped Reserved 5 4 3 2 1 0 7 5 4 3 2 1 1 1 1 1 1 1 E io ip E li impar Tips impar 0 ie The conditions must be re enabled after each occurrence USAGE While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage DMC 1410 1411 1417 RELATED COMMANDS UI User interrupt EXAMPLES 1 Specify interrupts for motion complete and limit switch Enable bits 8 and 10 n 2 9 28 1024 256 1280 EI 1280 2 Specify interrupts on Inputs 2 and 4 Enable bits 1 and 3 n 2 2 2 8 10 EI 10 DMC 1400 Series Command Reference El e 77 ELSE FUNCTION Else function for use with IF conditional statement DESCRIPTION The ELSE command is an optional part of an IF conditional statement The ELSE command must occur after an IF command and it has no arguments It allows for the execution of a command only when the argument of the IF command evaluates False If the argument of the IF
122. k 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 ARGUMENTS ZSn where 0 returns stack to original condition 1 eliminates one return on stack USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line No Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _ZSn contains the stack level for the specified thread where n 0 or 1 The response an integer between zero and seven indicates zero for beginning condition and seven for the deepest value EXAMPLES Ill Input Interrupt on 1 A JP A EN Main program ININT Input Interrupt MG INTERRUPT Print message S _ZS Interrogate stack S Print stack ZS Zero stack S _ZS Interrogate stack S EN DMC 1400 Series Command Reference ZS e 223 THIS PAGE LEFT BLANK INTENTIONALLY 2240 ZS DMC 1400 Series Command Reference Index A DOPE 2222055 a eect ea eee ee 13 180 181 OfE On ErrO ido ida ii Pk 13 AcceleratiOM ooonnoccnnnncccnnonnaconnnnss 33 35 36 38 41 45 Analog Feedback ooooonnoonncnnncinonincnocnnnonconn canon nono nconnos 18 ACA tices 23 AMV id VREE VAT 64 Automatic Record ooooococonocccinancnononancnonnnanononnncronnnos 169 Automatic RecoldO cooooooccccnonoccnononcnononancnonananononnanonnns 169 Au
123. l digits denoting 32 bits of integer m is up to four hexadecimal digits denoting 16 bits of fraction USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS x MG 8 4 EXAMPLES x S7f ffff 0000 y x amp 0000ffff 0000 z x amp ffff0000 0000 10000 DEFAULTS Yes Default Value Yes Default Format Yes ALL Multiply shift left Divide shift right Print in hexadecimal store 2147483647 in x store lower 16 bits of x in y store upper 16 bits of x in z DMC 1400 Series Command Reference amp FUNCTION Bitwise Logical Operators AND and OR DESCRIPTION The operators amp and are typically used with IF JP and JS to perform conditional jumps however they can also be used to perform bitwise logical operations ARGUMENTS n amp m or n m where n and m are signed numbers in the range 2147483648 to 2147483647 For IF JP and JS n and m are typically the results of logical expressions such as x gt 2 USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS COM n IF JP JS EXAMPLES IF x gt 2 amp y 4 MG true ENDIF MG 1 2 3 0000 DEFAULTS Yes Default Value Yes Default Format Yes ALL Bitwise complement If statement Jump statement Jump subroutine x must be greater than 2 and y equal to 4 for the message to print Bitwise operation 01 OR 10 is 11 3
124. lawl E E 120 KP AA AA AAA 121 ESA A RR od 122 DA COP RO O 123 y D E TEE O 124 A E LO 123 Eo o 126 FAM WE A ia 128 El a as 129 EM A A A A AA AAA EA AAA 130 ERA id ae 131 TS CE An O 132 O 133 A aha Sarda E E dag aa tiaras outs bad ie tea Gg denen Aiya seed Ras aha age keane ans 134 MB acters se bass AA AN AA A A ie 135 MC A ei RATA E A A AE o tetas a a AR ai 137 VIC TIME ssc sci dvs asa ideri eE sae E RR EEEE OEE EEA E E RE EAR 138 DMC 1400 Series Command Reference Contents e iii IE ce cat A SN A A AS de E dad 140 Md et ado tar dal 14 A A ER E BTR SYP od IA NR E AA 142 A Tahara TIRE veal OAS aon dabei Siang Ds seh ses UD Oa ete Ren le Deana A eed 143 IB ced a ahd a Mid ire shai ict haan heh oh as SEL Seat ied ONS aes ath h hd is asia cia dea Sa Onshore baa a 144 PTE os ees cease A cad tw ea ea A ALT ase 145 NOS A aaa 146 A A O A O O 147 VB id 148 A O tenes 149 OE a a RT 150 A A 151 EN 152 DOTA di 154 PICD PO CID A A ites ea A aon Tikes deca 155 O A O 156 PINM PPNM test e an thea ad 157 PLSD PIS TV A aa alg eaves etait Nan E dk Gran Jas pect abhi Bost ek 158 E OY D A E SPER REGO OO ROR PE A ER E ER RO A A EEE POL ST TE REED 159 A TR a Se A A O Md RE OR GE a ico 160 PEs tks cnt A Malla a Nhe Deas Da edt Saag ate Le BOs Sash LMI a rah Bon SD DISS dl Saad AUG a 161 a e no es 162 A O Cee 163 A RE PRR RSE NO PY ORT 164 A O II EE AAE 165 OT habs ere tes E TE ns Ni SLM kl Sh Sa IL Ss EE E OS Dene LLL A Se a TLDs Slee E 166 O O O
125. le Off ON Er rr eceeceseeeeesceesceeeeeeeeeeeceeseeseeneeenseenaes 13 A esas eed oats Ms Ns E 180 A dee LN ek dE oe 13 Vector Acceleration ccccesceecceseeseeeteesseeneeenes 210 12 Operand Vector Mode cia 215 Internal Variable oooonnonnoniccnncnnonnncncncncononononncnnnnos 180 Circular Interpolation cccceceeseeeeeeeeeeteeeteeees 214 226 e Index DMC 1400 Series Command Reference Clear Sequence 62 Ellipse Seale sence aviond ie 88 Vector Motion cccoconcccnnnoncccnonancnnnnnancnnnanccconananoronnnnonns 214 Exc ti ota dae lao 61 Vector Position ooooooccnnoncccnnonccononcccnnonncconnnanononnnanonos 215 Vector Smoothing oooooonoconococononononnnonncnn nono nnnnonnnon nono 218 Vector Speed i cn ancients Sani da 217 Vector Speed Ratio ceceecesceseesteeseeereeeeeeeeeeereeerens 216 Which Handle sceniniai a 220 DMC 1400 Series Command Reference Index 227
126. ller 1 Correct wiring of the brushless motor phases 2 An approximate value of the motor s magnetic cycle 3 The value of the BB command If hall sensors are used 4 The results of the hall sensor wiring test If hall sensors are used This command will turn the motor off when done and may be given when the motor is off Once the brushless motor is properly setup and the motor configuration has been saved in non volatile memory the BS command does not have to be re issued The configuration is saved by using the burn command BN Note In order to properly conduct the brushless setup the motor must be allowed to move a minimum of one magnetic cycle in both directions ARGUMENTS BSX V nor BS V n where V is areal number between 0 and 10 and n is a positive integer between 100 or 1000 USAGE While Moving No Default Value of V 0 In a Program Yes Default Value of n 200 Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage DMC 1412 1415 1410 1417 EXAMPLES BS 2 900 Apply set up test to Z axis with 2 volts for 900 millisecond on each step RELATED COMMANDS BA Brushless Axis BB Brushless Phase Begins BC Brushless Commutation BD Brushless Degrees DMC 1400 Series Command Reference BS e 45 BV FUNCTION Burn Variables and Array DESCRIPTION The BV command saves the defined variables and arrays in non volatile EEPROM memory This command typically takes up to 2 seconds to execute and must not be
127. log input 1 to a variable 22 e AN n DMC 1400 Series Command Reference AO FUNCTION Analog Out DESCRIPTION The AO command sets the analog output voltage of Modbus Devices connected via Ethernet ARGUMENTS AO m n where m is the I O number calculated using the following equations m SlaveAddress 10000 HandleNum 1000 Module 1 4 Bitnum 1 Slave Address is used when the Modbus device has slave devices connected to it and specified as Addresses 0 to 255 Please note that the use of slave devices for Modbus are very rare and this number will usually be 0 HandleNum is the handle specifier from A to F 1 to 6 Module is the position of the module in the rack from 1 to 16 BitNum is the I O point in the module from 1 to 4 n the voltage which ranges from 9 99 to 9 99 USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS SB CB EXAMPLES Yes Default Value Yes Default Format Yes DMC 1415 1416 1425 Set Bit Clear Bit DMC 1400 Series Command Reference AO e 23 AP FUNCTION After Absolute Position DESCRIPTION The After Position AP command is a trippoint used to control the timing of events This command will hold up the execution of the following command until one of the following conditions have been met 1 The commanded motor position crosses the specified absolute position 2 The motion profiling on the axis is complete 3
128. ltering and 0 004 means maximum filtering Note that the filtering results in longer motion time The use of IT will not effect the trippoints AR and AD The trippoints AR and AD monitor the profile prior to the IT filter and therefore can be satisfied before the actual distance has been reached if IT is NOT 1 ARGUMENTS ITn where n is a positive number in the range between 0 004 and 1 0 with a resolution of 1 256 returns the value of the independent time constant USAGE 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 Controller Usage ALL OPERAND USAGE _IT will return the value of the independent time constant EXAMPLES IT 0 8 Set independent time constants IT Return independent time constant 0 8 114 e IT DMC 1400 Series Command Reference IV FUNCTION Interrogate Interrupt DESCRIPTION The IV command interrogates and clears the interrupt When an interrupt occurs the IV command is sent from the host PC The meaning is read and the interrupt condition is cleared The responses to the IV command are as follows Bit Number Condition General purpose input Reserved Applications programs stopped User Interrupt Watch Dog Limit Switch Position Error O N U A UAN Motion Complete ARGUMENTS IV n USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Us
