Galil DMC-1400 Bedienungsanleitung

DMC-1400 Series DMC-1400 Series Command Reference Manual Rev. 2.8 By Galil Motion Control, Inc. Galil Motion Control, Inc. 3750 Ath

2 ● Overview DMC-1400 Series Command Reference Arguments As arguments, some commands require actual values to be specified following the instruc

92 ● FL DMC-1400 Series Command Reference FL FUNCTION: Forward Software Limit DESCRIPTION: The FL command sets the forward software

DMC-1400 Series Command Reference @FRAC[n] ● 93 @FRAC[n] FUNCTION: Fractional part DESCRIPTION: Returns the fractional part of the given number

94 ● FV DMC-1400 Series Command Reference FV FUNCTION: Velocity Feedforward DESCRIPTION: The FV command sets the velocity feedforwar

DMC-1400 Series Command Reference GA ● 95 GA FUNCTION: Master Axis for Gearing DESCRIPTION: The GA command specifies the master axes for el

96 ● GN DMC-1400 Series Command Reference GN FUNCTION: Gain DESCRIPTION: The GN command sets the gain of the control loop or re

DMC-1400 Series Command Reference GM ● 97 GM FUNCTION: Gantry mode DESCRIPTION: The GM command specifies the axes in which the gearing func

98 ● GR DMC-1400 Series Command Reference GR FUNCTION: Gear Ratio DESCRIPTION: GR specifies the Gear Ratios for the slave axis in the

DMC-1400 Series Command Reference HM ● 99 HM FUNCTION: Home DESCRIPTION: The HM command performs a three-stage homing sequence for servo systems

HX FUNCTION: Halt Execution DESCRIPTION: The HX command halts the execution of any of the two programs that may be running independently in multitas

DMC-1400 Series Command Reference IA ● 101 IA FUNCTION: IP Address DESCRIPTION: The IA command assigns the controller with an IP address. T

DMC-1400 Series Command Reference Overview ● 3 power up of the controller. If this value is set and saved in non-volatile memory, it will be resto

102 ● IF DMC-1400 Series Command Reference IF FUNCTION: IF conditional statement DESCRIPTION: The IF command is used in conjun

DMC-1400 Series Command Reference IH ● 103 IH FUNCTION: Open Internet Handle DESCRIPTION: The IH command is used when the DMC-1415, DMC-1416 or DMC

104 ● IH DMC-1400 Series Command Reference _Ihh4 contains a 1 if waiting for a slave response contains 2 if transmission is succes

DMC-1400 Series Command Reference II ● 105 II FUNCTION: Input Interrupt DESCRIPTION: The II command enables the interrupt function for the speci

106 ● II DMC-1400 Series Command Reference EXAMPLES: #A Program A II 1 Specify interrupt on input 1 JG 5000 Specify jog speed BG Beg

DMC-1400 Series Command Reference IL ● 107 IL FUNCTION: Integrator Limit DESCRIPTION: The IL command limits the effect of the integrator function

108 ● IN DMC-1400 Series Command Reference IN FUNCTION: Input Variable DESCRIPTION: The IN command allows a variable to be input from

DMC-1400 Series Command Reference IN ● 109 EXAMPLES: Operator specifies length of material to be cut in inches and speed in inches/sec (2 pitch le

110 ● @IN[n] DMC-1400 Series Command Reference @IN[n] FUNCTION: Read digital input DESCRIPTION: Returns the value of the given digi

DMC-1400 Series Command Reference #ININT ● 111 #ININT FUNCTION: Input interrupt automatic subroutine DESCRIPTION: #ININT runs upon a state trans

4 ● # DMC-1400 Series Command Reference # FUNCTION: Label (subroutine) DESCRIPTION: The # operator denotes the name of a program la

112 ● @INT[n] DMC-1400 Series Command Reference @INT[n] FUNCTION: Integer part DESCRIPTION: Returns the integer part of the given n

DMC-1400 Series Command Reference IP ● 113 IP FUNCTION: Increment Position DESCRIPTION: The IP command allows for a change in the command positio

114 ● IT DMC-1400 Series Command Reference IT FUNCTION: Independent Time Constant - Smoothing Function DESCRIPTION: The IT command fi

DMC-1400 Series Command Reference IV ● 115 IV FUNCTION: Interrogate Interrupt DESCRIPTION: The IV command interrogates and clears the interrupt.

