Galil DMC-1000 series, DMC-1500 series Command Reference Manual
COMMAND
DMC-1000, DMC-1500
REFERENCE
Manual Rev. 1.0g
By Galil Motion Control, Inc.
Galil Motion Control, Inc.
270 Technology Way
Rocklin, California 95765
Phone: (
Internet Address: support@galilmc.com
URL: www.galilmc.com
916) 626-0101
Fax: (916) 626-0102
Rev 6/06
Overview
Controller Notation
This command reference is a supplement to Galil Motion Control User Manual. For proper controller
operation, consult the Users Manual. This manual describes commands to be used with the following
Galil Motion Controllers: DMC-1000, DMC-1500. Commands are listed in alphabetical order.
Please note that all commands may not be valid for every controller. The following symbol is used to
identify the controllers for which the command is applicable.
DMC-1000 DMC-1500
This symbol is placed at the top right corner of each command description. The DMC-1000 symbol
refers to all controllers from the DMC-1000 series (1-8 axes), the DMC-1500 symbol refers to all
controllers from the DMC-1500 series (1-8 axes). When the corresponding box entry is dark, the
command is not valid for that controller.
Removing Non-Applicable Commands:
Since there may be commands which are not applicable to your controller, you may use the following
table to identify and remove these pages:
Manual Pages Not Applicable to Specific Controllers:
CONTROLLER PAGE NO
DMC-1000 9,21,22,24,27,104
DMC-1500 47,105,142
Servo and Stepper Motor Notation:
Your motion controller has been designed to work with both servo and stepper type motors.
Installation and system setup will vary depending upon whether the controller will be used with
stepper motors, or servo motors. To make finding the appropriate instructions faster and easier, icons
will be next to any information that applies exclusively to one type o f system. Otherwise, assume that
the instructions apply to all types of systems. The icon legend is shown below.
DMC-1000/1500 Command Reference Overview • 1
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 right corner.
Axes Arguments
Some commands require the user to identify the specific axes to be affected. These commands are
followed by uppercase X,Y,Z, W or A,B,C,D,E,F,G and H. No commas are needed and the order of
axes is not important. Do not insert any spaces prior to any command. For example, STX; AMX is
invalid because there is a space after the semicolon. When no argument is given, the command is
executed for all axes.
Valid XYZW syntax
SH X Servo Here, X only
SH XYW Servo Here, X,Y and W axes
SH XZW Servo Here, X,Z and W axes
SH XYZW Servo Here, X,Y,Z and W axes
SH BCAD Servo Here, A,B,C and D axes (Note: ABCD IS the same as XYZW)
SH ADEG Servo Here, A,D,E and G axes (Note: AD is the same as XW)
SH H Servo Here, H axis only
SH Servo Here, all axes
Parameter Arguments
Some commands require numerical arguments to be specified following the instruction. In the
argument description, these commands are followed by lower case x,y,z,w or a,b,c,d,e,f,g,h where the
lowercase letter represents the value. Values may be specified for any axis separately or any
combination of axes. The argument for each axis is separated by commas. Examples of valid syntax
are listed below.
Valid x,y,z,w syntax
AC x Specify argument for x axis only
AC x,y Specify x and y only
AC x,,z Specify x and z only
AC x,y,z,w Specify x,y,z,w
AC a,b,c,d Specify arguments for a,b,c,d (Note: a,b,c,d are the same as x,y,z,w)
AC ,b,,,e Specify b and e axis only (Note: b and y axis are the same)
AC ,,,e,f Specify e and f (Note: e and z axis are the same)
Where x,y,z,w and a,b,c,d,e,f,g and h are replaced by actual values.
2 • Overview DMC-1000/1500 Command Reference
Direct Command Arguments
An alternative method for specifying data is to set data for individual axes using an axis designator
followed by an equals sign. The * symbol defines data for all axes to be the same. For example:
PRY=1000 Sets Y axis data at 1000
PR*=1000 Sets all axes to 1000
Interrogation
Most commands accept a question mark (?) as an argument. This argument causes the controller to
return parameter information listed in the command description. Type the command followed by a ?
for each axis requested. The syntax format is the same as the parameter arguments described above
except '?' replaces the values.
