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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: [email protected]
URL: www.galilmc.com
Rev 8/06
DA deallocate
_DA arrays le ft
DM defin e
_DM space le ft
LA li st
QD downloa d
QU print/uploa d
RA reco rd
RC begi n
_RC recording ?
RD dat a
_RD addres s
[ ] index
COMMUNICAT E
CC aux seri al
CF unsolicite d
CI interrup t
CW unsolicited b it
DR data recor d
EO ech o
HS handle swit ch
IA IP addre ss
_IA Ethernet in fo
IH open hand le
_IH handle in fo
IN user inpu t
LZ leading zero s
MG messag e
P2CD port 2 cod e
P2CH characte r
P2NM numbe r
P2ST string
PF position forma t
QR query record
QZ record info
SA send command
_SA response
TH tell handles
VF variable forma t
WH which handle
_WH numeric
#COMINT; N1,1
#TCPERR; RE
CONTOUR
CD data
CM axes
_CM buffer ful l
DT delta tim e
WC wait for buffe r
DV dual loop
FV speed feedf wd
IL integrator li mit
KD derivative g ain
KI integral gain
KP proportional gain
MO motor off
_MO motor o ff?
NB notch wid th
NF notch frequen cy
NZ notch ze ro
O F offs et
PL low pas s
SH servo he re
TE tell er ror
TK peak torqu e
TL torque limit
TM sample time
TT tell torq ue
ECAM
EA master ax is
EB enable
EC count er
EG engage slav e
EM modul us
EP master positions
EQ disengage slave
ET table
EEPROM
^R^S master reset
BN burn
BP burn program
BV burn variables
RS reset
ERRORS
AB abo rt
_AB abort input
BL reverse soft limit
_ED program line
_ED1 thread
ER maximum TE
FL forward soft limit
_LF forward limit
_LR reverse limit
OE off on e rror
SC stop code
TC tell code
#CMDERR; EN1
#L IMSWI; RE1
#P OSERR; RE1
AF analog feedback
AL arm latch
_AL latch occurred?
CE configure
OC output compare
_OC first pulse?
RL read latch
_RL latch position
TD tell dual
TP tell position
TV tell veloc ity
GEAR
GA ax es
GM gantry mode
GR ratio
HOME
DE define dual
DP define position
FE find home o nly
FI find index on ly
HM hom e
_HM home inp ut
INFO
_BN serial number
_BV axes
^R^V firmware rev
@AN[x] analog in
@IN[x] digital in
@OUT[x] digital out
AI wait for input
AO set analog output
CB clear digital out
CN configure
CO extended I/O
II input interr upt
MB Modbus TCP
MW Modbus w ait
OB output bit
OP output port
SB set digital out
TI tell input b yte
TS tell switch es
TZ tell Ethernet I/O
#ININT; RI1
@ABS[n] | | BK breakpoint
@ACOS[n] arccos DL downlo ad
@ASIN[n] arcsin _DL labels l eft
@ATAN[n]
@COM[
@COS[n
arctan ED edit n] bit not ELSE if else
] cosine EN end
@FRAC[n] fraction ENDIF if en dif
@INT[n] integer HX halt thread
KS smoothing
VECTOR
AV wait for arc length
_AVS arc length
CA 2nd vector
CR circle
CS clear sequence
_CS segment
@RND[n] round IF conditio nal
@SIN[n] sine
ES elliptical scale
JP for/while loop LE linear end
@SQR[n] x^0.
5 JS jump subrou tin e _LE total arc length
@TAN[n] tangent LL list labels
+ add LS list
- subtract LV list variables
LI linear point
LM linear axes
_LM buffer space
* multiply NO (') comment TN tangent scale
/ divide RE return e rro r _TN 1st position
( ) parenthesis REM fast comment VA acceleration
& an d
| or
RI return interrupt VD deceleration
SL single step VE vector end
$ hexadecimal
< less than
> greater than
= assign / equ al
<= less or equal
>= greater or equal
<> not equ al
TB tell status b yte
TR debug trace
UL upload
VM vector axes
_VM velocity
VP vector point
_UL variables left
XQ execute
_VP last point
VR VS multiplier
_XQ current li ne # VS speed
ZS zero stack VT s curve
#AUTO; EN
#AUTOERR; EN
; command delim iter
A C acceleratio n
BG begi n
_BG in mo tion?
DC deceleratio n
IP increment position
IT s curv e
JG jo g
PA position absolut e
_P A last targe t
PR position relativ e
_PR relative targe t
PT position trackin g
RP desired positio n
SP speed
ST stop
~a axis variabl e
MOTION WAIT
AD distance (RP)
AM complete (RP)
AP position (TP)
AR distance (RP)
AS at speed (SP)
MC complete (TP)
MF forward (TP)
# subrouti ne
TIME
AT wait refere nce
TIME clock
WT wait
SINE DRIVE
BA ax es
_BA 2nd DAC axis
BB hall off set
BC calibration
_BC hall state
BD degre es
BI hall inputs
BM magnetic cy cle
BO DAC offset
BS setup
BZ find zero
_BZ distance to zero
MR reverse (TP)
TW MC timeout
#MCTIME;
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ii • Contents DMC-1400 Series Command Reference
iv • Contents DMC-1400 Series Command Reference
DMC-1400 Series Command Reference ● v
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 is Ethernet commands for the DMC-1415, DMC-1416, and DMC-1425.
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 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 ● 1
Arguments
As arguments, some commands require actual values to be specified following the instruction. These commands are followed by lower case n where n is replaced by an actual value.
A “?” returns the specified value for that axis. For example, AC? returns the acceleration of the axis.
Other commands require action on the axis to be specified. These commands do not have an operand action for the axis or are specified by writing the command only, such as BG or ST. 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 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.
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.
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 1msec. 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 when Operating in Fast Mode:
Command
Gearing Mode
Ecam Mode
Analog Feedback (AF)
Stepper Motor Operation (MT 2, -2, 2.5, -2.5)
Trippoints allowed only in thread 0
Tell Velocity Interrogation Command (TV)
Commands which are Altered when Operating in Fast Mode:
Command Modification
MT
AD, AI, AM, AP, AR, AS, AT, AV, MC,
MF, MR, WC
Command argument 2, 2.5, -2, -2.5 not valid
Commands not allowed in thread 1
#
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: DEFAULTS:
While Moving Yes Default Value
In a Program
Command Line
Controller Usage
Yes
No
ALL
Default Format
-
-
RELATED COMMANDS:
EXAMPLES:
#Loop; JP#Loop, x=10
#Move
PRX=1000
BGX
AMX
EN
List labels
Labels left
Jump statement
Jump subroutine
;’wait until x becomes 10
;’define a subroutine to move the x axis
4 ● # DMC-1400 Series Command Reference
$
FUNCTION: Hexadecimal
DESCRIPTION:
The $ operator denotes that the following string is in hexadecimal notation
ARGUMENTS: $nnnnnnnn.mmmm
n is up to eight hexadecimal digits (denoting 32 bits of integer) m is up to four hexadecimal digits (denoting 16 bits of fraction)
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format
Command Line
Controller Usage
Yes
ALL
-
-
RELATED COMMANDS:
Multiply (shift left)
Divide (shift right)
Print in hexadecimal
EXAMPLES: x = $7fffffff.0000
y = x & $0000ffff.0000 z = x & $ffff0000.0000 / $10000
;’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 $ ● 5
& |
FUNCTION: Bitwise Logical Operators AND and OR
DESCRIPTION:
The operators & and | are typically used with IF, JP, and JS to perform conditional jumps; however, they can also be used to perform bitwise logical operations.
ARGUMENTS: n & m or n | m where n and m are signed numbers in the range -2147483648 to 2147483647.
For IF, JP, and JS, n and m are typically the results of logical expressions such as (x > 2)
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format
Command Line
Controller Usage
Yes
ALL
RELATED COMMANDS:
Bitwise complement
If statement
Jump statement
Jump subroutine
EXAMPLES:
IF (x > 2) & (y = 4)
MG “true”
ENDIF
:MG 1 | 2
3.0000
:
;'Bitwise operation: 01 OR 10 is 11 = 3
-
-
;x must be greater than 2 and y equal to 4 for the message to print
6 ● & | DMC-1400 Series Command Reference
( )
FUNCTION: Parentheses (order of operations)
DESCRIPTION:
The parentheses denote the order of math and logical operations. Note that the controller
DOES NOT OBEY STANDARD OPERATOR PRECEDENCE. For example, multiplication is NOT evaluated before addition. Instead, the controller follows left-toright precedence. Therefore, it is recommended to use parenthesis as much as possible.