129. lue of the vector acceleration for the specified axis RELATED COMMANDS VS VP VE CR VM BG VD VT EXAMPLES VA 1024 VA 00001024 VA 20000 VA 0019456 ACCEL VA Vector Speed Vector Position End Vector Circle Vector Mode Begin Sequence Vector Deceleration Vector smoothing constant Set vector acceleration to 1024 counts sec Return vector acceleration Set vector acceleration Return vector acceleration Assign variable ACCEL the value of VA DMC 1400 Series Command Reference VA e 209 VD FUNCTION Vector Deceleration DESCRIPTION This command sets the deceleration rate of the vector in a coordinated motion sequence ARGUMENTS VDn where n is an unsigned integer in the range 1024 to 68431360 The parameter input will be rounded down to the nearest factor of 1024 The units of the parameter is counts per second squared n Returns the value of the vector deceleration for the coordinate plane USAGE While Moving No Default Value 262144 In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL OPERAND USAGE _VDx contains the value of the vector deceleration for the coordinate system RELATED COMMANDS VA Vector Acceleration VS Vector Speed VP Vector Position CR Circle VE Vector End VM Vector Mode BG Begin Sequence VT Smoothing constant EXAMPLES VECTOR Vector Program Label VMXY Specify plane of motion VA1000000 Vector Acceleration VD 5000000 Vector Decele
130. m ARGUMENTS IF condition where Conditions are tested with the following logical operators lt less than or equal to gt greater than equal to lt less than or equal to gt greater than or equal to lt gt not equal USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line No Controller Usage DMC 1415 1416 1425 RELATED COMMANDS ELSE Optional command to be used only after IF command ENDIF End of IF conditional Statement EXAMPLES IF _ TEX lt 1000 IF conditional statement based on X motor position MG Motor is within 1000 counts of zero Message to be executed if IF conditional statement ENDIF End of IF conditional statement IF _TPX gt 5000 amp _TPY gt 5000 IF conditional statement based on X and Y motor position MG Motors too Far Message to be executed if IF statement is true ENDIF End of IF statement 102 e IF DMC 1400 Series Command Reference 1H FUNCTION Open Internet Handle DESCRIPTION The IH command is used when the DMC 1415 DMC 1416 or DMC 1425 is operated as a master also known as a client This command opens a handle and connects to a slave Each controller may have 6 handles open at any given time They are designated by the letters A through F To open a handle the user must specify 1 The IP address of the slave 2 The type of session TCP IP or UDP IP 3 The port number of the slave This number is not necessary if the slave device does not
131. n represents the block To configure a block as an output block substitute a one into that n in the formula 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 3 and 4 is to be configured as an output CO 6 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 Yes Controller Usage DMC 1415 1416 1425 OPERAND USAGE _CO returns output configuration value RELATED COMMANDS CB Clear Output Bit SB Set Output Bit OP Set Output Port TI Tell Inputs EXAMPLES CO 0 Configure all points as inputs Co 1 Configures block 1 to outputs on extended I O Hint See appendix for more information on the extended I O boards DMC 1400 Series Command Reference CO e 57 COM n FUNCTION Bitwise complement DESCRIPTION Performs the bitwise complement NOT operation to the given number ARGUMENTS COM n where n is a signed integer in the range 2147483647 to 2147483647 The integer is interpreted as a 32 bit field USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS amp Logical operators AND and OR EXAMPLES MG 8 0 COM 0 FFFFFFFF MG 8 0 COM FFFFFFFF 00000000 58 e COM n DMC 1400 Series Command Reference COMINT FUNCTION Communication interrupt automa
132. n segments in the buffer to ensure continuous motion The Vector End VE command must be given after the last segment This allows the controller to properly decelerate ARGUMENTS VM n m where n and m specify plane of vector motion Vector Motion can be specified for one axis by specifying 2 parameter m as N the designation for the virtual axis Specifying one axis is useful for obtaining sinusoidal motion on axis USAGE While Moving In a Program Command Line Controller Usage OPERAND USAGE No Default Value X Y Yes Default Format Yes ALL _VM contains instantaneous commanded vector velocity for the coordinate system RELATED COMMANDS VP VS VA VD CR VE CS VT EXAMPLES VM XY CR 500 0 180 VP 100 200 VE BGS Vector Position Vector Speed Vector Acceleration Vector Deceleration Circle End Vector Sequence Clear Sequence Vector smoothing constant Specify coordinated mode for X Y Specify arc segment Specify linear segment End vector Begin sequence DMC 1400 Series Command Reference VM e 213 VP FUNCTION Vector Position DESCRIPTION The VP command defines the target coordinates of a straight line segment in a 2 axis motion sequence which have been selected by the VM command The units are in quadrature counts and are a function of the vector scale factor set using the command VS ARGUMENTS VPn m lt o gt p where n and m are signed integers in the range 21474
133. ncoder positions DUALX DE 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 66 e DE DMC 1400 Series Command Reference DL FUNCTION Download DESCRIPTION The DL command transfers a data file from the host computer to the DMC 14XX Instructions in the file will be accepted as a datastream without line numbers The file is terminated using lt control gt Z lt control gt Q lt control gt D or DO NOT insert spaces before each command If no parameter is specified downloading a data file will clear any programs in the DMC 14XX RAM The data is entered beginning at line 0 If there are too many lines or too many characters per line the DMC 14XX 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 DMC 14XX program in RAM ARGUMENTS DLn n no argument n Label Begins download at line following Label where label may be any valid program label Downloads program beginning at line 0 Erases programs in RAM n Begins download at end of program in RAM USAGE While Moving Yes Default Value In a Program No Default Format Comman
134. nd BS can be used to determine the proper wiring of the hall Sensors ARGUMENTS BIx where x indicates the starting input line 0 clears the hall sensor configuration for the axis USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage EXAMPLE BIS RELATED COMMANDS BA BB BC BD BM BO BS BZ Yes Default Value Yes Default Format Yes Yes Yes DMC 1412 1415 1410 1417 The Hall sensors of the brushless motor are connected to inputs 5 6 and 7 Brushless Axis Brushless Phase Begins Brushless Commutation Brushless Degrees Brushless Modulo Brushless Offset Brushless Setup Brushless Zero 38 e BI DMC 1400 Series Command Reference BK FUNCTION Breakpoint DESCRIPTION For debugging Causes the controller to pause execution of the given thread at the given program line number which is not executed All other threads continue running Only one breakpoint may be armed at any time After a breakpoint is encountered a new breakpoint can be armed to continue execution to the new breakpoint or BK will resume program execution The SL command can be used to single step from the breakpoint The breakpoint can be armed before or during thread execution ARGUMENTS BK n m where n is an integer in the range 0 to 999 which is the line number to stop at n must be a valid line number in the chosen thread m is an integer in the range 0 to 7 The threa
135. nd is used in motion programs to wait until after the specified input has occurred Ifn is positive it waits for the input to go high If n is negative it waits for n to go low ARGUMENTS AI n where n is an integer in the range to 7 decimal for DMC 1410 1411 1417 1415 1416 and 0 to 3 decimal for the DMC 1425 USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage ALL RELATED COMMANDS IN n Function to read input 1 through 7 or 1 through 3 for DMC 1425 II Input interrupt ININT Label for input interrupt EXAMPLES A Begin Program AI7 Wait until input 7 is high SP 10000 Speed is 10000 counts sec AC 20000 Acceleration is 20000 counts sec2 PR 400 Specify position BG Begin motion EN End Program HINT The AI command actually halts execution until specified input is at desired logic level Use the conditional Jump command JP or input interrupt II if you do not want the program sequence to halt DMC 1400 Series Command Reference Ale 19 AL FUNCTION Arm Latch DESCRIPTION The AL command enables the latching function high speed position capture of the controller When the AL command is used to arm the position latch the encoder position of the main encoder input will be captured upon a low going signal on Input 1 The command RL returns the captured position value When interrogated or used in an operand the AL comma