PR ? The controller will return the PR value for the X axis
PR ,,,? The controller will return the PR value for the W axis
PR ?,?,?,? The controller will return the PR value for the A,B,C and D axes
PR ,,,,,,,? The controller will return the PR value for the H axis
Operand Usage
Most commands have a corresponding operand that can be used for interrogation. The Operand Usage
description provides proper syntax and the value returned by the operand. Operands must be used
inside of valid DMC expressions. For example, to display the value of an operand, the user could use
the command:
MG ‘operand’
All of the command operands begin with the underscore character (_). For example, the value of the
current position on the X axis can be assigned to the variable ‘V’ with the command:
V=_TPX
Usage Description
The Usage description specifies the restrictions on proper command usage. The following provides an
explanation of the command information provided:
"While Moving" states whether or not the command is valid while the controller is performing a
previously defined motion.
"In a program" states whether the command may be used as part of a user-defined program.
"Command Line" states whether the command may be used other than in a user-defined program.
"Can be Interrogated" states whether or not the command can be interrogated by using the ? as a
command argument.
"Used as an Operand" states whether the command has an associated operand.
Default Description
In the command description, the DEFAULT section provides the default values for controller setup
parameters. These parameters can be changed and the new values can be saved in the controller's nonvolatile 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.
DMC-1000/1500 Command Reference Overview • 3
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, <ctrl R> <ctrl S> <Return> 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
power up of the controller. If this value is set and saved in non-volatile memory, it will be restored
upon reset until a master reset is given to the controller.
The default format describes the format for numerical values which are returned when the command is
interrogated. The format value represents the number of digits before and after the decimal point.
4 • Overview DMC-1000/1500 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
DMC-1000 DMC-1500
(see command "OE" on page
ARGUMENTS: AB n where
n = no argument or 1
1 aborts motion without aborting program, 0 aborts motion and program
AB aborts motion on all axes in motion and cannot stop individual axes.
USAGE: DEFAULTS:
While Moving Yes Default Value --In a Program Yes Default Format --Command Line Yes
Can be Interrogated No
Used as an Operand Yes
102).
OPERAND USAGE:
_AB gives state of Abort Input.
RELATED COMMANDS:
SH Turns servos back on if they were shut-off by Abort and OE1.
EXAMPLES:
AB Stops motion
OE 1,1,1,1 Enable off-on-error
AB Shuts off motor command and stops motion
#A Label - Start of program
JG 20000 Specify jog speed on X-axis
BGX Begin jog on X-axis
WT 5000 Wait 5000 msec
AB1 Stop motion without aborting program
WT 5000 Wait 5000 milliseconds
SH Servo Here
JP #A Jump to Label A
EN End of the routine
Hint: Remember to use the parameter 1 following AB if you only want the motion to be aborted.
Otherwise, your application program will also be aborted.
DMC-100/1500 Command Reference AB • 5
DMC-1000 DMC-1500
AC
FUNCTION: Acceleration
DESCRIPTION:
The Acceleration (AC) command sets the linear acceleration rate of the motors for
independent moves, such as PR, PA and JG. The parameters input will be rounded down
to the nearest factor of 1024. The units are in counts per second squared. The
acceleration rate may be changed during motion. The DC command is used to specify
the deceleration rate.
ARGUMENTS: AC x,y,z,w ACX=x AC a,b,c,d,e,f,g,h where
x,y,z,w are unsigned numbers in the range in the range 1024 to 67107840
"?" returns the acceleration value for the specified axes.
USAGE: DEFAULTS:
While Moving Yes Default Value 25600
In a Program Yes Default Format 8.0
Command Line Yes
Can be Interrogated Yes
Used as an Operand Yes
OPERAND USAGE:
_ACx contains the value of acceleration for the specified axis.
RELATED COMMANDS:
DC Specifies deceleration rate.
FA Feedforward Acceleration
IT Smoothing constant - S-curve
EXAMPLES:
AC 150000,200000,300000,400000 Set X-axis acceleration to 150000, Y-axis to
200000 counts/sec2, the Z-axis to 300000
counts/sec2, and the W-axis to 400000
count/sec2.
AC ?,?,?,? Request the Acceleration
0149504,0199680,0299008,0399360 Return Acceleration
(resolution, 1024)
V=_ACY Assigns the Y acceleration to the variable V
Hint: Specify realistic acceleration rates based on your physical system such as motor torque rating,
loads, and amplifier current rating. Specifying an excessive acceleration will cause large following
error during acceleration and the motor will not follow the commanded profile. The acceleration
feedforward command FA will help minimize the error.