ARGUMENTS: (n) where
n is a math (+ - * /) or logical (& |) expression
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program
Command Line
Controller Usage
Yes
Yes
ALL
Default Format
-
-
RELATED COMMANDS:
EXAMPLES:
:MG 1 + 2 * 3
9.0000
:MG 1 + (2 * 3)
7.0000
:
Math Operators
Logical Operators
DMC-1400 Series Command Reference ( ) ● 7
;
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 Default Value
In a Program Yes Default Format
Command Line
Controller Usage
Yes
ALL
-
-
RELATED COMMANDS:
EXAMPLES:
BGX ;’comment
PRX=1000;BGX;AMX
#High
a = a + 1; b = b + 1
JP#High
#Low
c = c + 1
d = d + 1
JP#Low comment
;’Save program line space
;’#High priority thread executes twice as fast as #Low when run in
;’parallel
8 ● ; 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
Controller Usage
Yes
ALL
RELATED COMMANDS:
Dimension Array
Print/Upload Array
EXAMPLES:
DM A[100]
A[0] = 3
MG A[0]
QU A[]
;’define a 100 element array
;’set first element to 3
;’print element 0
;’print entire array
-
-
DMC-1400 Series Command Reference [ ] ● 9
+ - * /
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: DEFAULTS:
While Moving Yes Default Value
In a Program
Command Line
Controller Usage
Yes
Yes
ALL
Default Format
RELATED COMMANDS:
Parenthesis
EXAMPLES: x = ((1 + (2 * 3)) / 7) - 2 ;’assign -1 to x
-
-
10 ● + - * / DMC-1400 Series Command Reference
<, >, =, <=, >=, <>
FUNCTION: Comparison Operators
DESCRIPTION:
The comparison operators are as follows:
= equals
<= less than or equal
>= greater than or equal
These are used in conjunction with IF, JP, JS, ( ), &, and | to perform conditional jumps. The result of a comparison expression can also be printed with MG or assigned to a variable.
ARGUMENTS: (n < m) or (n > m) or (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: DEFAULTS:
While Moving Yes Default Value
In a Program
Command Line
Controller Usage
Yes
Yes
ALL
Default Format
-
-
RELATED COMMANDS:
EXAMPLES:
IF (x > 2) & (y = 4)
MG “true”
ENDIF
Parentheses
If statement
Jump
Jump subroutine
;x must be greater than 2 and y equal to 4 for the message to print
DMC-1400 Series Command Reference <, >, =, <=, >=, <> ● 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 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: DEFAULTS:
While Moving Yes Default Value
In a Program
Command Line
Controller Usage
Yes
Yes
ALL
Default Format
-
-
RELATED COMMANDS:
Print Message
EXAMPLES:
:x=5
:x=
5.0000
:MG x
5.0000
:
;’define and initialize x to 5
;’print x two different ways
12 ● = 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: AB n 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 Yes
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
Yes
ALL
Default Value
Default Format
---
---
OPERAND USAGE:
_AB gives the state of the Abort Input
RELATED COMMANDS:
EXAMPLES:
Turns servos back on if they were shut-off by Abort and OE1.
OE 1,1,1,1
AB
#A
JG 20000
BGX
WT 5000
AB1
WT 5000
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
JP #A
EN
Jump to Label A
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.
@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
Command Line
Controller Usage
Yes
Yes
ALL
Default Format
RELATED COMMANDS:
EXAMPLES:
:MG @ABS[-2147483647]
2147483647.0000
:
Square Root
-
-
14 ● @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: AC n where n is an unsigned number in the range in the range 1024 to 67107840
“?” returns the acceleration value
USAGE:
While Moving Yes
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
ALL
Default Value
Default Format
256000
8.0
OPERAND USAGE:
_ACx contains the value of acceleration.
RELATED COMMANDS:
Specifies deceleration rate.
Feedforward Acceleration.
Smoothing constant
EXAMPLES:
AC 150000
AC ?
0149504
V=_AC
Set acceleration to 150000
Request the current Acceleration setting
Return Acceleration
(resolution, 1024)
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.
@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
Command Line
Controller Usage
Yes
Yes
ALL
Default Format
RELATED COMMANDS:
Arc sine sine
Arc tangent
Cosine
Tangent
EXAMPLES:
:MG @ACOS[-1]
180.0000
:MG @ACOS[0]
90.0000
:MG @ACOS[1]
0.0001
:
-
-
16 ● @ACOS[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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
No
No
ALL
Default Value -
Default Format -
RELATED COMMANDS:
EXAMPLES:
After distance for repetitive triggering
PR 10000 Specify positions
AD 5000 After motor travels 5000 units
Hint: The AD command is accurate to the number of counts that occur in 2 servo samples (2 msec for
TM 1000). Multiply 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.
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
"?" returns a 0 or 1 which states whether analog feedback is enabled for the specified axes.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
No
Yes
Yes
Yes
Yes
Default Value
Default Format
DMC-1415/1416/1425 only
0,0,0,0
-
OPERAND USAGE:
_AFx contains the value of acceleration for the specified axis.
RELATED COMMANDS:
Configure Encoder
EXAMPLES:
AF 1,0
V1 = _AFX
AF ?
Analog feedback on X axis
Assign feedback type to variable
Interrogate feedback type
AI
FUNCTION: After Input
DESCRIPTION:
The AI command is used in motion programs to wait until after the specified input has occurred. If n is positive, it waits for the input to go high. If n is negative, it waits for n to go low.
ARGUMENTS: AI +/-n where n is an integer in the range 1 to 7 decimal for DMC-1410/1411/1417/1415/1416 and 0 to 3 decimal for the DMC-1425.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
No
No
ALL
Default Value
Default Format
---
---
RELATED COMMANDS:
EXAMPLES:
Function to read input 1 through 7 or 1 through 3 for DMC-1425
Input interrupt
Label for input interrupt
AI 7
SP 10000
AC 20000
PR 400
BG
Wait until input 7 is high
Speed is 10000 counts/sec
Acceleration is 20000 counts/sec2
Specify position
Begin motion
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.
AL
FUNCTION: Arm Latch
DESCRIPTION:
The AL command enables the latching function (high speed position capture) of the controller. When the AL command is used to arm the position latch, the encoder position of the main encoder input will be captured upon a low going signal on Input 1. The command RL returns the captured position value. When interrogated or used in an operand the AL command will return a 1 if the latch is armed or a zero after the latch has occurred. 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
No
Yes
ALL
Default Value
Default Format
0
1.0
OPERAND USAGE:
_ALx contains the state of the latch. 0 = not armed, 1 = armed.
RELATED COMMANDS:
Report Latch
EXAMPLES:
JG 50000
#LOOP
JP #LOOP,_AL=1
RL
EN
Set up jog at 50000 counts/sec
Loop until latch has occurred
Transmit the latched position
End of program
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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
No
No
ALL
Default Value
Default Format
---
---
RELATED COMMANDS:
EXAMPLES:
(_BG returns a 0 if motion complete)
Actual Motion Complete (In-Position)
PR 5000
BG
AM
Position relative moves
Start
After the move is complete
EN
#F;DP 0
End of Program
Program F
PR 5000 Position relative moves
BG Start
AM
MG "DONE";TP
EN
After motion complete on all axes
Print message
End of Program
HINT: AM is a very 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.
@AN[n]
FUNCTION: Read analog input
DESCRIPTION:
Returns the value of the given analog input in volts
ARGUMENTS: @AN[n] where
n is an unsigned integer in the range 1 to 8
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format
Command Line
Controller Usage
Yes
ALL
RELATED COMMANDS:
Read digital input
Read digital output
Set digital output bit
Clear digital output bit
Set analog output offset
EXAMPLES:
:MG @AN[1] ;'print analog input 1
1.7883
:x = @AN[1] ;'assign analog input 1 to a variable
-
-
22 ● @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 Yes
In a Program Yes
Command Line
Controller Usage
Yes
DMC-1415/1416/1425
Default Value
Default Format
---
---
RELATED COMMANDS:
EXAMPLES:
Set Bit
Clear Bit
AP
FUNCTION: After Absolute Position
DESCRIPTION:
The After Position (AP) command is a trippoint used to control the timing of events. This command will hold up the execution of the following command until one of the following conditions have been met:
1. The commanded motor position crosses the specified absolute position.
2. The motion profiling on the axis is complete.
3. The commanded motion is in the direction which moves away from the specified position.
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
Yes
Yes
Yes
No
No
ALL
Default Value
Default Format
---
---
RELATED COMMANDS:
Trippoint for relative distances
EXAMPLES:
JG 1000 Jog mode (speed of 1000 counts/sec)
AP 2000
V1=_TP
After passing the position 2000
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 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.
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. The motion profiler must be on or the trippoint will automatically be satisfied.
ARGUMENTS: ARn where n is unsigned integer in the range 0 to 2147483647 decimal.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
No
No
ALL
Default Value
Default Format
---
---
RELATED COMMANDS:
EXAMPLES:
#A;DP 0
JG 50000
Trippoint for after absolute position
Begin Program
Specify speed
#B Label
AR 25000 After passing 25000 counts of relative distance on X-axis
MG "Passed_X";TP
JP #B
Send message
Jump to Label #B
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.
AS
FUNCTION: At Speed
DESCRIPTION:
The AS command is a trippoint that occurs when the generated motion profile has reached the specified speed. This command will hold up execution of the following command until the speed is reached. The AS command will operate after either accelerating or decelerating. If the speed is not reached, the trippoint will be triggered after the speed begins diverging from the AS value.
ARGUMENTS: AS
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
No
No
ALL
Default Value
Default Format
---
---
EXAMPLES:
PR 100000
SP 10000
Specify position
Specify speed
BG Begin
AS After speed is reached
MG "At Speed"
EN
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.
@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
Command Line
Controller Usage
Yes
Yes
ALL
Default Format
RELATED COMMANDS:
EXAMPLES:
:MG @ASIN[-1]
-90.0000
:MG @ASIN[0]
0.0000
:MG @ASIN[1]
90.0000
:
Arc cosine sine
Arc tangent
Cosine
Tangent
-
-
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 0)
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
No
No
ALL
Default Value
Default Format
0
---
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
AT –150
AT 80
Waits 100 msec from reference 0
Waits 150 msec from reference 0 and sets new reference at 150
Waits 80 msec from new reference (total elapsed time is 230 msec)
@ATAN[n]
FUNCTION: Inverse tangent
DESCRIPTION:
Returns in degrees the arc tangent of the given number.