116 ● JG DMC-1400 Series Command Reference JG FUNCTION: Jog DESCRIPTION: The JG command sets the jog mode. The parameters following

DMC-1400 Series Command Reference JP ● 117 JP FUNCTION: Jump to Program Location DESCRIPTION: The JP command causes a jump to a program location o

118 ● JS DMC-1400 Series Command Reference JS FUNCTION: Jump to Subroutine DESCRIPTION: The JS command will change the sequential ord

DMC-1400 Series Command Reference KD ● 119 KD FUNCTION: Derivative Constant DESCRIPTION: KD designates the derivative constant in the controller

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) =

KP FUNCTION: Proportional Constant DESCRIPTION: KP designates the proportional constant in the controller filter. The filter transfer function is

DMC-1400 Series Command Reference $ ● 5 $ FUNCTION: Hexadecimal DESCRIPTION: The $ operator denotes that the following string is in hexadecimal

KS FUNCTION: Step Motor Smoothing DESCRIPTION: The KS parameter smoothes the frequency of the step motor pulses. Larger values of KS provide great

LA FUNCTION: List Arrays DESCRIPTION: The LA command returns a list of all arrays in memory. The listing will be in alphabetical order. Th

124 ● LE DMC-1400 Series Command Reference LE FUNCTION: Linear Interpolation End DESCRIPTION: LE Signifies the end of a line

DMC-1400 Series Command Reference _LF* ● 125 _LF* FUNCTION: Forward Limit Switch Operand (Keyword) DESCRIPTION: The _LF operand contains the state

126 ● LI DMC-1400 Series Command Reference LI FUNCTION: Linear Interpolation Distance DESCRIPTION: The LI x,y command specifies

DMC-1400 Series Command Reference LI ● 127 EXAMPLES: LM XY Specify linear interpolation mode LI 1000,2000 Specify distance LE Last segment BGS Be

128 ● #LIMSWI DMC-1400 Series Command Reference #LIMSWI FUNCTION: Limit switch automatic subroutine DESCRIPTION: Without #LIMSWI de

DMC-1400 Series Command Reference LL ● 129 LL FUNCTION: List Labels DESCRIPTION: The LL command returns a listing of all of the program labels in

130 ● LM DMC-1400 Series Command Reference LM FUNCTION: Linear Interpolation Mode DESCRIPTION: The LM command specifies the linear

DMC-1400 Series Command Reference _LR* ● 131 _LR* FUNCTION: Reverse Limit Switch Operand (Keyword) DESCRIPTION: *The _LR operand contains the stat

6 ● & | DMC-1400 Series Command Reference & | FUNCTION: Bitwise Logical Operators AND and OR DESCRIPTION: The operators &a

132 ● LS DMC-1400 Series Command Reference LS FUNCTION: List DESCRIPTION: The LS command sends a listing of the program memory. The l

DMC-1400 Series Command Reference LV ● 133 LV FUNCTION: List Variables DESCRIPTION: The LV command returns a listing of all of the program labels

134 ● LZ DMC-1400 Series Command Reference LZ FUNCTION: Inhibit leading zeros DESCRIPTION: The LZ command is used for formatting the

DMC-1400 Series Command Reference MB ● 135 MB FUNCTION: Modbus DESCRIPTION: The MB command is used to communicate with I/O devices using the first

136 ● MB DMC-1400 Series Command Reference n is the number of registers array[] will hold the response MBh = addr, 4, m, n, array[

DMC-1400 Series Command Reference MC ● 137 MC FUNCTION: Motion Complete - "In Position" DESCRIPTION: The MC command is a trippoi

#MCTIME FUNCTION: MC command timeout automatic subroutine DESCRIPTION: #MCTIME runs when the MC command is used to wait for motion to be complete a

DMC-1400 Series Command Reference MF ● 139 MF FUNCTION: Forward Motion to Position DESCRIPTION: The MF command is a trippoint used to control the

140 ● MG DMC-1400 Series Command Reference MG FUNCTION: Message DESCRIPTION: The MG command sends data out the bus. This can be used

DMC-1400 Series Command Reference MO ● 141 MO FUNCTION: Motor Off DESCRIPTION: The MO command shuts off the control algorithm. The controller wi

DMC-1400 Series Command Reference ( ) ● 7 ( ) FUNCTION: Parentheses (order of operations) DESCRIPTION: The parentheses denote the order of math

142 ● MR DMC-1400 Series Command Reference MR FUNCTION: Reverse Motion to Position DESCRIPTION: The MR command is a trippoint used t