6 • AC DMC-1000/1500 Command Reference
DMC-1000 DMC-1500
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. Only one axis may be specified at a time.
The motion profiler must be on or the trippoint will automatically be satisfied.
Note: AD will be affected when the motion smoothing time constant, IT, is not 1. See IT
command for further information.
ARGUMENTS: AD x or AD,y or AD,,z or AD,,,w ADX=x AD a,b,c,d,e,f,g,h where
x,y,z,w are unsigned integers in the range 0 to 2147483647 decimal.
USAGE: DEFAULTS:
While Moving Yes Default Value In a Program Yes Default Format Command Line Yes
Can be Interrogated No
Used as an Operand No
RELATED COMMANDS:
AD After distance for repetitive triggering
AV After distance for vector moves
EXAMPLES:
#A;DP0,0,0,0 Begin Program
PR 10000,20000,30000,40000 Specify positions
BG Begin motion
AD 5000 After X reaches 5000
MG "Halfway to X";TPX Send message
AD ,10000 After Y reaches 10000
MG "Halfway to Y";TPY Send message
AD ,,15000 After Z reaches 15000
MG "Halfway to Z";TPZ Send message
AD ,,,20000 After W reaches 20000
MG "Halfway to W";TPW Send message
EN End Program
DMC-100/1500 Command Reference AD • 7
Hint: The AD command is accurate to the number of counts that occur in 2 msec. Multiply your
speed by 2 msec to obtain the maximum position error in counts. Remember AD measures
incremental distance from the start of a move on one axis.
8 • AD DMC-1000/1500 Command Reference
AF
FUNCTION: Analog Feedback
DESCRIPTION::
The Analog Feedback (AF) command is used to set an axis with analog instead of digital
feedback (quadrature or
converter, an input voltage of 10 volts is decoded as a position of 2047 counts and a
voltage of -10 volts corresponds to a position of -2048 counts. An option is available for
16-bits where an input voltage of 10 volts is decoded as a position of 32,768 counts and a
voltage of -10volts corresponds to a position of -32,768 counts.
ARGUMENTS: AF x,y,z,w AFX=x AF a,b,c,d,e,f,g,h where
x,y,z,w are integers
1 = Enables analog feedback
0 = Disables analog feedback and switches to digital feedback
"?" returns a 0 or 1 which states whether analog feedback is enabled for the specified axes.
USAGE: DEFAULTS:
While Moving No Default Value 0,0,0,0
In a Program Yes Default Format Command Line Yes
Can be Interrogated Yes
Used as an Operand Yes
pulse & dir). As the analog feedback is decoded by a 12-bit A/D
DMC-1500
OPERAND USAGE:
_AFx contains the value of acceleration for the specified axis.
RELATED COMMANDS:
MT Motor Type
CE Configure Encoder
EXAMPLES:
AF 1,0,0,1 Analog feedback on X and W axis
V1 = _AFX Assign feedback type to variable
AF ?,?,? Interrogate feedback type
Note: AF on the 8th axis of DMC-1580 requires special modification from the factory. Consult Galil.
DMC-100/1500 Command Reference AF • 9
AI
FUNCTION: After Input
DESCRIPTION:
The AI command is used in motion programs to wait until the specified input has occurred. If
n is positive, it waits for the input to go high. If n is negative, it waits for n to go low.
ARGUMENTS: AI +/-n where
n is an integer in the range 1 to 8 decimal
USAGE: DEFAULTS:
While Moving Yes Default Value In a Program Yes Default Format Command Line Yes
Can be Interrogated No
Used as an Operand No
RELATED COMMANDS:
@IN[n] Function to read input 1 through 8
II Input interrupt
#ININT Label for input interrupt
DMC-1000 DMC-1500
EXAMPLES:
#A Begin Program
AI 8 Wait until input 8 is high
SP 10000 Speed is 10000 counts/sec
AC 20000 Acceleration is 20000 counts/sec2
PR 400 Specify position
BG X Begin motion
EN End Program
Hint: The AI command actually halts execution of the next line in a program until the specified input
is at the desired logic level. Use the conditional Jump command (JP) or input interrupt (II) if you do
not want the program sequence to halt.
10 • AI DMC-1000/1500 Command Reference
AL
FUNCTION: Arm Latch
DESCRIPTION:
The AL command enables the latching function of the controller. When the position latch is
armed, the main or auxiliary encoder position will be captured upon a low going signal.