136. nd will return a 1 if the latch is armed or a zero after the latch has occurred The CN command will change the polarity of the latch ARGUMENTS ALn where n is X or Y for the DMC 1425 or n is SX for the aux encoder on DMC 1415 16 USAGE While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE _ALx contains the state of the latch 0 not armed 1 armed RELATED COMMANDS RL Report Latch EXAMPLES START Start program AL Arm latch JG 50000 Set up jog at 50000 counts sec BG Begin the move LOOP Loop until latch has occurred JP LOOP AL 1 RL Transmit the latched position EN End of program 20 e AL DMC 1400 Series Command Reference AM FUNCTION After Move DESCRIPTION The AM command is a trippoint used to control the timing of events This command will hold up execution of the following commands until the current move on the specified axis or axes is completed AM occurs when the profiler is finished generating the last position command However the servo motor may not be in the final position Use TE to verify position error for servos or use the MC trippoint to wait until final actual position is recorded ARGUMENTS AM USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage ALL RELATED COMMANDS BG _BG
137. ne to run automatically upon power up DESCRIPTION AUTO denotes code to run automatically when power is applied to the controller or after the controller is reset When no host software is used with the controller AUTO and the BP command are required to run an application program on the controller USAGE While Moving Yes In a Program Yes Command Line No Controller Usage ALL RELATED COMMANDS BP Burn program EXAMPLES AUTO PRX 1000 BGX AMX EN E NOTE Use EN to end the routine 30 e AUTO DMC 1400 Series Command Reference FAUTOERR FUNCTION Automatic subroutine for notification of EEPROM checksum errors DESCRIPTION FAUTOERR will run code upon power up if data in the EEPROM has been corrupted The EEPROM is considered corrupt if the checksum calculated on the bytes in the EEPROM do not match the checksum written to the EEPROM The type of checksum error can be queried with RS USAGE While Moving Yes In a Program Yes Command Line No Controller Usage DMC 14x5 6 ONLY RELATED COMMANDS _RS Checksum error code EXAMPLES AUTO WT 2000 MG AUTO JP AUTO AUTOERR WT500 MG AUTOERR _RS NOTE An application program must be executing for the automatic subroutine to function which runs in thread 0 NOTE Use EN to end the routine DMC 1400 Series Command Reference HAUTOERR e 31 AV FUNCTION After Vector Distance DESCRIPTION The AV command is
138. nonnconncnnccnnocnnonnnonos 127 SMA da 63 76 101 151 Clear Sequence niron i Sites eects 62 ROU Puts ria ds 220 Enid of Motion ici 125 Step Motors ii 123 Logical Operators cite 118 KS Smoothing ti 123 Master Resol teens 179 199 SO 6 Sere ee 144 176 196 Math Functions Stop 189 Absoltite Value nui dios tati 80 A DOL ith eevee e cee sesh eee EEEE 13 180 181 Logical Operators scen oei 118 Stop Code ecient ios 1 100 110 138 METIME coccion lios esa 138 Subroutine Stack ccuiocercisonecaoo chs etevesceenctact eetesereases 106 PEA a e aea 109 A E A eaaeset fuaebtees teeees 168 A a e seuss Heansth Medes 23 Tell Error Motion Complete Position ETOT uc cents cosa ie 17 MCETIME S hree e al 138 Tell Handle Status cecceccsseeseeseeeseeeeeeereeseeereees 197 Motion Smoothing Terminal a tio iia 63 VT218 Time Moving A testestevisetses eeestel heamepesty 199 AcceleratiONss iesise 33 35 36 38 41 45 Update Rateee sd soeces lidia 199 Begin Molist ida 37 TIMO Ud tec a do ed 138 A EN 214 METIME cu o ee apen stat 138 Contour Modes esi eiere luto 50 Torque Lit e ine rsin das 200 Home Inputs 2 0 0 ceceesececeeseeeeeeeeceeeeeeseeseeseenseenaes 56 TYIpPOINt AOAR E nono nocnnc nnos 17 24 25 32 138 Jog24 After Vector Distance ooooooonoconococonooononnnonncnanonononnnnos 32 A E 65 TAPPO Serea nean eesi aan aE Eei ea 25 106 Multitasking ceccescssecsceeseeeseeeseeseeeeeeeereees 101 222 Update Rate ida 199 NATA A 147 A A O E Meets 67 OE Variab
139. o the axes designated by the command VM When m gt n the resolution of the first axis x will be divided by the ratio m n When m lt n the resolution of the second axis y will be divided by n m The resolution change applies for the purpose of generating the VP and CR commands effectively changing the axis with the higher resolution to match the coarser resolution ARGUMENTS ES m n where m and n are positive integers in the range between 1 and 65 535 USAGE While Moving Yes Default Value 1 1 In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS VM Vector Mode CR Circle move VP Vector position EXAMPLES VMXY ES3 4 Divide Y resolution by 4 3 NOTE ES must be issued after VM command DMC 1400 Series Command Reference ES e 87 ET FUNCTION DESCRIPTION ARGUMENTS ET n m USAGE RELATED COMMANDS EXAMP Electronic cam table The ET command sets the ECAM table entries for the slave axis The values of the master are not required The slave entry n is the position of the slave when the master is at the point n 1 o where 1 is the interval and o is the offset as determined by the EP command where n is an integer between 0 and 256 m is an integer in the range between 2 147 438 648 and 2 147 438 647 While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage EB EG EM EP EQ LES ET 7 1000 Yes Default Value
140. ode RD_TT Specify Data Type RC 2 Begin recording and set 4 msec between records JG 1000 BG Begin motion A JP HA RC 1 Loop until done MG DONE RECORDING Print message EN End program 168 e RC DMC 1400 Series Command Reference 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 ARGUMENTS RD ml m2 where the arguments are the data type to be captured using the record array feature The order is important Each of the two data types corresponds with the array specified in the RA command USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE _RD contains the address for the next array element for recording RELATED COMMANDS RA Record Array RC Record Interval DM Dimension Array EXAMPLES DM ERRORX 50 Define array RA ERRORX Specify record mode RD TE Specify data type RC1 Begin record JG 1000 BG Begin motion DMC 1400 Series Command Reference RD e 169 RE FUNCTION Return from Error Routine DESCRIPTION The RE command is used to end a position error handling subroutine or limit switch handling subroutine The error handling subroutine begins with the POSERR label The limit switch handling subroutine begins with the LIMSWI An RE at the end of these routines causes a return to the ma
141. oller parameters in non volatile EEPROM memory This command typically takes 1 second to execute and must not be interrupted The controller returns a when the Burn is complete PARAMETERS SAVED DURING BURN ARGUMENTS None USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage ALL 42 e BN DMC 1400 Series Command Reference BO FUNCTION Brushless Offset DESCRIPTION The BOx sets a fixed offset on the DAC s of a sinusoidally commutated motor This may be used to offset any bias in the amplifier or can be used for phase initialization ARGUMENTS BOx x where x specifies the voltage as a real value between 10 and 10 x Returns the brushless offset for the x axis USAGE While Moving No Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage DMC 1412 1415 1410 1417 OPERAND USAGE _BO contains the offset voltage on the DAC for the brushless motor EXAMPLES BO 2 1 Generates 2 volts on the first DAC and 1 volts on the second DAC ofa sinusoidally commutated motor RELATED COMMANDS BA Brushless Axis BB Brushless Phase Begins BC Brushless Commutation BD Brushless Degrees DMC 1400 Series Command Reference BO e 43 BP FUNCTION Burn Program DESCRIPTION The BP command saves the application program in non volatile EEPROM memory
142. or with active low step pulses 2 Step motor with active high step pulses 25 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 USAGE While Moving Yes Default Value 1 In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _ MT contains the value of the motor type RELATED COMMANDS CN Configure step pulse width EXAMPLES MT 1 Configure x as servo MT Interrogate motor type V _MT Assign motor type to variable DMC 1400 Series Command Reference MT e 143 NB FUNCTION Notch Bandwidth DESCRIPTION The NB command sets real part of the notch poles ARGUMENTS NB nn or NBX n where n is ranges from 0 Hz to 16 TM USAGE While Moving Yes Default Value 0 5 In a Program Yes Default Format Command Line Yes Controller Usage DMC 1415 1416 1425 RELATED COMMANDS NOTE This command is only valid for the DMC 1415 1416 and 1425 controllers NF NF Notch Filter NZ Notch Zeros EXAMPLES _NBX 10 Sets the real part of the notch pole to 10 2 Hz NOTCH _NBX Sets the variable NOTCH equal to the notch bandwidth value for the X axis NOTE This command is only valid for the DMC 1415 1416 and 1425 controllers 144 e NB DMC 1400 Series Command Reference NF FUNCTION Notch Frequency DESCRIPTION The NF comman