DMC-1400 Series Command Reference MT ● 143 MT FUNCTION: Motor Type DESCRIPTION: The MT command selects the type of the motor and the polarity of

144 ● NB DMC-1400 Series Command Reference NB FUNCTION: Notch Bandwidth DESCRIPTION: The NB command sets real part of the notc

NF FUNCTION: Notch Frequency DESCRIPTION: The NF command sets the frequency of the notch filter, which is placed in series with the PID compe

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, cha

DMC-1400 Series Command Reference NZ ● 147 NZ FUNCTION: Notch Zero DESCRIPTION: The NZ command sets the real part of the notch zero. ARGUM

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 log

DMC-1400 Series Command Reference OC ● 149 OC FUNCTION: Output Compare DESCRIPTION: The OC command allows the generation of output pulses

150 ● OE DMC-1400 Series Command Reference OE FUNCTION: Off on Error DESCRIPTION: The OE command causes the controller to shut off t

DMC-1400 Series Command Reference OF ● 151 OF FUNCTION: Offset DESCRIPTION: The OF command sets a bias voltage in the motor command output or ret

8 ● ; DMC-1400 Series Command Reference ; FUNCTION: Semicolon (Command Delimiter) DESCRIPTION: The semicolon operator allows multip

152 ● OP DMC-1400 Series Command Reference OP FUNCTION: Output Port DESCRIPTION: The OP command sends data to the output ports

DMC-1400 Series Command Reference OP ● 153 EXAMPLES: OP 0 Clear Output Port – all bits OP 7 Set outputs 1,2 and 3 MG _OP0 Returns the first para

154 ● @OUT[n] DMC-1400 Series Command Reference @OUT[n] FUNCTION: Read digital output DESCRIPTION: Returns the value of the given d

DMC-1400 Series Command Reference P1CD P2CD ● 155 P1CD P2CD FUNCTION: Serial port 1 or serial port 2 code DESCRIPTION: DMC-21x2/3: P1CD ret

156 ● P1CH P2CH DMC-1400 Series Command Reference P1CH P2CH FUNCTION: Serial port 1 or serial port 2 character DESCRIPTION: P1C

DMC-1400 Series Command Reference P1NM P2NM ● 157 P1NM P2NM FUNCTION: Serial port 1 or serial port 2 number DESCRIPTION: P1NM and P2NM conver

158 ● P1ST P2ST DMC-1400 Series Command Reference P1ST P2ST FUNCTION: Serial port 1 or serial port 2 string DESCRIPTION: P1ST r

DMC-1400 Series Command Reference #POSERR ● 159 #POSERR FUNCTION: Position error automatic subroutine DESCRIPTION: The factory default behavior

160 ● PA DMC-1400 Series Command Reference PA FUNCTION: Position Absolute DESCRIPTION: The PA command will set the final destinatio

DMC-1400 Series Command Reference PF ● 161 PF FUNCTION: Position Format DESCRIPTION: The PF command allows the user to format the position numbers

DMC-1400 Series Command Reference [ ] ● 9 [ ] FUNCTION: Square Brackets (Array Index Operator) DESCRIPTION: The square brackets are used to den

162 ● PR DMC-1400 Series Command Reference PR FUNCTION: Position Relative DESCRIPTION: The PR command sets the incremental distance

DMC-1400 Series Command Reference QD ● 163 QD FUNCTION: Download Array DESCRIPTION: The QD command transfers array data from the host computer to

164 ● QR DMC-1400 Series Command Reference QR FUNCTION: Data Record DESCRIPTION: The QR command causes the controller to retu

DMC-1400 Series Command Reference QU ● 165 QU FUNCTION: Upload Array DESCRIPTION: The QU command transfers array data from the DMC-1400 to a host

166 ● QZ DMC-1400 Series Command Reference QZ FUNCTION: Return Data Record information DESCRIPTION: The QZ command is an inte

DMC-1400 Series Command Reference RA ● 167 RA FUNCTION: Record Array DESCRIPTION: The RA command selects one or two arrays for automatic data capt

168 ● RC DMC-1400 Series Command Reference RC FUNCTION: Record DESCRIPTION: The RC command begins recording for the Automatic Record

DMC-1400 Series Command Reference RD ● 169 RD FUNCTION: Record Data DESCRIPTION: The RD command specifies the data type to be captured for the Rec