ARGUMENTS: @ATAN[n] n is a signed number in the range -2147483647 to 2147483647
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program
Command Line
Controller Usage
Yes
Yes
ALL
Default Format
RELATED COMMANDS:
Arc sine sine
Arc cosine
Cosine
Tangent
EXAMPLES:
:MG @ATAN[-10]
-84.2894
:MG @ATAN[0]
0.0000
:MG @ATAN[10]
84.2894
:
-
-
#AUTO
FUNCTION: Subroutine to run automatically upon power up
DESCRIPTION:
#AUTO denotes code to run automatically when power is applied to the controller, or after the controller is reset. When no host software is used with the controller, #AUTO and the
BP command are required to run an application program on the controller.
USAGE:
While Moving Yes
In a Program Yes
Command Line
Controller Usage
No
ALL
RELATED COMMANDS:
Burn program
EXAMPLES:
#AUTO ; 'move the x axis upon power up
PR X =1000 ; 'move 1000 counts
BG X ; 'begin motion
AM X ; 'wait until motion is complete
EN
NOTE: Use EN to end the routine
30 ● #AUTO DMC-1400 Series Command Reference
#AUTOERR
FUNCTION: Automatic subroutine for notification of EEPROM checksum errors
DESCRIPTION:
#AUTOERR will run code upon power up if data in the EEPROM has been corrupted. The
EEPROM is considered corrupt if the checksum calculated on the bytes in the EEPROM do not match the checksum written to the EEPROM. The type of checksum error can be queried with _RS
USAGE:
While Moving Yes
In a Program
Command Line
Controller Usage
Yes
No
DMC-14x5 / 6 ONLY
RELATED COMMANDS:
Checksum error code
EXAMPLES:
#AUTO
WT 2000
MG "AUTO"
JP #AUTO
EN
#AUTOERR
WT 500
MG "AUTOERR " , _RS
EN
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
AV
FUNCTION: After Vector Distance
DESCRIPTION:
The AV command is a trippoint which is used to hold up execution of the next command during coordinated moves such as VP,CR or LI. This trippoint occurs when the path distance of a sequence reaches the specified value. The distance is measured from the start of a coordinated move sequence or from the last AV command. The units of the command are quadrature counts.
ARGUMENTS: AV s,t where s and t are unsigned integers in the range 0 to 2147483647 decimal. '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
In a Program Yes Default Format
Command Line
Controller Usage
Yes
ALL
0
-
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
CAT
LMXY
LI 1000,2000
LI 2000,3000
Label
Specify the T coordinate system
Linear move for X,Y
Specify distance
Specify distance
LE
BGT Begin motion in the T coordinate system
AV ,500 After path distance = 500,
MG "Path>500";TPXY Print Message
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.
BA
FUNCTION: Brushless Axis
DESCRIPTION:
The BA command sets the controller up for sinusoidal commutation of the axis. This command enables the second DAC for use as the second phase of commutation.
ARGUMENTS: BAX where
X specifies sinusoidal commutation for the axis.
No argument clears all axes configured for sinusoidal commutation.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
No
Yes
Yes
No
Yes
DMC-1412/1415/1410/1417
Default Value
Default Format
0
0
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:
Brushless Phase Begins
Brushless Commutation
Brushless Degrees
BB
FUNCTION: Brushless Phase Begins
DESCRIPTION:
The BB function describes the position offset between the Hall transition point and θ = 0, for sinusoidally commutated motor. This command must be saved in non-volatile memory to be effective upon reset.
ARGUMENTS: BB x where x represents the phase offset of the brushless motor, expressed in multiples of 30 °.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
No
Yes
Default Value
Default Format
Yes
Yes
Yes
DMC-1412/1415/1410/1417
0
0
EXAMPLES:
BB30 The offsets sinusoidal motor is 30 °
RELATED COMMANDS:
Brushless Axis
Brushless Commutation
Brushless Degrees
34 ● 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Default Value
Default Format
Yes
No
Yes
DMC-1412/1415/1410/1417
0
0
OPERAND USAGE:
_BC contains the state of the Hall sensor inputs. This value should be between 1 and 6.
RELATED COMMANDS:
Brushless Axis
Brushless Phase Begins
Brushless Degrees
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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
No
Yes
Yes
Yes
Yes
Default Value
Default Format
DMC-1412/1415/1410/1417
0
0
OPERAND USAGE:
_BD contains the commutation phase of the brushless motor.
RELATED COMMANDS:
Brushless Axis
Brushless Phase Begins
Brushless Commutation
36 ● 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
No
Yes
ALL
Default Value
Default Format
---
---
OPERAND USAGE:
_BGx contains a ‘0’ if motion complete on the axis, otherwise contains a ‘1’.
RELATED COMMANDS:
After motion complete
Stop motion
EXAMPLES:
PR 2000 Set up for a relative move
HM
JG 1000
Set up for the homing
Set up for jog
STATE=_BG Assign a 1 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.
BI
FUNCTION: Brushless Inputs
DESCRIPTION:
The BIx indicates the starting number for the input lines to which the Hall sensors have been wired for sinusoidally commutated motors. These inputs must be the general use inputs
(bits 1-7). The Hall sensors of the motor must be connected with consecutive numbers of input lines.
The brushless setup command, BS, can be used to determine the proper wiring of the hall sensors.
ARGUMENTS: BIx where x indicates the starting input line.
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
Yes
Yes
Default Value
Default Format
Yes
Yes
Yes
DMC-1412/1415/1410/1417
0
0
EXAMPLE:
BI5
RELATED COMMANDS:
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 ● 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 thread.
USAGE: DEFAULTS:
While Moving Yes Default Value of m
In a Program No
Command Line
Controller Usage
Yes
ALL CONTROLLERS
0
OPERAND USAGE:
_BK will tell whether a breakpoint has been armed, whether it has been encountered, and the program line number of the breakpoint:
= -LineNumber: breakpoint armed
= LineNumber:
= -2147483648:
RELATED COMMANDS:
breakpoint encountered breakpoint not armed
Single Step
Trace
EXAMPLES:
BK 3
BK 5
SL
SL 3
Pause at line 3 (the 4 th line) in thread 0
Continue to line 5
Execute the next line
Execute the next 3 lines
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: BL n where n is a signed integer in the range -2147483648 to 2147483647.
-214783648 turns off the reverse limit.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
Yes
ALL
Default Value -214783648
Default Format Position format
OPERAND USAGE:
_BLx contains the value of the reverse software limit..
RELATED COMMANDS:
FL
_LR
PF
Forward Limit
Reverse Limit Operand
Position Formatting
EXAMPLES:
AC 1000000
DC 1000000
BL -15000
JG -5000
Acceleration Rate
Deceleration Rate
Set Reverse Limit
Jog Reverse
AM After Motion (limit occurred)
HINT: The DMC-141X also provides hardware limits.
40 ● 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
No
Yes
Default Value
Default Format
Yes
Yes
Yes
DMC-1412/1415/1410/1411
0
0
OPERAND USAGE:
_BM indicates the cycle length in counts for the brushless motor.
RELATED COMMANDS:
Brushless Axis
Brushless Phase Begins
Brushless Commutation
Brushless Degrees
BN
FUNCTION: Burn
DESCRIPTION:
The BN command saves certain controller parameters in non-volatile EEPROM memory.
This command typically takes 1 second to execute and must not be interrupted. The controller returns a: when the Burn is complete.
PARAMETERS SAVED DURING BURN:
AC CW IA PF
AF DC IL
BA DV IT SB
BB EI KD SP
BI EO KI TL
BM FA KS TR
BO FL LZ VA
CB FV MO VD
CE GA MT VF
CN CW OE VS
CO GR OF VT
ARGUMENTS: None
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
No
No
ALL
Default Value
Default Format
---
---
42 ● 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
No
Yes
Yes
Yes
Yes
Default Value
Default Format
DMC-1412/1415/1410/1417
0
0
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 of a sinusoidally commutated motor.
RELATED COMMANDS:
Brushless Axis
Brushless Phase Begins
Brushless Commutation
Brushless Degrees
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:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
No
No
Default Value
Yes
No
No
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 ● 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 controller:
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, n or BS V, n where
V is a real number between 0 and 10, and n is a positive integer between 100 or 1000.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
No
Yes
Yes
No
No
Default Value of V
Default Value of n
DMC-1412/1415/1410/1417
0
200
EXAMPLES:
BS 2,900 Apply set up test to Z axis with 2 volts for 900 millisecond on each step.
RELATED COMMANDS:
Brushless Axis
Brushless Phase Begins
Brushless Commutation
Brushless Degrees
BV
FUNCTION: Burn Variables and Array
DESCRIPTION:
The BV command saves the defined variables and arrays in non-volatile EEPROM memory.
This command typically takes up to 2 seconds to execute and must not be interrupted.
The controller returns a : when the Burn variables is complete. Operand returns size of installed EEPROM.
ARGUMENTS: None
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
No
No
Yes
Default Value
No
Yes
DMC-1412/1414/1415/1416/1425
---
Note1: 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 ● 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: BZ x where x is a real number between -9.998 and 9.998.