143. ow RL Report the latch 10000 DMC 1400 Series Command Reference RL e 173 RND n FUNCTION Round DESCRIPTION Rounds the given number to the nearest integer ARGUMENTS RND n n is a signed number in the range 2147483648 to 2147483647 USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS INT EXAMPLES MG RND 1 2 1 0000 MG RNDIS 7 6 0000 MG RND 1 2 1 0000 MG RND 5 7 6 0000 MG RNDJ5 5 6 0000 MG RND 5 5 5 0000 DEFAULTS Yes Default Value Yes Default Format Yes ALL Truncates to the nearest integer 174 e RND n DMC 1400 Series Command Reference RP FUNCTION Reference Position DESCRIPTION This command returns the commanded reference position of the motor ARGUMENTS RP USAGE While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE _RP contains the commanded reference position RELATED COMMAND TP Tell Position TE Tell Error Note The relationship between RP TP and TE is that the position error TE equals the difference between the reference position RP and the actual position TP EXAMPLES PF 7 Position format of 7 0 RP 0000200 Return reference position PF 6 0 Change to hex format RP 0000C8 Return in hex Position RP Assign the variable Posit
144. pecified The units of the command are in quadrature counts The MF command can also be used when the encoder is the master and not under servo control ARGUMENTS MFn where n is a signed integer in the range 2147483648 to 2147483647 decimal USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage ALL RELATED COMMANDS AD Trippoint for after Relative Distance MR Reverse motion to position AP After Absolute Position EXAMPLES TEST Program B DPO Define zero JG 1000 Jog mode speed of 1000 counts sec BG Begin move MF 2000 After passing the position 2000 V1 _TP Assign V1 position MG Position is V1 ST Print Message Stop EN End of Program HINT The accuracy of the MF command is the number of counts that occur in2 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 DMC 1400 Series Command Reference MF e 139 MG FUNCTION Message DESCRIPTION The MG command sends data out the bus This can be used to alert an operator send instructions or return a variable value ARGUMENTS MG Pn Ex U m n V Fm n or m n N Sn m is a text message including letters numbers symbols or lt ctrl gt G Make sure that maximum line length is not exceeded 40 characters DMC 14
145. pecified by writing the command only such as BG or ST When downloading commands to the DMC 141X do not insert a space prior to any command For example ST AM is invalid because there is a space after the semicolon The DMC 1425 is the only controller in the DMC 1400 Econo Series that supports two axes For this controller arguments are specified for the X and Y 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 motor can be assigned to the variable V with the command V TP 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 may be used other than in a user defined program Can be Interrogated states whether or not the command can be interrogated by u
146. positive the process ends up in MO state A negative value causes the process to end up in the SH state Note The BZ command causes instantaneous movement of the motor It is recommended to start with small voltages and increase as needed Note Always use the Off On Error function OE Command to avoid motor runaway whenever testing sinusoidal commutation USAGE While Moving No Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No Controller Usage DMC 1412 1415 1410 1417 OPERAND USAGE _BZ contains the distance in encoder counts from the motor s current position and the position of commutation zero This can useful to command a motor to move to the commutation zero position for phase initialization EXAMPLES BZ 3 Drive the motor to zero phase position with 3 volts signal and end up in SH state RELATED COMMANDS BA Brushless Axis BB Brushless Phase Begins BC Brushless Commutation BD Brushless Degrees DMC 1400 Series Command Reference BZ e 47 CB FUNCTION Clear Bit DESCRIPTION The CB command clears one of three bits on the output port sets the output to logic 0 The CB and SB Set Bit instructions can be used to control the state of output lines ARGUMENTS CBn where n is an integer corresponding to a specific output on the controller to be cleared set to 0 The first output on the controller is denoted as output 1 A standard DMC 1400 controller has 3 TTL d
147. r active high configuration these bits are 0 when the switch is inactive and 1 when active ARGUMENTS TS xx where x is X or Y or both an argument is only required by the DMC 1425 USAGE While Moving Yes Default Value In a Program Yes Default Format 3 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _TS contains the current status of the switches EXAMPLES V1 _TSX Assigns value of TSX to the variable V1 vl Interrogate value of variable V1 015 returned value Decimal value corresponding to bit pattern 00001111 X axis not in motion bit 7 has value of 0 X axis error limit not exceeded bit 6 has value of 0 X axis motor is on bit 5 has value of 0 X axis forward limit is inactive bit 3 has value of 1 X axis reverse limit is inactive bit 2 has value of 1 X axis home switch is high bit 1 has value of 1 X axis latch is not armed bit O has value of 1 DMC 1400 Series Command Reference TS e 203 TT FUNCTION Tell Torque DESCRIPTION The TT command reports the value of the analog servo command output signal which is a number between 9 998 and 9 998 volts ARGUMENTS TT USAGE While Moving Yes Default Value In a Program Yes Default Format 1 4 Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE _TT contains the value of the torque RELATED COMMANDS TL Torque Limit EXAMPLES V1 _TT Assign
148. r example if m 1 and n 4 the inputs 1 2 3 and 4 have been activated If the value for p is 2 the binary equivalent of 2 is 0000010 input 2 will be activated by a logic 1 and inputs 1 3 and 4 will be activated with a logic 0 Note The p data field is only supported by the DMC 1415 1416 1425 USAGE While Moving Yes Default Value 0 In a Program Yes Default Format 3 0 mask only Command Line No Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL See Note for p data field RELATED COMMANDS RI Return from Interrupt ININT Interrupt Subroutine Al Trippoint for input DMC 1400 Series Command Reference lle 105 EXAMPLES HA I1 JG 5000 BG LOOP JP LOOP EN ININT ST MG INTERRUPT AM CLEAR JP CLEAR IN 1 0 BG RI Program A Specify interrupt on input 1 Specify jog speed Begin motion Loop End Program Interrupt subroutine Stop X print message After stopped Check for interrupt clear Begin motion Return to main program NOTE An application program must be running on the controller for the Input Interrupt function to work 106 e Il DMC 1400 Series Command Reference IL FUNCTION Integrator Limit DESCRIPTION The IL command limits the effect of the integrator function in the filter to a certain voltage For example IL 2 limits the output of the integrator to the 2 Volt range A negative parameter also freezes the effect of the integrator during the mov
149. ration VS 2000 Vector Speed VP 10000 20000 Vector Position VE End Vector BGS Begin Sequence 210 e VD DMC 1400 Series Command Reference 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 VEn No argument specifies the end of a vector sequence n Returns the length of the vector in counts USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL OPERAND USAGE _VEx contains the length of the vector in counts for the coordinate system RELATED COMMANDS VM Vector Mode VS Vector Speed VA Vector Acceleration VD Vector Deceleration CR Circle VP Vector PGosition BG Begin Sequence CS Clear Sequence 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 DMC 1400 Series Command Reference VE e 211 VF FUNCTION Variable Format DESCRIPTION The VF command allows the variables and arrays to be formatted for number of digits before and after the decimal point When displayed the value m represents the number of digits before the decimal point and the value n represents the number of digits after the decimal point When in hexadecimal the string will be preceded by a Hex numbers are d
150. resenting the number of lines to execute before pausing again USAGE DEFAULTS While Moving Yes Default Value 1 In a Program No Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS BK Breakpoint TR Trace EXAMPLES BK 3 Pause at line 3 the 4 line in thread 0 BK 5 Continue to line 5 SL Execute the next line SL3 Execute the next 3 lines BK Resume normal execution DMC 1400 Series Command Reference SL e 185 SP FUNCTION Speed DESCRIPTION This command sets the slew speed for independent moves The parameters input will be rounded down to the nearest factor of 2 and the units of the parameter are in counts per second Note Negative values will be interpreted as the absolute value ARGUMENTS SPn where n is an unsigned even integer in the range 0 to 8 000 000 for servo motors on the DMC 1410 1411 1412 1414 1417 0 to 12 000 000 for servo motors on the DMC 1415 1416 1425 OR 0 to 2 000 000 for stepper motor operation on the DMC 1410 1411 1412 1414 1417 0 to 3 000 000 for stepper motor operation on the DMC 1415 1416 1425 returns the speed USAGE While Moving Yes Default Value 25000 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _SP contains the current speed setting RELATED COMMANDS AC Acceleration DC Deceleration PR Position Relation BG Begin EXAMPLES PR 2000 Specify position relati