170 ● RE DMC-1400 Series Command Reference RE FUNCTION: Return from Error Routine DESCRIPTION: The RE command is used to end a positi

DMC-1400 Series Command Reference REM ● 171 REM FUNCTION: Remark DESCRIPTION: REM is used for comments. The REM statement is NOT a controller c

10 ● + - * / DMC-1400 Series Command Reference + - * / FUNCTION: Math Operators DESCRIPTION: The addition, subtraction, multiplicat

172 ● RI DMC-1400 Series Command Reference RI FUNCTION: Return from Interrupt Routine DESCRIPTION: The RI command is used to end the

DMC-1400 Series Command Reference RL ● 173 RL FUNCTION: Report Latched Position DESCRIPTION: The RL command will return the last position capture

174 ● @RND[n] DMC-1400 Series Command Reference @RND[n] FUNCTION: Round DESCRIPTION: Rounds the given number to the nearest integer

DMC-1400 Series Command Reference RP ● 175 RP FUNCTION: Reference Position DESCRIPTION: This command returns the commanded reference position of

RS FUNCTION: Reset DESCRIPTION: The RS command resets the state of the processor to its power-on condition. The previously saved state of the contro

DMC-1400 Series Command Reference <control>R<control>S ● 177 <control>R<control>S FUNCTION: Master Reset DESCRIPTION: The

178 ● <control>R<control>V DMC-1400 Series Command Reference <control>R<control>V FUNCTION: Revision Information

DMC-1400 Series Command Reference SA ● 179 SA FUNCTION: Send Command DESCRIPTION: SA sends a command from one Galil controller to another cont

180 ● SA n DMC-1400 Series Command Reference SA n FUNCTION: Serial Address DESCRIPTION: SA assigns the address of a serial contro

DMC-1400 Series Command Reference SB ● 181 SB FUNCTION: Set Bit DESCRIPTION: The SB command sets one of three bits on the output port. Note: Wh

DMC-1400 Series Command Reference <, >, =, <=, >=, <> ● 11 <, >, =, <=, >=, <> FUNCTION: Comparison Operators

182 ● SC DMC-1400 Series Command Reference SC FUNCTION: Stop Code DESCRIPTION: The SC command allows the user to determine why a mot

DMC-1400 Series Command Reference SH ● 183 SH FUNCTION: Servo Here DESCRIPTION: The SH command tells the controller to use the current motor posi

184 ● @SIN[n] DMC-1400 Series Command Reference @SIN[n] FUNCTION: Sine DESCRIPTION: Returns the sine of the given angle in degrees

DMC-1400 Series Command Reference SL ● 185 SL FUNCTION: Single Step DESCRIPTION: For debugging purposes. Single Step through the program after

186 ● SP DMC-1400 Series Command Reference SP FUNCTION: Speed DESCRIPTION: This command sets the slew speed for independent moves.

@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

188 ● ST DMC-1400 Series Command Reference ST FUNCTION: Stop DESCRIPTION: The ST command stops commanded motion. The motor will com

DMC-1400 Series Command Reference @TAN[n] ● 189 @TAN[n] FUNCTION: Tangent DESCRIPTION: Returns the tangent of the given angle in degrees ARGUMEN

190 ● TB DMC-1400 Series Command Reference TB FUNCTION: Tell Status Byte DESCRIPTION: The TB command returns status information from

DMC-1400 Series Command Reference TC ● 191 TC FUNCTION: Tell Error Code DESCRIPTION: The TC command returns a number between 1 and 255. This numb

ARRAYS CONTROL FEEDBACK MATH PROGRAM STEPPER DA deallocate DV dual loop AF analog feedback @ABS[n]

12 ● = DMC-1400 Series Command Reference = FUNCTION: Equals (Assignment Operator) DESCRIPTION: The assignment operator is used for t

192 ● TC DMC-1400 Series Command Reference ECAM 28 S operand not valid 105 EB1 command must be given first 29 Not valid during coo

DMC-1400 Series Command Reference #TCPERR ● 193 #TCPERR FUNCTION: Ethernet communication error automatic subroutine DESCRIPTION: The following

194 ● TD DMC-1400 Series Command Reference TD FUNCTION: Tell Dual Encoder DESCRIPTION: This command returns the current position of

TE FUNCTION: Tell Error DESCRIPTION: This command returns the current position error of the motor. The range of possible error is +/-2147483647. T

196 ● TH DMC-1400 Series Command Reference TH FUNCTION: Tell Handle Status DESCRIPTION: The TH command is used to request the