The parameter x sets the voltage to be applied to the amplifier during the initialization. In order to be accurate, the BZ command must be large enough to move the motor. When the argument is 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
No
Yes
Yes
No
No
DMC-1412/1415/1410/1417
Default Value
Default Format
0
0
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:
Brushless Axis
Brushless Phase Begins
Brushless Commutation
Brushless Degrees
CB
FUNCTION: Clear Bit
DESCRIPTION:
The CB command clears one of three bits on the output port sets the output to logic 0. The
CB and SB (Set Bit) instructions can be used to control the state of output lines.
ARGUMENTS: CB n, where n is an integer corresponding to a specific output on the controller to be cleared (set to 0). The first output on the controller is denoted as output 1. A standard DMC-1400 controller has 3
TTL digital outputs.
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.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
No
No
ALL
Default Value
Default Format
---
---
RELATED COMMANDS:
Set Bit
Define all outputs
EXAMPLES:
CB 1
CB 2
CB 3
Clear output bit 1
Clear output bit 2
Clear output bit 3
48 ● 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 n - Handshake r - Mode p - Echo
300,1200,4800,9600,19200,38400
0 for handshake off, 1 for handshake on
0 for daisy chain off, 1 for daisy chain on
0 for echo off, 1 for echo on
Note: echo only active when daisy chain feature is off
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
No
DMC-1412/1414
Default Value
Default Format
0,0,0
---
RELATED COMMANDS:
Communications Interrupt
EXAMPLES:
CC 9600,0,0,1
CC 19200,1,1,0
9600 baud, no handshake, daisy chain off, echo on.
Typical setting with TERM-1500.
19,200 baud, handshake on, daisy chain on, echo off.
Typical setting in daisy chain mode.
CD
FUNCTION: Contour Data
DESCRIPTION:
The CD command specifies the incremental position. The units of the command are in quadrature counts for servo mode, steps for stepper mode. This command is used only in the Contour Mode (CM).
ARGUMENTS: CD n where
n is an integer in the range of +/-32762
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
No
No
ALL
Default Value
Default Format
0
---
RELATED COMMANDS:
EXAMPLES:
CM
DT 4
CD 200
WC
CD 100
WC
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
CD 0 Exit Mode
50 ● CD DMC-1400 Series Command Reference
CE
FUNCTION: Configure Encoder
DESCRIPTION:
The CE command configures the encoder inputs to the quadrature type or the pulse and direction type. It also allows inverting the polarity of the encoders. The configuration applies independently to the main axis encoder and the auxiliary encoder inputs.
ARGUMENTS: CE n where n is an integer in the range of 0 to 15. Each integer is the sum of two integers r and s which configure the main and the auxiliary encoders. The values of r and s are
R = MAIN ENCODER TYPE S = AUXILIARY ENCODER TYPE
0
1
2
3
Normal quadrature
Normal pulse and direction
Reversed quadrature
Reversed pulse and direction
0 Normal quadrature
4
8
Normal pulse and direction
Reversed quadrature
12 Reversed pulse and direction
For example: n = 6 implies r = 2 and s = 4, both encoders are reversed quadrature.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
Yes
ALL
Default Value
Default Format
0
2.0
OPERAND USAGE:
_CE contains the value of encoder type for the main and auxiliary encoder.
RELATED COMMMANDS:
Specify motor type
EXAMPLES:
CE 0
CE ?
V = _CE
Configure encoders
Interrogate configuration
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.
CF
FUNCTION: Configure
DESCRIPTION:
The CF command is used to specify the communication port to which unsolicited responses are sent. By default, the DMC-1415/1416/1425 will send unsolicited responses to the serial port.
ARGUMENTS: CF n where n is A thru F for Ethernet handles 1 thru 6, S for Main serial port.
USAGE:
While Moving
In a Program
Command Line
Controller Usage
Yes
Yes
No
DMC-1415/1416/1425
Default Value
Default Format
-
-
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.
:65.000 Response from CF showing handle A as default port. The number 65 is the decimal representation for the ASCII character “A”
52 ● 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: CI m,n,o
PARAMETER EXPLANATION m = 0 Do not interrupt Port 1 m = 1 m = 2 m = -1
Interrupt on carriage return character on Port 1
Interrupt on any character Port 1
Clear interrupt data buffer n = 0 n = 1
Do not interrupt Port 2
Interrupt on carriage return character on Port 2 n = 2 n = -1 o = 0 o = 1
Interrupt on any character Port 2
Clear interrupt data buffer
Disable live data mode for Port 1
Enable live data mode for Port 1
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
EXAMPLES:
CI 0,1,0
CI 0,2,0
CI 1,2,1
Yes
Yes
No
No
No
DMC-1412/1414
Default Value -
Default Format -
Interrupt on <enter> received on Port 2
Interrupt on a single character received on Port 2
Interrupt on <enter> received on Port 1, interrupt on any character received on Port 2
NOTE: The third field of the CI command enables or disables live data mode on Port 1. If live data mode is enabled, then the controller will not respond to commands sent to the main serial port. This setting is necessary to use the communications interrupt on the main serial port.
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 0 if the contour buffer is empty.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
No
No
Yes
No
Yes
ALL
Default Value
Default Format
---
1.0
OPERAND USAGE:
_CM contains a ‘0’ if the contour buffer is empty, otherwise contains a ‘1’
RELATED COMMANDS:
Contour Data
Wait for Contour
Time Increment
EXAMPLES:
V=_CM;V=
1
CM
Return Contour Buffer Status
Contour Buffer is full
Specify Contour Mode
54 ● 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
Controller Usage
No
ALL
RELATED COMMANDS:
Tell Error Code
Last program line with an error
End routine
EXAMPLES:
#BEGIN ; 'Begin main program
IN “ENTER SPEED”,Speed ; 'Prompt for speed
JG Speed
BG X ; 'Begin motion
EN ; 'End main program
#CMDERR ; 'Command error utility
JP #DONE ,_ED<>2 ; 'Check if error on line 2
JP #DONE ,_TC<>6 ; 'Check if out of range
MG "SPEED TOO HIGH" ; 'Send message
MG "TRY AGAIN" ; 'Send message
ZS 1 ; 'Adjust stack
JP #BEGIN ; 'Return to main program
#DONE ; 'End program if other error
ZS 0 ; 'Zero stack
EN 1 ; 'End routine
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.
CN
FUNCTION: Configure
DESCRIPTION:
The CN command configures the polarity of the limit switches, the home switch and the latch input.
ARGUMENTS: CN m,n,o where
m,n,o are integers with values 1 or -1. m = n =
1
-1
1
-1
1
-1
Limit switches active high
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
Latch input is active high
Latch input is active low o =
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
RELATED COMMANDS:
EXAMPLES:
CN 1,1
CN,, -1
Yes
Yes
Yes
No
No
ALL
Motor Type
Default Value
Default Format
Sets limit and home switches to active high
Sets input latch active low
-1.-1.-1
2.0
56 ● CN DMC-1400 Series Command Reference
CO
FUNCTION: Configure Outputs
DESCRIPTION:
The CO command configures the extended I/O in blocks of 8.
ARGUMENTS: CO n where n is a decimal value which represents a binary number. Each bit of the binary number represents one block of extended I/O. When set to 1, the corresponding block is configured as an output.
The least significant bit represents block 2 and the most significant bit represents block 9.
The decimal value can be calculated by the following formula. n = n
2
+ 2*n
3
8*n
5
+16* n
6
+32* n
7
+64* n
8
+128* n
9
where n x represents the block. To configure a block as an output block, substitute a one into that n x
in the formula. If the n x
+ 4*n
4
+
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
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
Yes
DMC-1415/1416/1425
Default Value
Default Format
-
-
OPERAND USAGE:
_CO returns output configuration value
RELATED COMMANDS:
Clear Output Bit
Set Output Bit
Set Output Port
Tell Inputs
EXAMPLES:
CO 0
CO 1
Configure all points as inputs
Configures block 1 to outputs on extended I/O
Hint: See appendix for more information on the extended I/O boards.
@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
Controller Usage
Yes
ALL
-
-
RELATED COMMANDS:
Logical operators AND and OR
EXAMPLES:
:MG {$8.0} @COM[0]
$FFFFFFFF
:MG {$8.0} @COM[$FFFFFFFF]
$00000000
:
58 ● @COM[n] DMC-1400 Series Command Reference
#COMINT
FUNCTION: Communication interrupt automatic subroutine
DESCRIPTION:
#COMINT can be configured by the CI command to run either when any character or a carriage return is received on the auxiliary serial port. CI,1 must be issued to use
#COMINT.
USAGE:
While Moving Yes
In a Program
Command Line
Controller Usage
Yes
No
DMC-1412 / 4 ONLY
RELATED COMMANDS:
Serial port 1/2 code
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
End subroutine
EXAMPLES:
CC 9600,0,0,0
CI 2 ; 'interrupt on any character
#Loop
MG "Loop" ; 'print a message every second
WT 1000
JP #Loop
#COMINT
MG "COMINT" ; 'print a message when a character is
received
EN 1,1
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
@COS[n]
FUNCTION: Cosine
DESCRIPTION:
Returns the cosine of the given angle in degrees
ARGUMENTS: @COS[n] where n is a signed number in degrees in the range -2147483648 to 2147483647.
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program
Command Line
Controller Usage
Yes
Yes
ALL
Default Format
-
-
RELATED COMMANDS:
Arc sine sine
Arc tangent
Arc cosine
Tangent
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
:
60 ● @COS[n] DMC-1400 Series Command Reference
CR
FUNCTION: Circle
DESCRIPTION:
The CR command specifies a 2-dimensional arc segment of radius, r, starting at angle, θ, and traversing over angle ∆ θ. A positive ∆θ denotes counterclockwise traverse, negative ∆θ denotes clockwise. The VE command must be used to denote the end of the motion sequence after all CR and VP segments are specified. The BG (Begin Sequence) command is used to start the motion sequence. All parameters, r, θ, ∆θ, must be specified. Radius units are in quadrature counts. θ and ∆θ have units of degrees. The parameter n is optional and describes the vector speed that is attached to the motion segment.