Each axis has a position latch and can be activated through the general inputs: Input 1 (X
or A axis), Input 2 (Y or B axis), Input 3 (Z or C axis), Input 4 (W or D axis), Input 5 (E
axis), Input 6 (F axis), Input 7 (G axis). The command RL returns the captured position
for the specified axes. When interrogated the AL command will return a 1 if the latch for
that axis is armed or a zero after the latch has occurred. The CN command will change
the polarity of the latch.
ARGUMENTS: AL XYZW where
X,Y,Z,W specifies the X,Y,Z,W axes.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 1.0
Command Line Yes
Can be Interrogated No
Used as an Operand Yes
DMC-1000 DMC-1500
OPERAND USAGE:
_ALx contains the state of the specified latch. 0 = not armed, 1 = armed.
RELATED COMMANDS:
RL Report Latch
EXAMPLES:
#START Start program
ALY Arm Y-axis latch
JG,50000 Set up jog at 50000 counts/sec
BGY Begin the move
#LOOP Loop until latch has occurred
JP #LOOP,_ALY=1
RLY Transmit the latched position
EN End of program
DMC-100/1500 Command Reference AL • 11
DMC-1000 DMC-1500
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. Any combination of axes or a motion sequence may be specified with
the AM command. For example, AM XY waits for motion on both the X and Y axis to
be complete. AM with no parameter specifies that motion on all axes be complete.
ARGUMENTS: AM XYZWS or AM SX SY SZ SW or ( AL ABCDEFGH or AL
SASBSCSDSESFSGSH) where
X,Y,Z,W,S specifies X,Y,Z, or W axis, or sequence. No argument specifies that motion on
all axes is complete.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 1.0
Command Line Yes
Can be Interrogated No
Used as an Operand No
RELATED COMMANDS:
BG _BGx contains a 0 if motion complete
EXAMPLES:
#MOVE Program MOVE
PR 5000,5000,5000,5000 Position relative moves
BG X Start the X-axis
AM X After the move is complete on X,
BG Y Start the Y-axis
AM Y After the move is complete on Y,
BG Z Start the Z-axis
AM Z After the move is complete on Z
BG W Start the W-axis
AM W After the move is complete on W
EN End of Program
Hint: AM is a very important command for controlling the timing between multiple move sequences.
For example, if the X-axis is in the middle of a position relative move (PR) you cannot make a position
absolute move (PAX, BGX) until the first move is complete. Use AMX to halt the program sequences
until the first motion is complete. AM tests for profile completion. Th e actual motor may still be
moving. Another method for testing motion complete is to check for the internal variable, _BGx, being
equal to zero (see “BG”command).
12 • AM DMC-1000/1500 Command Reference
DMC-1000 DMC-1500
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 actual motor position crosses the specified absolute position.
2. The motion profiling on the axis is complete.
3. The commanded motion is in the direction which moves away from the specified
position.
The units of the command are quadrature counts. Only one axis may be specified at a time.
The motion profiler must be on or the trippoint will automatically be satisfied
ARGUMENTS: APx or AP,y or AP,,z or AP,,,w APX=x AP abcdefgh where
x,y,z,w are signed integers in the range -2147483648 to 2147483647 decimal
USAGE: DEFAULTS:
While Moving Yes Default Value --In a Program Yes Default Format --Command Line Yes
Can be Interrogated No
Used as an Operand No
RELATED COMMANDS:
AD Trippoint for relative distances
MF Trippoint for forward motion
EXAMPLES:
#TEST Program B
DP0 Define zero
JG 1000 Jog mode (speed of 1000 counts/sec)
BG X Begin move
AP 2000 After passing the position 2000
V1=_TPX Assign V1 X position
MG "Position is", V1= Print Message
ST Stop
EN End of Program
Hint: The accuracy of the AP command is the number of counts that occur in 2 msec. Multiply the
speed by 2 msec to obtain the maximum error. AP tests for absolute position. Use the AD command
to measure incremental distances.
DMC-100/1500 Command Reference AP • 13
DMC-1000 DMC-1500
AR
FUNCTION: After Relative Distance
DESCRIPTION:
The After Relative (AR) command is a trippoint used to control the timing of events. This
command will hold up the execution of the following command until one of the
following conditions have been met:
1. The commanded motor position crosses the specified relative distance from either the
start of the move or the last AR or AD command.