DMC-1400 Series Command Reference TI ● 197 TI FUNCTION: Tell Inputs DESCRIPTION: This command returns the state of all 7 general digital inputs o

198 ● TIME* DMC-1400 Series Command Reference TIME* FUNCTION: Time Operand (Keyword) DESCRIPTION: *The TIME operand contains the valu

DMC-1400 Series Command Reference TL ● 199 TL FUNCTION: Torque Limit DESCRIPTION: The TL command sets the limit on the motor command output. For

200 ● TM DMC-1400 Series Command Reference TM FUNCTION: Update Time DESCRIPTION: The TM command sets the sampling period of the cont

DMC-1400 Series Command Reference TP ● 201 TP FUNCTION: Tell Position DESCRIPTION: This command returns the current position of the motor ARGUMEN

DMC-1400 Series Command Reference AB ● 13 AB FUNCTION: Abort DESCRIPTION: AB (Abort) stops a motion instantly without a controlled decele

202 ● TR DMC-1400 Series Command Reference TR FUNCTION: Trace DESCRIPTION: The TR command causes each instruction in a program to be

DMC-1400 Series Command Reference TS ● 203 TS FUNCTION: Tell Switches DESCRIPTION: TS returns the state of the Home switch, Forward and Reverse L

204 ● TT DMC-1400 Series Command Reference TT FUNCTION: Tell Torque DESCRIPTION: The TT command reports the value of the analog serv

DMC-1400 Series Command Reference TV ● 205 TV FUNCTION: Tell Velocity DESCRIPTION: The TV command returns the actual velocity in units of quadrat

206 ● TW DMC-1400 Series Command Reference TW FUNCTION: Timeout for IN-Position (MC) DESCRIPTION: The TW n command sets the timeout

DMC-1400 Series Command Reference UI ● 207 UI FUNCTION: User Interrupt DESCRIPTION: The UI command causes an interrupt on the selected IRQ line.

208 ● UL DMC-1400 Series Command Reference UL FUNCTION: Upload DESCRIPTION: The UL command transfers data from the DMC-141X to a host

DMC-1400 Series Command Reference VA ● 209 VA FUNCTION: Vector Acceleration DESCRIPTION: This command sets the acceleration rate of the vector

210 ● VD DMC-1400 Series Command Reference VD FUNCTION: Vector Deceleration DESCRIPTION: This command sets the deceleration rat

DMC-1400 Series Command Reference VE ● 211 VE FUNCTION: Vector Sequence End DESCRIPTION: VE is required to specify the end segment of a coo

14 ● @ABS[n] DMC-1400 Series Command Reference @ABS[n] FUNCTION: Absolute value DESCRIPTION: Takes the absolute value of the given

212 ● VF DMC-1400 Series Command Reference VF FUNCTION: Variable Format DESCRIPTION: The VF command allows the variables and arrays t

DMC-1400 Series Command Reference VM ● 213 VM FUNCTION: Coordinated Motion Mode DESCRIPTION: The VM command specifies the c

214 ● VP DMC-1400 Series Command Reference VP FUNCTION: Vector Position DESCRIPTION: The VP command defines the target coordinate

DMC-1400 Series Command Reference VR ● 215 VR FUNCTION: Vector Speed Ratio DESCRIPTION: The VR sets a ratio to be used as a multiplier of the c

216 ● VS DMC-1400 Series Command Reference VS FUNCTION: Vector Speed DESCRIPTION: The VS command specifies the speed of the vecto

DMC-1400 Series Command Reference VT ● 217 VT FUNCTION: Vector Time Constant DESCRIPTION: The VT command filters the acceleration and decelera

218 ● WC DMC-1400 Series Command Reference WC FUNCTION: Wait for Contour Data DESCRIPTION: The WC command acts as a flag in the Cont

DMC-1400 Series Command Reference WH ● 219 WH FUNCTION: Which Handle DESCRIPTION: The WH command is used to identify the handle in which the

220 ● WT DMC-1400 Series Command Reference WT FUNCTION: Wait DESCRIPTION: The WT command is a trippoint used to time events. After

DMC-1400 Series Command Reference XQ ● 221 XQ FUNCTION: Execute Program DESCRIPTION: The XQ command begins execution of a program residing in the

DMC-1400 Series Command Reference AC ● 15 AC FUNCTION: Acceleration DESCRIPTION: The Acceleration (AC) command sets the linear acceleration rate

222 ● ZR DMC-1400 Series Command Reference ZR FUNCTION: Zero DESCRIPTION: The ZR command sets the compensating zero by changing the K

DMC-1400 Series Command Reference ZS ● 223 ZS FUNCTION: Zero Subroutine Stack DESCRIPTION: The ZS command is only valid in an application program

224 ● ZS DMC-1400 Series Command Reference THIS PAGE LEFT BLANK INTENTIONALLY

DMC-1400 Series Command Reference Index ● 225 Index Abort... 13, 180, 181 Off-On-Error...