ARGUMENTS: CR r, θ, ∆θ < n > o where r is an unsigned real number in the range 10 to 6000000 decimal (radius)
θ a signed number in the range 0 to +/-32000 decimal (starting angle in degrees)
∆ θ 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 * ∆ θ must be limited to +/-4.5 108
USAGE:
While Moving Yes
In a Program
Command Line
Controller Usage
Yes
Yes
ALL
Default Value
Default Format
-
-
RELATED COMMANDS:
Vector Position
Vector Speed
Vector Deceleration
Vector Acceleration
Vector Mode
End Vector
BGS - Begin Sequence
EXAMPLES:
VMXY
VS 10000
CR 1000,0,360
Specify vector motion in the X and Y plane
Specify vector speed
Generate circle with radius of 1000 counts, start at 0 degrees and complete
CR 1000,0,360 < 40000 Generate circle with radius of 1000 counts, start at 0 degrees and complete
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
In a Program
Command Line
Controller Usage
Yes
Yes
ALL
Default Value
Default Format
---
---
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:
Circular Interpolation Segment
Linear Interpolation Segment
Linear Interpolation Mode
Vector Mode
Vector Position
62 ● 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 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
1
Causes the controller to return the copyright information
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. returns the copyright information for the controller
m is 0 or 1 (optional)
0
1
Causes the controller to pause program execution when output FIFO is full until FIFO no longer full.
Causes the controller to continue program execution when output FIFO is full - output characters after FIFO is full will be lost.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes * Default
Yes
Yes
Default Format
No
Yes
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, however, the Galil Servo Design Kit software and terminal software may sometimes enable the CW command for internal usage. If the controller is reset while the Galil software is running, the CW command could be reset to the default value which would create difficulty for the software. It may be necessary to re-enable the CW command. The CW command status can be stored in EEPROM.
*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 & CW,1 individually.
DA
FUNCTION: Deallocate the Variables & Arrays
DESCRIPTION:
The DA command frees the array and/or variable memory space. In this command, more than one array or variable can be specified for memory de-allocation. Different arrays and variables are separated by commas when specified in one command. The * argument deallocates all the variables, and *[0] deallocates all the arrays.
ARGUMENTS: DA c[0],d,etc. 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
Yes
ALL
Default Value ---
Default Format ---
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:
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 & variables
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 ● 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: DC n where n is an unsigned numbers in the range 1024 to 67107840
“?” returns the value
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes*
Yes
Yes
Yes
Yes
ALL
Default Value
Default Format
256000
8.0
OPERAND USAGE:
_DCx contains the deceleration rate
RELATED COMMANDS:
Acceleration
Position Relative
Speed
Jog
Begin
Smoothing constant - S-curve
EXAMPLES:
PR 10000
AC 2000000
DC 1000000
SP 5000
Specify position
Specify acceleration rate
Specify deceleration rate
Specify slew speed
*NOTE: The DC command may be changed during the move in JG move, but not in PR or PA move.
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: DE n 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: DE0. 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
Yes
ALL
Default Value
Default Format
0
Position Format
OPERAND USAGE:
_DE contains the current position of the specified auxiliary encoder.
EXAMPLES:
:DE 0 Set the current auxiliary encoder position to 0
: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 ● 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 <control> Z, <control> Q, <control> 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: DL n n = no argument Downloads program beginning at line 0. Erases programs in RAM. n = #Label Begins download at line following #Label where label may be any valid program label. n = # Begins download at end of program in RAM.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
Yes
No
Yes
ALL
Default Value
Default Format
---
---
OPERAND USAGE:
When used as an operand, _DL gives the number of available labels. The total number of labels is 126.
RELATED COMMANDS:
Upload
EXAMPLES:
#A;PR 4000;BG
AM;MG DONE
Data
Data
EN Data
<control> Z End download
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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
Yes
ALL
Default Value
Default Format
---
---
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. If an array of 100 elements is defined, the operand _DM will return 900.
RELATED COMMANDS:
Deallocate Array
EXAMPLES:
DM Pets[5],Dogs[2],Cats[3]
DM Tests[1000]
Define dimension of arrays, pets with 5 elements; Dogs with 2 elements; Cats with 3 elements
Define dimension of array Tests with 1000 elements
68 ● 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: DP0. This will set the DE value to zero, but will not effect the TP value.
ARGUMENTS: DP n where n is a signed integer in the range -2147483648 to 2147483647 decimal
“?” returns the current position of the motor
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
No
Yes
Yes
Yes
Yes
ALL
Default Value
Default Format
0
Position Format
OPERAND USAGE:
_DP contains the current position.
EXAMPLES:
:DP 0
:DP –50000
:DP ?
-0050000
Sets the current position of the X-axis to 0
Sets the current position to -50000.
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 DP0 to redefine the new position as your absolute zero.
DT
FUNCTION: Delta Time
DESCRIPTION:
The DT command sets the time interval for Contouring Mode. Sending the DT command once will set the time interval for all following contour data until a new DT command is sent. 2n samples is the time interval. Sending DT0 followed by CD0 command terminates the Contour Mode.
ARGUMENTS: DT n where n is an integer in the range 0 to 8. 0 terminates the Contour Mode. n=1 thru 8 specifies the time interval of 2n samples. 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
Yes
ALL
Default Value
Default Format
0
1.0
OPERAND USAGE:
_DT contains the value for the time interval for Contour Mode
RELATED COMMANDS:
Contour Mode
Contour Data
Wait for next data
Time
EXAMPLES:
DT 4 Specifies time interval to be 16 msec
DT 7 Specifies time interval to be 128 msec
#CONTOUR Begin
DT 4
CD 1000
WC
Set time interval
Specify data
Wait for contour
CD 2000 New data
WC Wait
CD0 Exit Contour Mode
EN End
70 ● 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 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
No
Yes
ALL
Default Value
Default Format
0
1.0
OPERAND USAGE:
_DV contains the state of dual velocity mode. 0 = disabled, 1 = enabled
RELATED COMMANDS:
Damping constant
Velocity feedforward
EXAMPLES:
DV 1
DV 0
Enables dual loop
Disables DV
HINT: The DV command is useful in backlash and resonance compensation.
EA
FUNCTION: Choose ECAM master
DESCRIPTION:
The EA command selects the master axis for the electronic cam mode. Any axis may be chosen. Note: This command is only used with the DMC-1425. All other Econo series controllers use the auxiliary encoder as the master automatically.
ARGUMENTS: EA x where x is one of the axis specified as X or Y.
USAGE:
While Moving Yes
In a Program Yes
Command Line Yes
Controller Usage DMC-1425
Default Value
Default Format
RELATED COMMANDS:
EXAMPLES:
EAY
Enable ECAM
Set ECAM table index
Engage ECAM
Specify ECAM cycle
Specify ECAM table intervals & staring point
Disengage ECAM
ECAM table
Select Y as a master for ECAM
72 ● EA DMC-1400 Series Command Reference
EB
FUNCTION: Enable ECAM
DESCRIPTION:
The EB function enables or disables the cam mode. In this mode, the starting position of the master axis is specified within the cycle. When the EB command is given, the master axis is modularized.
ARGUMENTS: EB n where n = 1 starts cam mode and n = 0 stops cam mode.
EB? Returns a 0 if ECAM is disabled and 1 if enable.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
Yes
ALL
Default Value
Default Format
OPERAND USAGE:
_EB contains the state of Ecam mode. 0 = disabled, 1 = enabled
RELATED COMMANDS:
Specify Ecam Cycle
CAM table intervals & starting point
EXAMPLES:
EB1
EB0
B = _EB
Starts ECAM mode
Stops ECAM mode
Assigns status of cam mode to variable “B”
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
In a Program
Command Line
Yes
Yes
Controller Usage ALL
Default Value
Default Format
OPERAND USAGE:
_EC contains the current value of the index into the ECAM table.
RELATED COMMANDS:
Choose ECAM master
Enable ECAM
Engage ECAM
Specify ECAM cycle
Specify ECAM table intervals & staring point
Disengage ECAM
ECAM table
EXAMPLES:
EC0
ET 200,400
ET 400,800
Set ECAM index to 0
Set first ECAM table entries to 200,400
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:
<cntrl>D
<cntrl>I
<cntrl>P
Deletes a line
Inserts a line before the current one
Displays the previous line
<cntrl>Q
<return>
Exits the Edit subsystem
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
In a Program
Command Line
Can be Interrogated
No
No
Yes
No
Used as an Operand Yes
Controller Usage ALL
Default Value
Default Format
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
004 EN
005 #CMDERR
006 V=_ED
007 MG "An error has occurred" {n}
008 MG "In line", V{F3.0}
009 ST
010 ZS0
011 EN
Bad line
Routine which occurs upon a command error
HINT: Remember to quit the Edit Mode prior to executing or listing a program.
EG
FUNCTION: ECAM go (engage)
DESCRIPTION:
The EG command engages an ECAM operation at a specified position of the master encoder.
If a value is specified outside of the master’s range, the slave will engage immediately.
Once a slave motor is engaged, its position is redefined to fit within the cycle.