2. The motion profiling on the axis is complete.
3. The commanded motion is in the direction which moves away from the specified
position.
The units of the command are quadrature counts. Only one axis may be specified at a time.
The motion profiler must be on or the trippoint will automatically be satisfied.
Note: AR will be affected when the motion smoothing time constant, IT, is not 1. See IT
command for further information.
ARGUMENTS: ARx or AR,y or AR,,z or AR,,,w ARX=X AR abcdefgh where
x,y,z,w are unsigned integers in the range 0 to 2147483647 decimal.
USAGE: DEFAULTS:
While Moving Yes Default Value In a Program Yes Default Format Command Line Yes
Can be Interrogated No
Used as an Operand No
RELATED COMMANDS:
AV Trippoint for after vector position for coordinated moves
AP Trippoint for after absolute position
EXAMPLES:
#A;DP 0,0,0,0 Begin Program
JG 50000,,,7000 Specify speeds
BG XW Begin motion
#B Label
AR 25000 After passing 25000 counts of relative distance on X-axis
MG "Passed_X";TPX Send message on X-axis
JP #B Jump to Label #B
EN 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.
14 • AR DMC-1000/1500 Command Reference
DMC-1000 DMC-1500
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 followin g command until
the speed is reached. The AS command will operate after either accelerating or
decelerating. If the speed is not reached, the trippoint will be triggered after the motion
is stopped (after deceleration).
ARGUMENTS: AS X or AS Y or AS Z or AS W or AS S AS ABCDEFGH where
XYZWS specifies X,Y,Z,W axis or sequence
USAGE: DEFAULTS:
While Moving Yes Default Value In a Program Yes Default Format Command Line Yes
Can be Interrogated No
Used as an Operand No
EXAMPLES:
#SPEED Program A
PR 100000 Specify position
SP 10000 Specify speed
BG X Begin X
ASX After speed is reached
MG "At Speed" Print Message
EN End of Program
WARNING:
The AS command applies to a trapezoidal velocity profile only with linear acceleration. AS used with
S-curve profiling will be inaccurate.
DMC-100/1500 Command Reference AS • 15
AT
FUNCTION: At Time
DESCRIPTION:
The AT command is a trippoint which is used to hold up execution of the next command until
after the specified time has elapsed. The time is measured with respect to a defined
reference time. AT 0 establishes the initial reference. AT n specifies n msec from the
reference. AT -n specifies n msec from the reference and establishes a new reference
after the elapsed time period.
ARGUMENTS: AT n where
n is a signed integer in the range 0 to 2 Billion
n = 0 defines a reference time at current time
positive n waits n msec from reference
negative n waits n msec from reference and sets new reference after elapsed time period
(AT -n is equivalent to AT n; AT <old reference + n>
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format Command Line Yes
Can be Interrogated No
Used as an Operand No
DMC-1000 DMC-1500
EXAMPLES:
The following commands are sent sequentially
AT 0 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)
16 • AT DMC-1000/1500 Command Reference
DMC-1000 DMC-1500
AV
FUNCTION: After Vector Distance
DESCRIPTION:
The AV command is a trippoint which is used to hold up execution of the next command
during coordinated moves such as VP,CR or LI. This trippoint occurs when the path
distance of a sequence reaches the specified value. The distance is measured from the
start of a coordinated move sequence or from the last AV command. The units of the
command are quadrature counts.
ARGUMENTS: AV n where
n is an unsigned integer in the range 0 to 2147483647 decimal
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format Command Line Yes
Can be Interrogated No
Used as an Operand Yes
OPERAND USAGE:
_AV contains the vector distance from the start of the sequence. _AV is valid in the linear
mode, LM and in the vector mode, VM.
EXAMPLES:
#MOVE;DP 0,0 Label
LMXY Linear move for X,Y
LI 1000,2000 Specify distance
LI 2000,3000 Specify distance
LE
BGS Begin
AV 500 After path distance = 500,
MG "Path>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.
DMC-100/1500 Command Reference AV • 17
DMC-1000 DMC-1500
BG
FUNCTION: Begin
DESCRIPTION:
The BG command starts a motion on the specified axis or sequence.