226 ● Index DMC-1400 Series Command Reference Halt Abort... 13, 180, 181 Of

DMC-1400 Series Command Reference Index ● 227 Clear Sequence ... 62 Ellipse Scale ...

16 ● @ACOS[n] DMC-1400 Series Command Reference @ACOS[n] FUNCTION: Inverse cosine DESCRIPTION: Returns in degrees the arc cosine of

DMC-1400 Series Command Reference AD ● 17 AD FUNCTION: After Distance DESCRIPTION: The After Distance (AD) command is a trippoint used to control

18 ● AF DMC-1400 Series Command Reference AF FUNCTION: Analog Feedback DESCRIPTION: The Analog Feedback (AF) command is used to set an

DMC-1400 Series Command Reference AI ● 19 AI FUNCTION: After Input DESCRIPTION: The AI command is used in motion programs to wait until after the

20 ● AL DMC-1400 Series Command Reference AL FUNCTION: Arm Latch DESCRIPTION: The AL command enables the latching function (high speed posi

DMC-1400 Series Command Reference AM ● 21 AM FUNCTION: After Move DESCRIPTION: The AM command is a trippoint used to control the timing of events

DMC-1400 Series Command Reference Contents ● i Contents CONTENTS ...

22 ● @AN[n] DMC-1400 Series Command Reference @AN[n] FUNCTION: Read analog input DESCRIPTION: Returns the value of the given analog

DMC-1400 Series Command Reference AO ● 23 AO FUNCTION: Analog Out DESCRIPTION: The AO command sets the analog output voltage of Modbus Devices con

24 ● AP DMC-1400 Series Command Reference AP FUNCTION: After Absolute Position DESCRIPTION: The After Position (AP) command is a trippoint

DMC-1400 Series Command Reference AR ● 25 AR FUNCTION: After Relative Distance DESCRIPTION: The After Relative (AR) command is a trippoint used t

26 ● AS DMC-1400 Series Command Reference AS FUNCTION: At Speed DESCRIPTION: The AS command is a trippoint that occurs when the generated m

DMC-1400 Series Command Reference @ASIN[n] ● 27 @ASIN[n] FUNCTION: Inverse sine DESCRIPTION: Returns in degrees the arc sine of the given number

28 ● AT DMC-1400 Series Command Reference AT FUNCTION: At Time DESCRIPTION: The AT command is a trippoint which is used to hold up executio

DMC-1400 Series Command Reference @ATAN[n] ● 29 @ATAN[n] FUNCTION: Inverse tangent DESCRIPTION: Returns in degrees the arc tangent of the given

30 ● #AUTO DMC-1400 Series Command Reference #AUTO FUNCTION: Subroutine to run automatically upon power up DESCRIPTION: #AUTO denot

DMC-1400 Series Command Reference #AUTOERR ● 31 #AUTOERR FUNCTION: Automatic subroutine for notification of EEPROM checksum errors DESCRIPTION:

ii • Contents DMC-1400 Series Command Reference BI...

32 ● AV DMC-1400 Series Command Reference AV FUNCTION: After Vector Distance DESCRIPTION: The AV command is a trippoint which is us

DMC-1400 Series Command Reference BA ● 33 BA FUNCTION: Brushless Axis DESCRIPTION: The BA command sets the controller up for sinusoidal commut

34 ● BB DMC-1400 Series Command Reference BB FUNCTION: Brushless Phase Begins DESCRIPTION: The BB function describes the position o

DMC-1400 Series Command Reference BC ● 35 BC FUNCTION: Brushless Calibration DESCRIPTION: The function BC monitors the status of the Hall sen

36 ● BD DMC-1400 Series Command Reference BD FUNCTION: Brushless Degrees DESCRIPTION: This command sets the commutation phase of a

DMC-1400 Series Command Reference BG ● 37 BG FUNCTION: Begin DESCRIPTION: The BG command starts a motion. When Used as an Operand, the BG comman