ARGUMENTS: EG n where n is the master position at which the slave axis must be engaged.
“?” returns 1 if specified axis is engaged and 0 if disengaged
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Yes
Yes
Yes
No
Yes
Controller Usage ALL
Default Value
Default Format
OPERAND USAGE:
_EG contains ECAM status . 0 = axis is not engaged, 1 = axis is engaged.
RELATED COMMANDS:
Enable Ecam
Ecam quit
EXAMPLES:
EG 700
MG_EG
Engages axes at master position 700.
Return the status of the axis, 1 if engaged
NOTE: This command is not a trippoint. This command will not hold the execution of the program flow. If the execution needs to be held until master position is reached, use MF or MR command .
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 conditions are selected by the parameter m where m is the bit mask for the selected conditions as shown below. Prior to using the EI command, one IRQ line must be jumpered on the DMC-141X. An interrupt service routine must also be incorporated in your host program. See Chapter 4 in the product manual for details.
ARGUMENTS: EI n where n is interrupt condition for bits set. n = ΣBit number (2m) Condition
Bit Number (m) Condition
15 Reserved
14 Reserved
13 Application Program stopped
12 Reserved
7 reserved
The * conditions must be re-enabled after each occurrence.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Yes
Yes
Yes
No
Used as an Operand No
Controller Usage DMC-1410/1411/1417
Default Value
Default Format
RELATED COMMANDS:
User interrupt
EXAMPLES:
1. Specify interrupts for motion complete and limit switch.
Enable bits 8 and 10. n = 210 + 28 = 1024 + 256 = 1280
2. Specify interrupts on Inputs 2 and 4.
Enable bits 1 and 3. n = 2 1 + 2 3 = 2 + 8 = 10 EI 10
EI 1280
0
---
ELSE
FUNCTION: Else function for use with IF conditional statement
DESCRIPTION:
The ELSE command is an optional part of an IF conditional statement. The ELSE command must occur after an IF command and it has no arguments. It allows for the execution of a command only when the argument of the IF command evaluates False. If the argument of the IF command evaluates false, the controller will skip commands until the ELSE command. If the argument for the IF command evaluates true, the controller will execute the commands between the IF and ELSE command.
ARGUMENTS: ELSE
USAGE:
While Moving
In a Program
Command Line
Controller Usage
Yes
Yes
No
DMC-1415/1416/1425
Default Value
Default Format
RELATED COMMANDS:
EXAMPLES:
IF (@IN[1]=0)
IF (@IN[2]=0)
End of IF conditional Statement
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 nd IF conditional statement executed if 1 st IF conditional true
Message to be executed if 2 nd IF conditional is true
ELSE command for 2 nd IF conditional statement
Message to be executed if 2 nd IF conditional is false
End of 2 nd conditional statement
ELSE command for 1 st IF conditional statement
Message to be executed if 1 st statement
IF conditional
End of 1 st conditional statement
78 ● 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. If a slave will return to its original position at the end of the cycle, the change is zero. If the change is negative, specify the absolute value.
ARGUMENTS: EM n,m where n - change in slave axis, between 1 and 2147483647 m - change in master encoder, between 1 and 8388607.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Yes
Yes
Yes
No
Yes
Controller Usage ALL
Default Value
Default Format
OPERAND USAGE:
_EM contains the cam cycle modulus of the motor..
RELATED COMMANDS:
CAM table intervals & starting point
Electronic CAM table
Enable Ecam
EXAMPLES:
EM 0,2000
V = _EM
Define the changes in the motor to be 0. Define master cycle as 2000.
Assigns motor cam cycle distance to variable “V”
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 m=1 n=0 n=1
Return from subroutines without restoring trippoint
Return from #COMINT and restore trippoint
Return from #COMINT without restoring interrupt
Return from #COMINT and restore interrupt
Note 1: The default values for the arguments are 0. For example EN,1 and EN0,1 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 just 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 #LIMSWI and #POSERR. Use the RI command to return from the #ININT subroutine.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Yes
Yes
No
No
Used as an Operand No
Controller Usage ALL
Default Value n=0, m=0
Default Format
RELATED COMMANDS:
Return from error subroutine
Return from interrupt subroutine
80 ● EN DMC-1400 Series Command Reference
EXAMPLES:
PR 500
BGX
AMX
PR 1000
Move X axis forward 500 counts
Pause the program until the X axis completes the motion
Move X axis forward 1000 counts
Set another Position Relative move
EN End of Program
Note: Instead of EN, use the RE command to end the error subroutine and limit subroutine. Use the
RI command to end the input interrupt (ININT) subroutine.
ENDIF
FUNCTION: End of IF conditional statement
DESCRIPTION:
The ENDIF command is used to designate the end of an IF conditional statement. An IF conditional statement is formed by the combination of an IF and ENDIF command. An
ENDIF command must always be executed for every IF command that has been executed. It is recommended that the user not include jump commands inside IF conditional statements since this causes re-direction of command execution. In this case, the command interpreter may not execute an ENDIF command.
ARGUMENTS: ENDIF
USAGE:
While Moving Yes
In a Program Yes
Command Line
Controller Usage
No
DMC-1415/1416/1425
Default Value
Default Format
RELATED COMMANDS:
ELSE
JP
JS
Optional command to be used only after IF command
Jump command
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 ● 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: EO n where
n=0 or 1. 0 turns echo off, 1 turns echo on.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Yes
Yes
Yes
No
Used as an Operand No
Controller Usage ALL
Default Value (DMC-1410/1411/1417) 0
Default Value (All others) 1.0
Default Format 1.0
EXAMPLES:
EO 0
EO 1
Turns echo off
Turns echo on
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 1 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Yes
Yes
Yes
Yes
Yes (m only)
Controller Usage ALL
Default Value 256,0
Default Format
OPERAND USAGE:
_EP contains the value of the interval m.
RELATED COMMANDS:
Enable Ecam
Engage Ecam
Specify Ecam Cycle
Ecam quit
Electronic CAM table
EXAMPLES:
EP 20
D =_EP
EP,100
Sets the cam master points to 0,20,40 . . .
Set the variable D equal to the ECAM internal master interval
Phase shift all slaves by 100 master counts
84 ● 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 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.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Yes
Yes
Yes
Yes
Used as an Operand Yes
Controller Usage ALL
Default Value --
Default Format --
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:
Enable Ecam
Engage Ecam
Specify Ecam Cycle
CAM table intervals & starting point
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.
ER
FUNCTION: Error Limit
DESCRIPTION:
The ER command sets the magnitude of the position error that will trigger an error condition.
When the limit is exceeded, the Error output will go low (true). If the Off-On-Error
(OE1) command is active, the motors will be disabled. The units of ER are quadrature counts.
ARGUMENTS: ER n where n is an unsigned number in the range 1 to 32767.
“?” returns the value of the Error limit.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Yes
Yes
Yes
Yes
Used as an Operand Yes
Controller Usage ALL
Default Value
Default Format
16384
Position Format
OPERAND USAGE:
_ER contains the value of the Error limit.
RELATED COMMANDS:
Automatic Error Subroutine
EXAMPLES:
ER 200
ER ?
Set the error limit to 200
Return value
00200
V1=_ER Assigns V1 value of ER
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 ● 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 to the axes designated by the command VM. When m>n, the resolution of the first axis, x, will be divided by the ratio m/n. When m<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
In a Program Yes
Command Line
Controller Usage
Yes
ALL
Default Value
Default Format
1,1
RELATED COMMANDS:
EXAMPLES:
VMXY;ES3,4
Vector Mode
Circle move
Vector position
Divide Y resolution by 4/3
NOTE: ES must be issued after VM command
ET
FUNCTION: Electronic cam table
DESCRIPTION:
The ET command sets the ECAM table entries for the slave axis. The values of the master are not required. The slave entry (n) is the position of the slave when the master is at the point (n ∗ i) + o, where i is the interval and o is the offset as determined by the EP command.
ARGUMENTS: ET [n] = m 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
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Yes
Yes
Yes
No
Used as an Operand No
Controller Usage ALL
Default Value
Default Format
RELATED COMMANDS:
EXAMPLES:
ET [7] = 1000
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 ● 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 ⋅ 10-7
Deceleration Feedforward Bias = FA ⋅ DC ⋅ 1.5 ⋅ 10-7
The Feedforward Bias product is limited to 10 Volts. FA will only be operational during independent moves.
ARGUMENTS: FA n 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
In a Program
Command Line
Can be Interrogated
Yes
Yes
Yes
Yes
Used as an Operand Yes
Controller Usage ALL
Default Value
Default Format
FA ?
0
4.0
OPERAND USAGE:
_FA contains the value of the feedforward acceleration coefficient.
RELATED COMMANDS:
Velocity feedforward
EXAMPLES:
AC 500000
FA 10
Set feedforward coefficient to 10.
The effective bias will be 0.75V
FA ? Return value
010
NOTE: If the feedforward coefficient is changed during a move, then the change will not take effect until the next move.
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
No
Yes
Yes
No
Used as an Operand No
Controller Usage ALL
Default Value
Default Format
---
---
RELATED COMMANDS:
Find Index
Home
Begin
Acceleration Rate
Deceleration Rate
Speed for search
EXAMPLES:
FE Set find edge mode
BG 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 ● 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 accuracy, the speed during the search should be specified as 500 counts/s or less. The FI command is useful in custom homing sequences. The direction of motion is specified by the sign of the JG command.