ARGUMENTS: BG XYZWS BG ABCDEFGH where
XYZW are X,Y,Z,W axes and S is coordinated sequence
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format Command Line Yes
Can be Interrogated No
Used as an Operand Yes
OPERAND USAGE:
_BGx contains a ‘0’ if motion complete on the specified axis, otherwise contains a ‘1’.
RELATED COMMANDS:
AM After motion complete
ST Stop motion
EXAMPLES:
PR 2000,3000,,5000 Set up for a relative move
BG XYW Start the X,Y and W motors moving
HM Set up for the homing
BGX Start only the X-axis moving
JG 1000,4000 Set up for jog
BGY Start only the Y-axis moving
YSTATE=_BGY Assign a 1 to YSTATE if the Y-axis is performing a move
VP 1000,2000 Specify vector position
VS 20000 Specify vector velocity
BGS Begin coordinated sequence
VMXY Vector Mode
VP 4000,-1000 Specify vector position
VE Vector End
PR ,,8000,5000 Specify Z and W position
BGSZW Begin sequence and Z,W motion
MG _BGS Displays a 1 if coordinated sequence move is running
Hint: You cannot give another BG command until current BG motion has been completed. Use the
AM trippoint to wait for motion complete between moves. Another method for checking motion
complete is to test for _BGx being equal to 0.
18 • BG DMC-1000/1500 Command Reference
DMC-1000 DMC-1500
BL
FUNCTION: Reverse Software Limit
DESCRIPTION:
The BL command sets the reverse software limit. If this limit is exceeding during motion,
motion on that axis will decelerate to a stop. Reverse motion beyond this limit is not
permitted. The reverse limit is activated at X-1, Y-1, Z-1, W-1. To disable the reverse
limit, set X,Y,Z,W to -2147483648. The units are in quadrature counts.
When the reverse software limit is activated, the automatic subroutine #LIMSWI will b e
executed if it is included in the program and a program is executing. See User's Manual,
Automatic Subroutine.
ARGUMENTS: BL x,y,z,w BLX=x BL a,b,c,d,e,f,g,h where
x,y,z,w are signed integers in the range -2147483648 to 2147483647.
-214783648 turns off the reverse limit.
"?" returns the reverse software limit for the specified axes.
USAGE: DEFAULTS:
While Moving Yes Default Value -214783648
In a Program Yes Default Format Position format
Command Line Yes
Can be Interrogated Yes
Used as an Operand Yes
OPERAND USAGE:
_BLx contains the value of the reverse software limit for the specified axis.
RELATED COMMANDS:
FL Forward Limit
PF Position Formatting
EXAMPLES:
#TEST Test Program
AC 1000000 Acceleration Rate
DC 1000000 Deceleration Rate
BL -15000 Set Reverse Limit
JG -5000 Jog Reverse
BGX Begin Motion
AMX After Motion (limit occurred)
TPX Tell Position
EN End Program
Hint: Galil Controllers also provide hardware limits.
DMC-100/1500 Command Reference BL • 19
DMC-1000 DMC-1500
BN
FUNCTION: Burn
DESCRIPTION:
The BN command saves the controller parameters shown below in Flash EEPROM memory.
This command typically takes 1 second to execute and must not be interrupted. The
controller returns a : when the Burn is complete.
PARAMETERS SAVED DURING BURN:
AC FL SB
BL GA SP
CB GR TL
CE IL TM
CN KD (ZR converted to KD) TR
CO KI VA
CW KP (GN converted to KP) VD
DV MO (MOTOR OFF or ON) VF
DC MT VS
EO OE VT
PL OP
ER PF
ARGUMENTS: None
USAGE: DEFAULTS:
While Moving Yes Default Value In a Program Yes Default Format Command Line Yes
Can be Interrogated No
Used as an Operand Yes
OPERAND USAGE:
_BN contains the serial number of the controller.
EXAMPLES:
KD 100 Set damping term for X axis
KP 10 Set proportional gain term for X axis
KI 1 Set integral gain term for X axis
AC 200000 Set acceleration
DC 150000 Set deceleration rate
SP 10000 Set speed
MT -1 Set motor type for X axis to be ty pe ‘-1’, reversed polarity servo motor
MO Turn motor off
BN Burn parameters; may take up to 15 seconds
20 • BN DMC-1000/1500 Command Reference
DMC-1500
BP
FUNCTION: Burn Program
DESCRIPTION::
The BP command saves the application program in non-volatile EEPROM memory. This
command typically takes up to 10 seconds to execute and must not be interrupted. The
controller returns a : when the Burn is complete.