38 ● BI DMC-1400 Series Command Reference BI FUNCTION: Brushless Inputs DESCRIPTION: The BIx indicates the starting number for t

BK FUNCTION: Breakpoint DESCRIPTION: For debugging. Causes the controller to pause execution of the given thread at the given program line numbe

40 ● BL DMC-1400 Series Command Reference BL FUNCTION: Reverse Software Limit DESCRIPTION: The BL command sets the reverse software

DMC-1400 Series Command Reference BM ● 41 BM FUNCTION: Brushless Modulo DESCRIPTION: The BM command defines the length of the magnetic cycle in

DMC-1400 Series Command Reference Contents ● iii ER...

42 ● BN DMC-1400 Series Command Reference BN FUNCTION: Burn DESCRIPTION: The BN command saves certain controller parameters in non-vol

DMC-1400 Series Command Reference BO ● 43 BO FUNCTION: Brushless Offset DESCRIPTION: The BOx sets a fixed offset on the DAC's of a si

44 ● BP DMC-1400 Series Command Reference BP FUNCTION: Burn Program DESCRIPTION:: The BP command saves the application program in

DMC-1400 Series Command Reference BS ● 45 BS FUNCTION: Brushless Setup DESCRIPTION: The command BS tests the wiring of a sinusoidally commutated

46 ● BV DMC-1400 Series Command Reference BV FUNCTION: Burn Variables and Array DESCRIPTION: The BV command saves the defined variable

DMC-1400 Series Command Reference BZ ● 47 BZ FUNCTION: Brushless Zero DESCRIPTION: The BZ command is when the controller is configured for sin

48 ● CB DMC-1400 Series Command Reference CB FUNCTION: Clear Bit DESCRIPTION: The CB command clears one of three bits on the output p

DMC-1400 Series Command Reference CC ● 49 CC FUNCTION: Configure Communications Port 2 DESCRIPTION:: The CC command configures baud rate, handshake

50 ● CD DMC-1400 Series Command Reference CD FUNCTION: Contour Data DESCRIPTION: The CD command specifies the incremental position. T

DMC-1400 Series Command Reference CE ● 51 CE FUNCTION: Configure Encoder DESCRIPTION: The CE command configures the encoder inputs to the quadratu

iv • Contents DMC-1400 Series Command Reference MF...

52 ● CF DMC-1400 Series Command Reference CF FUNCTION: Configure DESCRIPTION: The CF command is used to specify the communication por

DMC-1400 Series Command Reference CI ● 53 CI FUNCTION: Communication Interrupt DESCRIPTION: The CI command configures a program interrupt based

54 ● CM DMC-1400 Series Command Reference CM FUNCTION: Contouring Mode DESCRIPTION: The Contour Mode is initiated by the instruction

DMC-1400 Series Command Reference #CMDERR ● 55 #CMDERR FUNCTION: Command error automatic subroutine DESCRIPTION: Without #CMDERR defined, if an

56 ● CN DMC-1400 Series Command Reference CN FUNCTION: Configure DESCRIPTION: The CN command configures the polarity of the limit swi

DMC-1400 Series Command Reference CO ● 57 CO FUNCTION: Configure Outputs DESCRIPTION: The CO command configures the extended I/O in blocks

58 ● @COM[n] DMC-1400 Series Command Reference @COM[n] FUNCTION: Bitwise complement DESCRIPTION: Performs the bitwise complement (N

DMC-1400 Series Command Reference #COMINT ● 59 #COMINT FUNCTION: Communication interrupt automatic subroutine DESCRIPTION: #COMINT can be confi

60 ● @COS[n] DMC-1400 Series Command Reference @COS[n] FUNCTION: Cosine DESCRIPTION: Returns the cosine of the given angle in degre

DMC-1400 Series Command Reference CR ● 61 CR FUNCTION: Circle DESCRIPTION: The CR command specifies a 2-dimensional arc segment of radius,

DMC-1400 Series Command Reference ● v @SQR[n] ...