ARGUMENTS: FI
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
No
Yes
Yes
No
No
Controller Usage ALL
Default Value
Default Format
---
---
RELATED COMMANDS:
EXAMPLES:
Find Edge
Home
Begin
Acceleration Rate
Deceleration Rate
Speed for search
JG 500 Set speed and forward direction
MG "FOUND INDEX"
HINT: Find Index only searches for a change in state on the Index. Use FE to search for the Home.
Use HM (Home) to search for both the Home input and the Index. Remember to specify BG after each of these commands.
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 #LIMSWI will be executed if it is included in the program and the program is executing. See section 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
“?” returns the value of the forward limit switch
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Yes
Yes
Yes
Yes
Yes
Controller Usage ALL
Default Value 2147483647
Default Format Position Format
OPERAND USAGE:
_FL contains the value of the forward software limit.
RELATED COMMANDS:
Reverse Limit
Forward Limit Operand
Position Formatting
EXAMPLES:
FL 150000 Set forward limit to 150000 counts on the X-axis
AC 1000000
DC 1000000
FL 15000
Acceleration Rate
Deceleration Rate
Forward Limit
JG 5000 Jog Forward
BGX Begin
EN End
HINT: The DMC-141X also provides hardware limits.
92 ● FL DMC-1400 Series Command Reference
@FRAC[n]
FUNCTION: Fractional part
DESCRIPTION:
Returns the fractional part of the given number
ARGUMENTS: @FRAC[n]
n is a signed number in the range -2147483648 to 2147483647.
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program
Command Line
Controller Usage
Yes
Yes
ALL
Default Format
-
-
RELATED COMMANDS:
EXAMPLES:
:MG @FRAC[1.2]
0.2000
:MG @FRAC[-2.4]
-0.4000
:
Integer part
FV
FUNCTION: Velocity Feedforward
DESCRIPTION:
The FV command sets the velocity feedforward coefficient, or returns the previously set value. This coefficient generates an output bias signal in proportion to the commanded velocity.
Velocity feedforward bias = 1.22 ⋅ 10-6 ⋅ FV ⋅ Velocity [in ct/s].
For example, if FV=10 and the velocity is 200,000 count/s, the velocity feedforward bias equals 2.44 volts.
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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Yes
Yes
Yes
Yes
Yes
Controller Usage ALL
Default Value
Default Format
0
3.0
OPERAND USAGE:
_FV contains the feedforward velocity.
RELATED COMMANDS:
Acceleration feedforward
EXAMPLES:
FV 10 Set feedforward coefficients to 10
JG 30000
FV ?
This produces 0.366 volts.
Return the value
010
94 ● 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 off by the command GR0.
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 Yes
In a Program Yes
Command Line
Controller Usage
Yes
DMC-1425
RELATED COMMANDS:
EXAMPLES:
Gear Ratio
Gantry Mode
GA ,X
GR ,.5
Specify X axis as master for Y
Specify Y ratio
JG 5000 Specify master jog speed
BGX Begin motion
WT 10000 Wait 10000 msec
STX Stop
Hint: Using the commanded position as the master axis is useful for gantry applications.
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:
ARGUMENTS: GN n where n is an unsigned integer in the range 0 to 2047 decimal.
"?" returns the value of the gain.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
Yes
Default Value
Default Format
DMC-1410/1411/1412/1414/1417
OPERAND USAGE:
_GN contains the value of the gain.
RELATED COMMANDS:
Zero
Integrator
Proportional
Derivative
EXAMPLES:
GN 12
GN ?
Set gain to 12
Returns gain
0006
70
4
96 ● 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 GR0 will stop the gearing in this mode.
ARGUMENTS: GM n or GMX=n where n = 0 n = 1
Disables gantry mode function
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
In a Program Yes
Command Line
Controller Usage
Yes
ALL
Default Value
Default Format
0
1.0
OPERAND USAGE:
_GMx contains the state of gantry mode for the specified axis: 0 gantry mode disabled, 1 gantry mode enabled
RELATED COMMANDS:
Gear Ratio
Master Axis for Gearing
EXAMPLES:
GM 1,1
GM 0
Enable GM on all axes
Disable GM on X-axis other axes remain unchanged
Hint: The GM command is useful for driving heavy load on both sides (Gantry Style).
GR
FUNCTION: Gear Ratio
DESCRIPTION:
GR specifies the Gear Ratios for the slave axis in the electronic gearing mode. The master axis for the DMC-1425 is specified with the GA command. For all 141X controllers, the master axis need not be set. Simply assign a ratio GRN to gear the x axis to the dual encoder. The master axis for all other Econo series controllers is the auxiliary encoder in servo mode, the main encoder input in stepper mode. Gear ratio may range between +/-
127.9999. 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: GR n 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
In a Program
Command Line
Can be Interrogated
Yes
Yes
Yes
Yes
Used as an Operand Yes
Controller Usage ALL
Default Value
Default Format
0
3.4
OPERAND USAGE:
_GR contains the value of the gear ratio.
EXAMPLES:
#GEAR
GR .25 Specify gear ratio
98 ● GR 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.
For servo motor operation, the first stage consists of the motor moving at the user programmed speed until detecting a transition on the homing input for that axis. The direction for this first stage is determined by the initial state of the Homing Input. Once the homing input changes state, the motor decelerates to a stop. The state of the homing input can be configured using the CN command.
The second stage consists of the motor changing directions and slowly approaching the transition again. When the transition is detected, the motor is stopped instantaneously..
The third stage consists of the motor slowly moving forward until it detects an index pulse from the encoder. It stops at this point and defines it as position 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
In a Program
Command Line
Can be Interrogated
No
Yes
Yes
No
Used as an Operand Yes
Controller Usage ALL
Default Value
Default Format
OPERAND USAGE:
_HM contains the state of the home switch.
RELATED COMMANDS:
Configure Home
Find Index Only
Find Home Only
EXAMPLES:
HM Set Homing Mode
HINT: You can create your own custom homing sequence by using the FE (Find Home Sensor only) and FI (Find Index only) commands.
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: HX n where n is either 0 or 1 to indicate the task number
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Yes
Yes
Yes
No
Yes
Controller Usage ALL
Default Value
Default Format n = 0
---
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:
Execute program
EXAMPLES:
XQ #A
XQ #B,1
Execute program #A, thread zero
Execute program #B, thread one
100 ● 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: IA ip0,ip1,ip2, ip3 or IA n or IA<t where ip0, ip1, ip2, 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).
<t specifies the time in update samples between TCP retries. (TCP/IP connection only)
>u specifies the multicast IP address where u is an integer between 0 and 63. (UDP/IP connection only)
IA? will return the IP address of the controller
USAGE:
While Moving No
In a Program No
Command Line
Controller Usage
Yes
DMC-1415/1416/1425
Default Value
Default Format n = 0, t=250
OPERAND USAGE:
_IA0
_IA1
_IA2
_IA3
_IA4 contains the IP address representing a 32 bit signed number (Two’s complement) contains the value for t (retry time) contains the number of available handles contains the number of the handle using this operand where the number is 0 to 5. 0 represents handle A, 1 handle B, etc.
Contains the handle number of the connection that caused the execution of #TCPERR. Contains “-1” if no error.
RELATED COMMANDS:
EXAMPLES:
IA 151, 12, 53, 89
IA 2534159705
IA < 500
Internet Handle
Assigns the controller with the address 151.12.53.89
Assigns the controller with the address 151.12.53.89
Sets the timeout value to 500msec
IF
FUNCTION: IF conditional statement
DESCRIPTION:
The IF command is used in conjunction with an ENDIF command to form an IF conditional statement. The arguments are one or more conditional statements. If the conditional statement(s) evaluates true, the command interpreter will continue executing commands which follow the IF command. If the conditional statement evaluates false, the controller will ignore commands until the associated ENDIF command OR an ELSE command occurs in the program.
ARGUMENTS: IF condition where
Conditions are tested with the following logical operators:
< less than or equal to
> greater than
= equal to
<= less than or equal to
>= greater than or equal to
<> not equal
USAGE:
While Moving Yes
In a Program Yes
Command Line
Controller Usage
No
DMC-1415/1416/1425
Default Value
Default Format
-
-
RELATED COMMANDS:
Optional command to be used only after IF command
End of IF conditional Statement
EXAMPLES:
IF (_TEX<1000)
MG "Motor is within 1000 counts of zero"
ENDIF
IF(_TPX>5000)&(_TPY>5000)
MG “Motors too Far”
ENDIF
IF conditional statement based on X motor position
Message to be executed if “IF” conditional statement
End of IF conditional statement
IF conditional statement based on X and Y motor position
Message to be executed if “IF” statement is true
End of IF statement
102 ● IF DMC-1400 Series Command Reference
IH
FUNCTION: Open Internet Handle
DESCRIPTION:
The IH command is used when the DMC-1415, DMC-1416 or DMC-1425 is operated as a master (also known as a client). This command opens a handle and connects to a slave.
Each controller may have 6 handles open at any given time. They are designated by the letters A through F. To open a handle, the user must specify:
1. The IP address of the slave
2. The type of session: TCP/IP or UDP/IP
3. The port number of the slave. This number is not necessary if the slave device does not require a specific port value. If not specified, the controller will specify the port value as 1000.
ARGUMENTS: IHh= ip0,ip1,ip2,ip3 <p >q or IHh=n <p >q or IHh= >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 => C closes the handle that sent the command; where C=-1 for UDP/IP, or C=-2 for
TCP/IP.
IHN => C closes all handles except for the one sending the command; where C=-1 UDP, or
C=-2 for TCP.