151. ress where u is an integer between 0 and 63 UDP IP connection only JA will return the IP address of the controller USAGE While Moving No Default Value n 0 t 250 In a Program No Default Format Command Line Yes Controller Usage DMC 1415 1416 1425 OPERAND USAGE _TAO contains the IP address representing a 32 bit signed number Two s complement _TIA1 contains the value for t retry time _TA2 contains the number of available handles _TA3 contains the number of the handle using this operand where the number is 0 to 5 0 represents handle A 1 handle B etc _TA4 Contains the handle number of the connection that caused the execution of TCPERR Contains 1 if no error RELATED COMMANDS IH Internet Handle EXAMPLES IA 151 12 53 89 Assigns the controller with the address 151 12 53 89 IA 2534159705 Assigns the controller with the address 151 12 53 89 IA lt 500 Sets the timeout value to 500msec DMC 1400 Series Command Reference IA e 101 IF FUNCTION IF conditional statement DESCRIPTION The IF command is used in conjunction with an ENDIF command to form an IF conditional statement The arguments are one or more conditional statements If the conditional statement s evaluates true the command interpreter will continue executing commands which follow the IF command If the conditional statement evaluates false the controller will ignore commands until the associated ENDIF command OR an ELSE command occurs in the progra
152. returns a 0 if motion complete MC Actual Motion Complete In Position EXAMPLES MOVE Program MOVE PR 5000 Position relative moves BG Start AM After the move is complete EN End of Program F DP 0 Program F PR 5000 Position relative moves BG Start AM After motion complete on all axes MG DONE TP Print message EN End of Program HINT AM is avery important command for controlling the timing between multiple move sequences For example if the motor is in the middle of a position relative move PR you cannot make a position absolute move PA BG until the first move is complete Use AM 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 query the operand _BG This is equal to 1 during motion and 0 when motion profiling is complete DMC 1400 Series Command Reference AM e 21 MANIn FUNCTION Read analog input DESCRIPTION Returns the value of the given analog input in volts ARGUMENTS ANJ n where n is an unsigned integer in the range 1 to 8 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS IN Read digital input OUT Read digital output SB Set digital output bit CB Clear digital output bit OF Set analog output offset EXAMPLES MG AN 1 print analog input 1 1 7883 xx AN assign ana
153. rmation and re enable the interrupts DMC 1400 Series Command Reference UI e 207 UL FUNCTION Upload DESCRIPTION The UL command transfers data from the DMC 141X to a host computer Programs are sent without line numbers The Uploaded program will be followed by a lt control gt Z or a as an end of Text marker ARGUMENTS None USAGE While Moving Yes Default Value In a Program No Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE When used as an operand UL gives the number of available variables The total number of variables is 126 RELATED COMMAND DL Download EXAMPLES UL Begin upload A Line 0 NO This is an Example Line 1 NO Program Line 2 EN Line 3 lt entri gt Z Terminator 208 e UL DMC 1400 Series Command Reference VA FUNCTION Vector Acceleration DESCRIPTION This command sets the acceleration rate of the vector in a coordinated motion sequence ARGUMENTS VAn where n is an unsigned integer in the range 1024 to 68 431 360 The parameter input will be rounded down to the nearest factor of 1024 The units of the parameter is counts per second squared n Returns the value of the vector acceleration for the coordinate plane USAGE While Moving In a Program Command Line Controller Usage OPERAND USAGE Yes Default Value 262144 Yes Default Format Position Format Yes ALL _VAx contains the va
154. rogram Yes Default Format 1 4 Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _TL contains the value of the torque limit EXAMPLES TL 1 Limit X axis to lvolt TL Return limit 1 0000 DMC 1400 Series Command Reference TL e 199 TM FUNCTION Update Time DESCRIPTION The TM command sets the sampling period of the control loop Changing the sampling period will uncalibrate the speed and acceleration parameters A negative number turns off the servo loop The units of this command are usec ARGUMENTS TMn where n is an integer in the range 375 to 20000 decimal with resolution of 125 microseconds For the DMC 1415 1416 1425 the range is from 250 to 20000 returns the value of the sample clock USAGE While Moving Yes Default Value 1000 In a Program Yes Default Format 5 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _TM contains the value of the sample time EXAMPLES TM 1000 Turn off internal clock TM 2000 Set sample rate to 2000 usec This will cut all speeds in half and all acceleration in fourths TM 1000 Return to default sample rate 200 e TM DMC 1400 Series Command Reference TP FUNCTION Tell Position DESCRIPTION This command returns the current position of the motor ARGUMENTS TP USAGE While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Can
155. roller and REM comments aren t 2 NO comments take up execution time and REM comments don t therefore REM should be used for code that needs to run fast 3 REM comments cannot be recovered when uploading a program but NO comments are recovered Thus the uploaded program is less readable with REM 4 NO comments take up program line space and REM lines don t 5 REM comments must be the first and only thing on a line whereas NO can be used to place comments to the right of code on the same line NO or should be used instead of REM unless speed or program space is an issue ARGUMENTS REM n where nis a text string comment USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Controller Usage ALL RELATED COMMANDS NO or No operation comment EXAMPLES REM This comment will be stripped when downloaded to the controller PRX 1000 DMC 1400 Series Command Reference REM e 171 RI FUNCTION Return from Interrupt Routine DESCRIPTION The RI command is used to end the interrupt subroutine beginning with the label ININT An RI at the end of this routine causes a return to the main program The RI command also re enables input interrupts If the program sequencer was interrupted while waiting for a trippoint such as WT RI restores the trippoint on the return to the program RIO clears the trippoint To avo id returning to the main program on an
156. rray Specify Record Mode Specify data type for record Begin recording at 2 msec intervals Start motion 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 DMC 1400 Series Command Reference RA e 167 RC FUNCTION Record DESCRIPTION The RC command begins recording for the Automatic Record Array Mode RA RC 0 stops recording ARGUMENTS RC n m where n is an integer 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 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 RC returns status of recording 1 if recording 0 if not recording USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage ALL OPERAND USAGE _RC contains status of recording 1 if recording 0 if not recording RELATED COMMANDS DM Dimension Array RD Record Data RA Record Array Mode EXAMPLES RECORD Record DM Torque 1000 Define Array RA Torque Specify Record M
157. s Command Reference 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 AO denotes counterclockwise traverse negative AO denotes clockwise The VE command must be used to denote the end of the motion sequence after all CR and VP segments are specified The BG Begin Sequence command is used to start the motion sequence All parameters r 0 AO must be specified Radius units are in quadrature counts and A have units of degrees The parameter n is optional and describes the vector speed that is attached to the motion segment ARGUMENTS CRr 0 AQ lt n gt o where r is an unsigned real number in the range 10 to 6000000 decimal radius O 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 n is an unsigned even integer between 0 and 12 000 000 for servo motor operation and between 0 and 3 000 000 for stepper motors o specifies a vector speed to be achieved at the end of the vector segment o is an unsigned even integer between 0 and 8 000 000 Note The product r A0 must be limited to 4 5 108 USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMA
158. s Ethernet commands for the DMC 1415 DMC 1416 and DMC 1425 Servo and Stepper Motor Notation 2 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 Attention Pertains to servo motor use 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 The two letter Opcode for each instruction is placed in the upper left corner Below the Opcode is a description of the command and required arguments DMC 1400 Series Command Reference e1 Arguments As arguments some commands require actual values to be specified following the instruction These commands are followed by lower case n where n is replaced by an actual value A returns the specified value for that axis For example AC returns the acceleration of the axis Other commands require action on the axis to be specified These commands do not have an operand action for the axis or are s
159. s value of TT to variable V1 TT Report torque 0 2843 Torque is 2843 volts 204 e TT DMC 1400 Series Command Reference TV FUNCTION Tell Velocity DESCRIPTION The TV command returns the actual velocity in units of quadrature count s The value returned includes the sign ARGUMENTS TV No argument will provide the auxiliary encoder position for all axes USAGE While Moving Yes Default Value 0 In a Program Yes Default Format 7 0 Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE _TV contains the value for the velocity EXAMPLES VELX _TV Assigns value of velocity to the variable VELX TV Returns the velocity 0003420 NOTE The TV command is computed using a special averaging filter over approximately 25 sec Therefore TV will return average velocity not instantaneous velocity DMC 1400 Series Command Reference TV e 205 TW FUNCTION Timeout for IN Position MC DESCRIPTION The TW n command sets the timeout in msec to declare an error if the MC command is active and the motor is not at or beyond the actual position within n msec after the completion of the motion profile If a timeout occurs then the MC trippoint will clear and the stopcode will be set to 99 An application program will jump to the special label MCTIME The RE command should be used to return from the MCTIME subroutine ARGUMENTS TWn where n specifies timeout in msec range 0 to 32767 mse
160. sing 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 lt ctrl S gt lt Return gt OR by powering up or resetting the controller with the MRST jumper or dip switch on For example the command KD is used to set the Derivative Constant for each axis The default value for the derivative constant is 64 If this parameter is not set by using the command KD the controller will automatically set this value to 64 for each axis If the Derivative Constant is changed but not saved in non volatile memory the default value of 64 will be used if the controller is reset or upon 2 e Overview DMC 1400 Series Command Reference power up of the controller If this value is s
161. speed begins diverging from the AS value ARGUMENTS AS USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage EXAMPLES SPEED PR 100000 SP 10000 BG AS MG At Speed EN Yes Default Value Yes Default Format Program A Specify position Specify speed Begin After speed is reached Print Message End of Program WARNING The AS command applies to a trapezoidal velocity profile only with linear acceleration AS used with smoothing profile will be inaccurate 26 e AS DMC 1400 Series Command Reference ASIN n FUNCTION Inverse sine DESCRIPTION Returns in degrees the arc sine of the given number ARGUMENTS ASIN n where n is a signed number in the range 1 to 1 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS ACOS Arc cosine SIN sine ATAN Arc tangent COS Cosine TAN Tangent EXAMPLES MG ASIN 1 90 0000 MG ASIN 0 0 0000 MG ASIN 1 90 0000 DMC 1400 Series Command Reference ASIN n e 27 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 t
162. t Value Yes Default Format Yes DMC 1412 4 ONLY Serial port 1 2 code Serial port 1 2 number Serial port 1 2 string Configure COMINT and set operator data entry mode Configure serial port 2 Communication interrupt automatic subroutine 156 e P1CH P2CH Reference DMC 1400 Series Command PINM P2NM FUNCTION Serial port 1 or serial port 2 number DESCRIPTION P1NM and P2NM convert from ASCII e g 1234 to binary so that a number can be stored into a variable and math can be performed on it Numbers from 2147483648 to 2147483647 can be processed P1NM returns the last number followed by carriage return sent to the serial port when in the operator data entry mode CI 1 P2NM returns the last number followed by carriage return sent to auxiliary serial port port 2 USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS P1CD P2CD P1CH P2CH P1ST P2ST CI CC COMINT EXAMPLES SORROW DMC2240 Rev 1 00 RES CC 9600 0 0 0 MG TEST P2 x P2NM MG x 123 0000 r DEFAULTS Yes Default Value Yes Default Format Yes DMC 1412 4 ONLY Serial port 1 2 code Serial port 1 2 character Serial port 1 2 string Configure COMINT and set operator data entry mode Configure serial port 2 Communication interrupt automatic subroutine DMC 1400 Series Command Reference PINM P2NM e 157 P1ST P2ST FUNCTION Serial port 1 or
163. t 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 TCn n 0 returns code only n 1 returns code and message CODE EXPLANATION CODE EXPLANATION Unrecognized command Download error line too long or too many lines IF statement without ENDIF IN command must have a comma Too many arrays or variables Empty program line or undefined label 80 Record mode already running JG only valid when running in jog 83 Not a valid number mode EEPROM check sum error Too many elements EEPROM write error 90 Only X Y Z W valid operand IP incorrect sign during position move SM jumper needs to be installed for or IP given during forced deceleration stepper motor operation ED BN and DL not valid while 97 Bad Binary Command Format program running Command not valid when contouring Binary Commands not valid in application program Application strand already executing 99 Bad binary command number Begin not valid with motor off 100 Not valid when running ECAM Begin not valid while running 101 Improper index into ET must be 0 256 Begin not possible due to Limit Switch 102 No master axis defined for ECAM Begin
164. the motor ARGUMENTS DVn where n may be 0 or 1 0 disables the function 1 enables the dual loop returns a 0 if dual velocity mode is disabled and 1 if enabled for the specified axis USAGE While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE _DV contains the state of dual velocity mode 0 disabled 1 enabled RELATED COMMANDS KD Damping constant FV Velocity feedforward EXAMPLES DV 1 Enables dual loop DV 0 Disables DV HINT The DV command is useful in backlash and resonance compensation DMC 1400 Series Command Reference DV e 71 EA FUNCTION Choose ECAM master DESCRIPTION The EA command selects the master axis for the electronic cam mode Any axis may be chosen Note This command is only used with the DMC 1425 All other Econo series controllers use the auxiliary encoder as the master automatically ARGUMENTS EAx where x is one of the axis specified as X or Y USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS EB EC EG EM EP EQ ET EXAMPLES EAY Yes Default Value Yes Default Format Yes DMC 1425 Enable ECAM Set ECAM table index Engage ECAM Specify ECAM cycle Specify ECAM table intervals amp staring point Disengage ECAM ECAM table Select Y as a master for ECAM 720 EA DMC 1400 Series Command Reference EB
165. tic subroutine DESCRIPTION COMINT can be configured by the CI command to run either when any character or a carriage return is received on the auxiliary serial port CL1 must be issued to use COMINT USAGE While Moving Yes In a Program Yes Command Line No Controller Usage DMC 1412 4 ONLY RELATED COMMANDS P1CD P2CD Serial port 1 2 code P1CH P2CH Serial port 1 2 character PINM P2NM Serial port 1 2 number P1ST P2ST Serial port 1 2 string CI Configure COMINT and set operator data entry mode CC Configure serial port 2 EN End subroutine EXAMPLES CC9600 0 0 0 GIZ 3 Loop MG Loop WT 1000 JP Loop COMINT MG COMINT EN1 1 NOTE An application program must be executing for the automatic subroutine to function which runs in thread 0 NOTE Use EN to end the routine DMC 1400 Series Command Reference COMINT e 59 COS n FUNCTION Cosine DESCRIPTION Returns the cosine of the given angle in degrees ARGUMENTS COS n where n is a signed number in degrees in the range 2147483648 to 2147483647 USAGE RELATED COMMANDS While Moving In a Program Command Line Controller Usage ASIN SIN ATAN ACOS TAN EXAMPLES MG COS 0 1 0000 MG COS 90 0 0000 MG COS 180 1 0000 MG COS 270 0 0000 MG COS 360 1 0000 DEFAULTS Yes Default Value Yes Default Format Yes ALL Arc sine sine Arc tangent Arc cosine Tangent 60 e COS n DMC 1400 Serie