ARGUMENTS: None
USAGE: DEFAULTS:
While Moving No Default Value --In a Program No
Not in a Program Yes
Can be Interrogated No
Used in an Operand No
RELATED COMMANDS:
BN Burn Parameters
BV Burn Variable
Note: This command may cause the Galil software to issue the following warning "A time-out
occurred while waiting for a response from the controller". This warning is normal and is designed to
warn the user when the controller does not respond to a command within the timeout period. This
occurs because this command takes more time than the default timeout of 1 sec. The timeout can be
changed in the Galil software but this warning does not affect the operation of the controller or
software.
DMC-100/1500 Command Reference BP • 21
BV
FUNCTION: Burn Variables
DESCRIPTION::
The BV command saves the controller variables in non-volatile EEPROM memory. This
command typically takes up to 2 seconds to execute and must not be interrupted. The
controller returns a : when the Burn is complete.
ARGUMENTS: None
USAGE: DEFAULTS:
DMC-1500
While Moving No Default Value --In a Program Yes
Not in a Program Yes
Can be Interrogated No
Used in an Operand No
RELATED COMMANDS:
BN Burn Parameters
BP Burn Program
Note: This command may cause the Galil software to issue the following warning "A time-out
occurred while waiting for a response from the controller". This warning is normal and is designed to
warn the user when the controller does not respond to a command within the timeout period. This
occurs because this command takes more time than the default timeout of 1 sec. The timeout can be
changed in the Galil software but this warning does not affect the operation of the controller or
software.
Note: -4MF will save arrays variables.
22 • BV DMC-1000/1500 Command Reference
CB
FUNCTION: Clear Bit
DESCRIPTION:
The CB command sets the specified output bit low. CB can be used to clear the outputs of
extended I/O which have been configured as outputs.
ARGUMENTS: CB n, where
n is an integer corresponding to the output bit to be cleared. The first output bit is specified
as 1.
USAGE: DEFAULTS:
While Moving Yes Default Value In a Program Yes Default Format Command Line Yes
Can be Interrogated No
Used as an Operand No
RELATED COMMANDS:
SB Set Bit
OP Define output port (bytewise).
DMC-1000 DMC-1500
EXAMPLES:
CB 7 Clear output bit 7
CB 16 Clear output bit 16 (8 axis controllers only)
DMC-100/1500 Command Reference CB • 23
DMC-1500
CC
FUNCTION: Configure Communications Port 2
DESCRIPTION:
The CC command configures baud rate, handshake, mode, and echo for the AUX SERIAL
PORT, referred to as Port 2. This command must be given before using the MG, IN, or
CI commands with Port 2.
ARGUMENTS: CC m,n,r,p
m - Baud rate 300,1200,4800,9600,19200, or 38400
n - Handshake 0 for handshake off, 1 for handshake on
r - Mode 0 for daisy chain off and operator data entry mode; 0, 1 for daisy chain on
p - Echo 0 for echo off, 1 for echo on
Note: echo only active when daisy chain feature is off
USAGE: DEFAULTS:
While Moving Yes Default Value 0,0,0
In a Program Yes Default Format Command Line Yes
Can be Interrogated No
Used as an Operand No
RELATED COMMANDS:
CI Set Bit
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.
24 • CC DMC-1000/1500 Command Reference
DMC-1000 DMC-1500
CD
FUNCTION: Contour Data
DESCRIPTION:
The CD command specifies the incremental position on X,Y,Z and W axes. The units of the
command are in quadrature counts. This command is used only in the Contour Mode
(CM).
ARGUMENTS: CD x,y,z,w CDX=x CD a,b,c,d,e,f,g,h where
x,y,z,w are integers in the range of +/-32762
USAGE: DEFAULTS:
While Moving Yes Default Value In a Program Yes Default Format Command Line Yes
Can be Interrogated No
Used as an Operand No
RELATED COMMANDS:
CM Contour Mode
WC Wait for Contour
DT Time Increment
CS _CS is the Segment Counter
EXAMPLES:
CM XYZW Specify Contour Mode
DT 4 Specify time increment for contour
CD 200,350,-150,500 Specify incremental positions on X,Y,Z and W axes X-axis moves 200
WC Wait for complete
CD 100,200,300,400 New position data
WC Wait for complete
DT0 Stop Contour
CD 0,0,0,0 Exit Mode
counts Y-axis moves 350 counts Z-axis moves -150 counts W-axis moves
500 counts
DMC-100/1500 Command Reference CD • 25
DMC-1000 DMC-1500
CE
FUNCTION: Configure Encoder
DESCRIPTION:
The CE command configures the encoder to the quadrature type or the pulse and direction
type. It also allows inverting the polarity of the encoders. The configuration applies
independently to the four main axes encoders and the four auxiliary enco ders.