62 ● CS DMC-1400 Series Command Reference CS FUNCTION: Clear Sequence DESCRIPTION: The CS command will remove VP, CR or LI comm

DMC-1400 Series Command Reference CW ● 63 CW FUNCTION: Copyright information / Data Adjustment bit on/off DESCRIPTION: The CW command has a dual u

64 ● DA DMC-1400 Series Command Reference DA FUNCTION: Deallocate the Variables & Arrays DESCRIPTION: The DA command frees the arr

DMC-1400 Series Command Reference DC ● 65 DC FUNCTION: Deceleration DESCRIPTION: The Deceleration command (DC) sets the linear deceleration rate

DE FUNCTION: Dual (Auxiliary) Encoder Position DESCRIPTION: The DE n command defines the position of the auxiliary encoder. The DE n command defin

DMC-1400 Series Command Reference DL ● 67 DL FUNCTION: Download DESCRIPTION: The DL command transfers a data file from the host computer to the DM

68 ● DM DMC-1400 Series Command Reference DM FUNCTION: Dimension DESCRIPTION: The DM command defines a single dimensional array with a

DP FUNCTION: Define Position DESCRIPTION: The DP command sets the current motor position and current command positions to a user specified value. T

70 ● DT DMC-1400 Series Command Reference DT FUNCTION: Delta Time DESCRIPTION: The DT command sets the time interval for Contouring

DMC-1400 Series Command Reference DV ● 71 DV FUNCTION: Dual Velocity (Dual Loop) DESCRIPTION: The DV function changes the operation of the PID se

72 ● EA DMC-1400 Series Command Reference EA FUNCTION: Choose ECAM master DESCRIPTION: The EA command selects the master axis

DMC-1400 Series Command Reference EB ● 73 EB FUNCTION: Enable ECAM DESCRIPTION: The EB function enables or disables the cam mode. In this mode,

74 ● EC DMC-1400 Series Command Reference EC FUNCTION: ECAM Counter DESCRIPTION: The EC function sets the index into the ECAM tab

DMC-1400 Series Command Reference ED ● 75 ED FUNCTION: Edit DESCRIPTION: Using Galil DOS Terminal Software: The ED command puts the controller in

76 ● EG DMC-1400 Series Command Reference EG FUNCTION: ECAM go (engage) DESCRIPTION: The EG command engages an ECAM operation at a s

DMC-1400 Series Command Reference EI ● 77 EI FUNCTION: Enable Interrupts DESCRIPTION: The EI command enables an ISA, PC/104 or PCI bus interrupt o

78 ● ELSE DMC-1400 Series Command Reference ELSE FUNCTION: Else function for use with IF conditional statement DESCRIPTION: T

DMC-1400 Series Command Reference EM ● 79 EM FUNCTION: Cam cycles DESCRIPTION: The EM command is part of the ECAM mode. It is used to define the

80 ● EN DMC-1400 Series Command Reference EN FUNCTION: End DESCRIPTION: The EN command is used to designate the end of a program or su

DMC-1400 Series Command Reference EN ● 81 EXAMPLES: #A Program A PR 500 Move X axis forward 500 counts BGX Pause the program until the X axis com

Overview Controller Notation This command reference is a supplement to the Galil Motion Control User Manual. For proper controller operation, consul

82 ● ENDIF DMC-1400 Series Command Reference ENDIF FUNCTION: End of IF conditional statement DESCRIPTION: The ENDIF command is

DMC-1400 Series Command Reference EO ● 83 EO FUNCTION: Echo DESCRIPTION: The EO command turns the echo on or off. If the echo is off, characters

84 ● EP DMC-1400 Series Command Reference EP FUNCTION: Cam table master interval and phase shift DESCRIPTION: The EP command defines

DMC-1400 Series Command Reference EQ ● 85 EQ FUNCTION: ECAM quit (disengage) DESCRIPTION: The EQ command disengages an electronic cam slave axis

86 ● ER DMC-1400 Series Command Reference ER FUNCTION: Error Limit DESCRIPTION: The ER command sets the magnitude of the position err

DMC-1400 Series Command Reference ES ● 87 ES FUNCTION: Ellipse Scale DESCRIPTION: The ES command divides the resolution of one of the axes

88 ● ET DMC-1400 Series Command Reference ET FUNCTION: Electronic cam table DESCRIPTION: The ET command sets the ECAM table entries

DMC-1400 Series Command Reference FA ● 89 FA FUNCTION: Acceleration Feedforward DESCRIPTION: The FA command sets the acceleration feedforward coe

90 ● FE DMC-1400 Series Command Reference FE FUNCTION: Find Edge DESCRIPTION: The FE command moves a motor until a transition is see

DMC-1400 Series Command Reference FI ● 91 FI FUNCTION: Find Index DESCRIPTION: The FI and BG commands move the motor until an encoder index pulse