166. tomatic Subroutine MCTIME in tab 138 Begin Mot sia 37 Burn 42 Varna eR dae 46 Er en RRP oP DR E EEO 61 Circular Interpolation cccceecceseeseeeteeseeeneeeseeees 214 Clear Sequence arr o E iit 62 Clock a ee eS 199 Update Rat ede 199 Codel 100 110 138 Comments 147 COMMUNICATION cocooccccnnonccinnnanononancnnonannnoranonccnnnnaconnnanos 63 Configuring Encoders evi laa Mater oes eta dd 51 Contour Modest di 50 Control Filter A a tee sth cesar Grana 97 Coordinated Motion cccccssceeees 210 11 215 217 AAA date hod Senha ote ieee 214 ECM id ds ere 79 Electronic Cami io td Rens ene dss 72 Linear Interpolation oooooonconncnnncnnocnoonconooononononnnnos 127 Vector Mode cocooocccononcconononcnonanacononnncnonnanccnnnnanonnnnnos 215 Cycle Time Clock HEE Se est 199 Damp Mt dad idea 71 A RU 168 Automatic RecolrdO oooooocnncocccinonccononancnnonnnnnnnnnnanonnnns 169 PT ten tenets Sieh eoetee eh S 203 DeceleratiOM ooococcconononccononcncnonanccrononcnnnnnanononananonananos 13 Default Setting Master Reset o ooocccnnonononcconononnananonocnononnanononos 179 199 Digital Filter Damping iii de 71 Feedforward ninia ti ee eh 15 Inte Satori eee Bie had ae ee eee 121 DMA load teed dios 165 167 Download ci lid 67 Dual LOOp esiiicinnnaiai de 71 CAT ieee seceded ones as aida 79 ECAM a aa 86 Choose Mastin it ceseee 72 COUNTER Fe Gashesccced steven a a faeces tectened 74 Echo 84 191 Edd ee EE 75
167. tors in the sequence are defined by their endpoints with respect to the start of the move sequence 214 e VP DMC 1400 Series Command Reference VR FUNCTION Vector Speed Ratio DESCRIPTION The VR sets a ratio to be used as a multiplier of the current vector speed The vector speed can be set by the command VS or the operators lt and gt used with CR VP and LI commands VR takes effect immediately and will ratio all the following vector speed commands VR doesn t ratio acceleration or deceleration but the change in speed is accomplished by accelerating or decelerating at the rate specified by VA and VD ARGUMENTS VRn where N is between 0 and 10 with a resolution of 0001 While Moving In a Program Command Line Controller Usage OPERAND USAGE Returns the value of the vector speed ratio for the coordinate plane Yes Default Value 1 Yes Default Format Yes ALL _VRx contains the vector speed ratio of the coordinate system RELATED COMMANDS VS EXAMPLES HA VMXY VP 1000 2000 CR 1000 0 360 VE VS 2000 BGS AMS JPHA SPEED VR AN 1 1 JP SPEED XQ A 0 XQ SPEED 1 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 Note VR is useful for feedrate override particularly when specifying the speed of individual
168. ts the controller up for sinusoidal commutation of the axis This command enables the second DAC for use as the second phase of commutation ARGUMENTS BAX where X specifies sinusoidal commutation for the axis No argument clears all axes configured for sinusoidal commutation USAGE While Moving No Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage DMC 1412 1415 1410 1417 OPERAND USAGE _BA indicates whether the axis has been configured for sinusoidal commutation If the motor is configured as brush type or stepper motor BA contains 0 RELATED COMMANDS BB Brushless Phase Begins BC Brushless Commutation BD Brushless Degrees DMC 1400 Series Command Reference BA e 33 BB FUNCTION Brushless Phase Begins DESCRIPTION The BB function describes the position offset between the Hall transition point and O 0 for sinusoidally commutated motor This command must be saved in non volatile memory to be effective upon reset ARGUMENTS BBx where x represents the phase offset of the brushless motor expressed in multiples of 30 USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage EXAMPLES BB30 RELATED COMMANDS BA BC BD No Default Value Yes Default Format Yes Yes Yes DMC 1412 1415 1410 1417 The offsets sinusoidal motor is 30 Brushless Axis Brushless Commutation
169. uments as the arguments to the command Example SAF KI 1 2 would send the command KI 1 2 USAGE While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes Controller Usage DMC 1415 1416 1425 OPERAND USAGE _SAhn gives the value of the response to the command sent with an SA command The h value represents the handle A thru H and the n value represents the specific field returned from the controller 1 8 If the specific field is not used the operand will be 2131 RELATED COMMANDS IH Set Internet Handles EXAMPLES SAA KT 1 2 WT5 Sends the command to handle A slave controller KI 1 2 SAA KI Sends the command to handle A slave controller KI MG _SAAI Display the content of the operand SAA first response to KI command 21 MG_SAA2 Display the content of the operand SAA 2nd response to KI command 2 NOTE A wait statement eg WT5 should be inserted between successive calls to SA DMC 1400 Series Command Reference SA e 179 SAn FUNCTION Serial Address DESCRIPTION SA assigns the address of a serial controller in a daisy chain network See Chapter 4 in the DMC 1412 1414 user manual for more information on daisy chaining ARGUMENTS SAn where n is a number between 0 and 7 representing the address of the controller This command may be saved by issuing the BN command USAGE While Moving Yes Default Value
170. uracy 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 ARGUMENTS FI USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage RELATED COMMANDS FE HM BG AC DC SP EXAMPLES HOME JG 500 FI BG AM MG FOUND INDEX No Default Value ESE Yes Default Format Yes No ALL Find Edge Home Begin Acceleration Rate Deceleration Rate Speed for search Home Routine Set speed and forward direction Find index Begin motion After motion 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 DMC 1400 Series Command Reference Fl e 91 FL FUNCTION Forward Software Limit DESCRIPTION The FL command sets the forward software position limit If this limit is exceeded during motion the motor will decelerate to a stop Forward motion beyond this limit is not permitted The forward limit is activated at position n 1 The forward limit is disabled at position 2147483647 The units are in counts When the forward software limit is activated the automatic subroutine FLIMSWI will be executed if it is included in the program and the program is executing See sect
171. utine DESCRIPTION Without LIMSWI defined the controller will effectively issue the STn on the axis when it s limit switch is tripped With LIMSWI defined the axis is still stopped and in addition code is executed LIMSWI is most commonly used to turn the motor off when a limit switch is tripped see example below For LIMSWI to run code must be running in thread 0 AND the switch corresponding to the direction of motion must be tripped forward limit switch for positive motion and negative limit switch for negative motion LIMSWI interrupts thread 0 when it runs USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS LFX _LRX RE EXAMPLES Main MG Main WT1000 JP Main EN LIMSWI IF _LFX MG x STX AMX MOX ELSE IF MG Y STY AMY MOY ENDIF REIL DCX 67107840 _LFY DCY 67107840 ENDIF Yes Yes No ALL State of forward limit switch State of reverse limit switch Return from error routine _LRX 0 0 _LRY 0 NOTE An application program must be executing for the automatic subroutine to function which runs in thread 0 NOTE Use RE to end the routine 128 e LIMSWI DMC 1400 Series Command Reference LL FUNCTION List Labels DESCRIPTION The LL command returns a listing of all of the program labels in memory The listing will be in alphabetical order ARGUMENTS None USAGE While Moving Yes Default Value
172. variable or array element x which is equivalent to MG x MG is the preferred method of printing ARGUMENTS mmmmmmmm n where mmmmmmmm is a variable name and n is a signed number in the range 2147483648 to 2147483647 USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS MG EXAMPLES x 5 X 5 0000 MG x 5 0000 DEFAULTS Yes Default Value Yes Default Format Yes ALL Print Message define and initialize x to 5 print x two different ways 12 e DMC 1400 Series Command Reference AB FUNCTION Abort DESCRIPTION AB Abort stops a motion instantly without a controlled deceleration If there is a program operating AB also aborts the program unless a 1 argument is specified The command AB will shut off the motors for any axis in which the off on error function is enabled see command OE ARGUMENTS ABn n no argument or 1 where 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 While Moving In a Program Command Line Can be Interrogated Used as an Operand Controller Usage OPERAND USAGE Yes Default Value Yes Default Format Yes No Yes ALL _AB gives the state of the Abort Input RELATED COMMANDS SH EXAMPLES AB OE 1 1 1 1 AB HA JG 20000 BGX WT 5000 ABI WT 5000 SH JP HA EN Turns servos back on if they
173. ve move SP 5000 Specify speeds BG Begin motion of all axes AM After motion is complete Note SP is nota mode of motion like JOG JG Note SP2 is the minimum non zero speed 186 e SP DMC 1400 Series Command Reference SQR n FUNCTION Square Root DESCRIPTION Takes the square root of the given number If the number is negative the absolute value is taken first ARGUMENTS SQR n where n is a signed number in the range 2147483648 to 2147483647 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS ABS Absolute value EXAMPLES MG SQR 2 1 4142 MG SQR 2 1 4142 DMC 1400 Series Command Reference SQR n e 187 ST FUNCTION Stop DESCRIPTION The ST command stops commanded motion The motor will come to a decelerated stop ST sent from the host with no arguments will stop motion and any programs that are running on the controller ARGUMENTS ST USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS BG AM DC EXAMPLES ST Yes Default Value Yes Default Format Yes No No Begin Motion Wait for motion end Deceleration rate Stops motion HINT Use the after motion complete command AM to wait for motion to be stopped 188 e ST DMC 1400 Series Command Reference GATANIn FUNCTION Tangent DESCRIPTION Returns the