ARGUMENTS: CE x,y,z,w CEX=x CE a,b,c,d,e,f,g,h where
x,y,z,w are integers in the range of 0 to 15. Each integer is the sum of two integers n and m
which configure the main and the auxiliary encoders. The values of m and n are
M = MAIN ENCODER TYPE N = AUXILIARY ENCODER TYPE
0 Normal quadrature 0 Normal quadrature
1 Normal pulse and direction 4 Normal pulse and direction
2 Reversed quadrature 8 Reversed quadrature
3 Reversed pulse and direction 12 Reversed pulse and direction
For example: x = 10 implies m = 2 and n = 8, both encoders are reversed quadrature.
"?" returns the value of the encoder configuration for the specified axes.
USAGE: DEFAULTS:
While Moving Yes Default Value O
In a Program Yes Default Format 2.0
Command Line Yes
Can be Interrogated Yes
Used as an Operand Yes
OPERAND USAGE:
_CEx contains the value of encoder type for the axis specified by ‘x’.
RELATED COMMANDS:
MT Specify motor type
EXAMPLES:
CE 0, 3, 6, 2 Configure encoders
CE ?,?,?,? Interrogate configuration
V = _CEX Assign configuration to a variable
Note: When using pulse and direction encoders, the pulse signal is connected to CHA and the
direction signal is connected to CHB.
26 • CE DMC-1000/1500 Command Reference
DMC-1500
CI
FUNCTION: Communication Interrupt
DESCRIPTION:
The CI command configures a program interrupt based on characters received on either Port
1, the MAIN serial port, or Port 2, the AUX serial port. An interrupt causes program
flow to jump to the #COMINT subroutine label. If multiple program threads are used,
the #COMINT subroutine runs in thread 0 and threads 1, 2, and 3 continue to run in the
background without interruption. The characters received on the serial port are stored in
internal variables such as P2CH. See chapter 7 for more detailed information on the
communications interrupt.
ARGUMENTS: CI m,n,o
PARAMETER EXPLANATION
m = 0 Do not interrupt Port 1
m = 1 Interrupt on carriage return character on Port 1
m = 2 Interrupt on any character Port 1
m = -1 Clear interrupt data buffer
n = 0 Do not interrupt Port 2
n = 1 Interrupt on carriage return character on Port 2
n = 2 Interrupt on any character Port 2
n = -1 Clear interrupt data buffer
o = 0 Disable live data mode for Port 1
o = 1 Enable live data mode for Port 1
USAGE: DEFAULTS:
While Moving Yes Default Value In a Program Yes Default Format Command Line No
Can be Interrogated No
Used as an Operand No
EXAMPLES:
CI 0,1,0 Interrupt on <enter> received on Port 2
CI 0,2,0 Interrupt on a single character received on Port 2
CI 1,2,1 Interrupt on <enter> received on Port 1, interrupt on any character
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-100/1500 Command Reference CI • 27
received on Port 2
CM
FUNCTION: Contouring Mode
DESCRIPTION:
The Contour Mode is initiated by the instruction CM. This mode allows th e generation of an
arbitrary motion trajectory with any of the axes. The CD command specified the position
increment, and the DT command specifies the time interval.
The command, CM?, can be used to check the status of the Contour Buffer. A value of 1
returned from the command CM? indicates that the Contour Buffer is full. A value of 0
indicates that the Contour Buffer is empty.
ARGUMENTS: CM XYZW CM ABCDEFGH where
the argument specifies the axes to be affected.
CM? returns a 1 if the contour buffer is full and 0 if the contour buffer is empty.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 2.0
Command Line Yes
Can be Interrogated Yes
Used as an Operand Yes
DMC-1000 DMC-1500
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
CM? Return contour buffer status
CM XZ Specify X,Z axes for Contour Mode
28 • CM DMC-1000/1500 Command Reference
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