174. ves of VM LM type to produce a smooth velocity profile The resulting profile known as Smoothing has continuous acceleration and results in reduced mechanical vibrations VT sets the bandwidth of the filter where 1 means no filtering and 0 004 means maximum filtering Note that the filtering results in longer motion time ARGUMENTS VT n where n is an unsigned number in the range between 0 004 and 1 0 with a resolution of 1 256 n Returns the value of the vector time constant for the S coordinate plane USAGE While Moving Yes Default Value 1 0 In a Program Yes Default Format 1 4 Command Line Yes Controller Usage ALL OPERAND USAGE _VT contains the vector time constant RELATED COMMANDS IT Independent Time Constant for smoothing independent moves EXAMPLES VT 0 8 Set vector time constant for the coordinate system VT Return vector time constant for the coordinate system 0 8 DMC 1400 Series Command Reference VT e 217 wc FUNCTION Wait for Contour Data DESCRIPTION USAGE RELATED COMMANDS 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 Controller Usage CM CD DT EXAMPLES CM DT 4 CD 2
175. ving Yes Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL OPERAND USAGE _TD contains the dual encoder position RELATED COMMANDS DE Dual Encoder EXAMPLES PF7 Position format of 7 TD Return Dual encoder 0000200 DUAL TD Assign the variable DUAL the value of TD 194 e TD DMC 1400 Series Command Reference TE FUNCTION Tell Error DESCRIPTION This command returns the current position error of the motor The range of possible error is 2147483647 The Tell Error command is not valid for step motors since they operate open loop ARGUMENTS TE USAGE While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated No Used as an Operand Yes Controller Usage ALL RELATED COMMANDS ER Error Limit POSERR Error Subroutine EXAMPLES TE Return position error 00005 Error _TE Sets the variable Error with the position error HINT Under normal operating conditions with servo control the position error should be small The position error is typically largest during acceleration DMC 1400 Series Command Reference TE e 195 TH FUNCTION Tell Handle Status DESCRIPTION The TH command is used to request the controllers handle status Data returned from this command indicates the IP address and Ethernet address of the current controller This data is followed by
176. void returning to the main program on an interrupt use the command ZS to zero the subroutine stack and use the II command to reset the interrupt ARGUMENTS II m n 0 p where m is an integer between 0 and 7 decimal 0 disables interrupt The value of m specifies the lowest input to be used for the input interrupt When the 2 argument n is omitted only the input specified by m will be enabled n is an integer between 2 and 7 This argument is optional and is used with m to specify a range of values for input interrupts For example II 2 4 specifies interrupts occurring for Input 2 Input 3 and Input 4 o is an integer between 1 and 127 Using this argument is an alternative to specifying an input range with m n If m and n are specified o will be ignored The argument o is an integer value and represents a binary number For example if o 15 the binary equivalent is 0001111 where the bottom 4 bits are 1 bit 0 through bit 3 and the top 3 bits are 0 bit 4 through bit 6 Each bit represents an interrupt to be enabled bit0 for interrupt 1 bit 1 for interrupt 2 etc If o 15 the inputs 1 2 3 and 4 would be enabled p is an integer between and 127 The argument p is used to specify inputs that will be activated with a logic 1 This argument is an integer value and represents a binary number This binary number is used to logically AND with the inputs which have been specified by the parameters m and n or the parameter o Fo
177. where n is either 0 or 1 to indicate the task number USAGE 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 Controller Usage ALL OPERAND USAGE When used as an operand HX n contains the running status of thread n with 0 Thread not running 1 Thread is running 2 Thread has paused at trippoint RELATED COMMANDS XQ Execute program EXAMPLES XQ A Execute program A thread zero XQ B 1 Execute program B thread one HXO0 Halt thread zero HX1 Halt thread one 100 e HX DMC 1400 Series Command Reference IA FUNCTION IP Address DESCRIPTION The IA command assigns the controller with an IP address The IA command may also be used to specify the time out value This is only applicable when using the TCP IP protocol The IA command can only be used via RS 232 Since it assigns an IP address to the controller communication with the controller via internet cannot be accomplished until after the address has been assigned ARGUMENTS JA ip0 ip1 ip2 ip3 or IAn or IA lt t where ip0 ip1 1p2 ip3 are 1 byte numbers separated by commas and represent the individual fields of the IP address n is the IP address for the controller which is specified as an integer representing the signed 32 bit number two s complement lt t specifies the time in update samples between TCP retries TCP IP connection only gt u specifies the multicast IP add
178. where n is an unsigned number in the range in the range 1024 to 67107840 9 returns the acceleration value USAGE 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 Controller Usage ALL OPERAND USAGE _ACx contains the value of acceleration RELATED COMMANDS DC Specifies deceleration rate FA Feedforward Acceleration IT Smoothing constant EXAMPLES AC 150000 Set acceleration to 150000 AC Request the current Acceleration setting 0149504 Return Acceleration resolution 1024 V _AC Assigns the current acceleration setting to the variable V HINTS 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 DMC 1400 Series Command Reference AC e 15 ACOS n FUNCTION Inverse cosine DESCRIPTION Returns in degrees the arc cosine of the given number ARGUMENTS ACOS n where n is a signed number in the range 1 to 1 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS ASIN Arc sine SIN sine ATAN Arc tangent COS Cosine TAN Tangent EXAMPLES MG ACOS
179. xecuting for the automatic subroutine to function which runs in thread 0 NOTE Use RI to end the routine DMC 1400 Series Command Reference HININT e 111 GINTIn FUNCTION Integer part DESCRIPTION Returns the integer part of the given number Note that the modulus operator can be implemented with INT see example below ARGUMENTS INT n n is a signed number in the range 2147483648 to 2147483647 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL RELATED COMMANDS FRAC Fractional part EXAMPLES MG INT 1 2 1 0000 MG INT 2 4 2 0000 AUTO A x 10 y 3 JS mod MG z EN mod z x y GINT x y EN 112 e INT n DMC 1400 Series Command Reference IP FUNCTION Increment Position DESCRIPTION The IP command allows for a change in the command position while the motor is moving This command does not require a BG The command has three effects depending on the motion being executed The units of this are quadrature Case 1 Motor is standing still An IP n command is equivalent to a PR n and BG command The motor will move to the specified position at the requested slew speed and acceleration Case 2 Motor is moving towards specified position An IP n command will cause the motor to move to a new position target which is the old target plus n n must be in the same direction as the existing motion Case 3
180. y your speed by 2 msec to obtain the maximum position error in counts Remember AD measures incremental distance from start of move on one axis DMC 1400 Series Command Reference ADe 17 AF FUNCTION Analog Feedback DESCRIPTION The Analog Feedback AF command is used to set an axis with analog feedback instead of digital feedback quadrature pulse dir As the analog feedback is decoded by a 12 bit A D converter an input voltage of 10 volts is decoded as a position of 2047 counts and a voltage of 10 volts corresponds to a position of 2048 counts When using Analog Feedback mode X axis feedback must be wired to analog input 1 and Y axis feedback must be wired to analog input 2 ARGUMENTS AF x y AFX x AF a b where x y 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 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 Controller Usage DMC 1415 1416 1425 only OPERAND USAGE _AFx contains the value of acceleration for the specified axis RELATED COMMANDS CE Configure Encoder EXAMPLES AF 1 0 Analog feedback on X axis V1 _AFX Assign feedback type to variable AF Interrogate feedback type 18 e AF DMC 1400 Series Command Reference AI FUNCTION After Input DESCRIPTION The AI comma

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