<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.
>q specifies the connection type where q is 0 for no connection, 1 for UDP and 2 for TCP
>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
"?" returns the IP address as 4 1-byte numbers
OPERAND USAGE:
_IHh0
_IHh1
_IHh2 contains the IP address as a 32 bit number contains the slave port number contains a 0 if the handle is free contains a 1 if it is for a UDP slave
_IHh3 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 while establishing UDP handle contains -6 while establishing TCP handle contains a 0 if the ARP was successful contains a 1 if it has failed or is still in progress.
_Ihh4 contains a 1 if waiting for a slave response contains 2 if transmission is successful contains 3 if transmission error occurs contains 4 if transmission timeout
USAGE:
While Moving No
In a Program
Command Line
Controller Usage
Yes
Yes
DMC-1415/1416/1425
Default Value
Default Format
RELATED COMMANDS:
Internet Address
EXAMPLES:
IHA=251,29,51,1
IHA= -2095238399
-
Open handle A at IP address 251.29.51.1
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 ● IH DMC-1400 Series Command Reference
II
FUNCTION: Input Interrupt
DESCRIPTION:
The II command enables the interrupt function for the specified inputs. This function triggers when the controller sees a logic change from high to low on a specified input.
If any of the specified inputs go low during program execution, the program will jump to the subroutine with label #ININT. Any trippoints set by the program will be cleared but can be re-enabled by the proper termination of the interrupt subroutine using RI. The RI command is used to return from the #ININT routine
To avoid 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,o,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 nd 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 1 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. For 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Yes
Yes
No
Yes
Yes
Default Value
Default Format
Controller Usage ALL (See Note for ‘p’ data field)
0
3.0 (mask only)
RELATED COMMANDS:
Return from Interrupt
Interrupt Subroutine
Trippoint for input
EXAMPLES:
II 1
JG 5000
#LOOP;JP #LOOP
Specify interrupt on input 1
Specify jog speed
Loop
ST;MG "INTERRUPT"
#CLEAR;JP#CLEAR,@IN[1]=0
Stop X, print message
Check for interrupt clear
RI Return to main program
NOTE: An application program must be running on the controller for the Input Interrupt function to work.
106 ● II 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 move. For example,
IL -3 limits the integrator output to +/-3V. If, at the start of the motion, the integrator output is 1.6 Volts, that level will be maintained through the move. Note, however, that the KD and KP terms remain active in any case.
ARGUMENTS: IL n 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
In a Program
Yes
Yes
Yes Command Line
Can be Interrogated
Used as an Operand
Yes
Yes
Controller Usage ALL
Default Value
Default Format
9.9982
1.4
OPERAND USAGE:
_IL contains the value of the integrator limit.
RELATED COMMANDS:
Integrator
EXAMPLES:
KI 2 Integrator constants
IL 3
IL ?
Integrator limits
Returns the limit
3.0000
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
"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 Port1, 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
In a Program
Command Line
Can be Interrogated
Yes
Yes
No
No
Used as an Operand No
Controller Usage ALL
Default Value
Default Format Position Format
108 ● 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).
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
V4=V2*4000
SP V3
PR V4
BGX;AMX
MG "MOVE DONE"
Convert units to counts/sec
Convert units to counts
Speed command
Position command
Begin motion; Wait for motion complete
Print Message
*NOTE: It is a good practice to clear the input buffer before executing the IN command
@IN[n]
FUNCTION: Read digital input
DESCRIPTION:
Returns the value of the given digital input (either 0 or 1)
ARGUMENTS: @IN[n] where
n is an unsigned integer in the range 1 to 96
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format
Command Line
Controller Usage
Yes
ALL
RELATED COMMANDS:
Read analog input
Read digital output
Set digital output bit
Clear digital output bit
Set analog output offset
EXAMPLES:
:MG @IN[1] ;'print digital input 1
1.0000
:x = @IN[1] ;'assign digital input 1 to a variable
-
-
110 ● @IN[n] DMC-1400 Series Command Reference
#ININT
FUNCTION: Input interrupt automatic subroutine
DESCRIPTION:
#ININT runs upon a state transition of digital inputs 1 to 8 and is configured with II. #ININT runs in thread 0 and requires something running in thread 0 to be active.
USAGE:
While Moving Yes
In a Program Yes
Command Line
Controller Usage
No
ALL
RELATED COMMANDS:
Input interrupt
Read digital input
Return from interrupt
EXAMPLES:
II 1 ; 'arm digital input 1
#MAIN ; 'print a message every second
MG "MAIN"
WT 1000
JP #MAIN
#ININT ; 'runs when input 1 goes low
MG "ININT"
AI 1
RI
NOTE: An application program must be executing for the automatic subroutine to function, which runs in thread 0.
NOTE: Use RI to end the routine
@INT[n]
FUNCTION: Integer part
DESCRIPTION:
Returns the integer part of the given number. Note that the modulus operator can be implemented with @INT (see example below).
ARGUMENTS: @INT[n]
n is a signed number in the range -2147483648 to 2147483647.
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format
Command Line
Controller Usage
Yes
ALL
-
-
RELATED COMMANDS:
EXAMPLES:
:MG @INT[1.2]
1.0000
:MG @INT[-2.4]
-2.0000
:
Fractional part
#AUTO ; 'modulus example
x = 10 ; 'prepare arguments
y = 3
JS #mod ; 'call modulus
MG z ; 'print return value
EN
'subroutine: integer remainder of x/y (10 mod 3 = 1)
'arguments are x and y. Return is in z
#mod
z = x - (y * @INT [x/y])
EN
112 ● @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: 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: IP n where
n is a signed number in the range -2147483648 to 2147483647 decimal.
“?” returns the current position
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Yes
Yes
Yes
Yes
No
Controller Usage ALL
Default Value
Default Format
---
7.0
EXAMPLES:
:IP 50 50 counts with set acceleration and speed
#CORRECT Label
AC 100000 Set acceleration
JG 10000;BG
WT 1000
IP 10
Jog at 10000 counts/sec rate
Wait 1000 msec
Move the motor 10 counts instantaneously
IT
FUNCTION: Independent Time Constant - Smoothing Function
DESCRIPTION:
The IT command filters the acceleration and deceleration functions in independent moves of
JG, PR, PA type to produce a smooth velocity profile. The resulting profile, known as Scurve, has continuous acceleration and results in reduced mechanical vibrations. IT sets the bandwidth of the filter where 1 means no filtering and 0.004 means maximum filtering. Note that the filtering results in longer motion time.
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: IT n 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Yes
Yes
Yes
Yes
Yes
Controller Usage ALL
Default Value
Default Format
1.0
1.4
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 ● 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
7
Condition
General purpose input
6 Reserved
5 Applications programs stopped
ARGUMENTS: IV n
USAGE:
While Moving Yes
In a Program
Command Line
Can be Interrogated
Used as an Operand
Yes
Yes
Yes
No
Controller Usage DMC-1410/1411/1417
Default Value
Default Format
EXAMPLES:
IV Limit switch occurred
:4 2 2 Binary equivalent
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: JG n 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
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Yes
Yes
Yes
Controller Usage ALL
Default Value
Default Format
25000
Position Format
OPERAND USAGE:
_JG will return the absolute value of the jog speed.
RELATED COMMANDS:
Begin
Stop
Acceleration
Deceleration
Increment Position
Tell Velocity
EXAMPLES:
JG 100 Set for jog mode with a slew speed of 100 counts/sec
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 location may be any program line number or label. The condition is a conditional statement which uses a logical operator such as equal to or less than. A jump is taken if the specified condition is true.
Multiple conditions can be used in a single jump statement. The conditional statements are combined in pairs using the operands “&” and “|”. The “&” operand between any two conditions requires that both statements must be true for the combined statement to be true. The ”|” operand between any two conditions requires that only one statement be true for the combined statement to be true. Note: Each condition must be placed in
parenthesis for proper evaluation by the controller.
ARGUMENTS: JP location,condition where location is a program line number or label condition is a conditional statement using a logical operator
The logical operators are:
< less than
> greater than
= equal to
<= less than or equal to
>= greater than or equal to
<> not equal to
USAGE:
While Moving Yes
In a Program
Command Line
Can be Interrogated
Used as an Operand
Yes
No
No
No
Controller Usage ALL
Default Value
Default Format
EXAMPLES:
JP #POS1,V1<5
JP #A,V7*V8=0
JP #B
Jump to label #POS1 if variable V1 is less than 5
Jump to #A if V7 times V8 equals 0
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 destination is the specified label before the comma.
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 “&” and “|”. The “&” 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:
< less than or equal to
> greater than
= equal to
<= less than or equal to
>= greater than or equal to
<> not equal
USAGE:
While Moving Yes
In a Program
Command Line
Can be Interrogated
Used as an Operand
Yes
No
No
No
Controller Usage ALL
Default Value
Default Format
---
---
RELATED COMMANDS:
End
EXAMPLES:
JS #SQUARE,V1<5
JS #LOOP,V1<>0
JS #A
Jump to subroutine #SQUARE if V1 is less than 5
Jump to #LOOP if V1 is not equal to 0
Jump to subroutine #A (no condition)
118 ● 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
⋅
KP + 4
⋅
KD(z-1)/z + KIz/2 (z-1)
For further details on the filter see the section Theory of Operation in the product manual.
ARGUMENTS: KD n where
n is an unsigned number in the range 0 to 4095.875 with a resolution of .125
“?” returns the value of the derivative constant
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Yes
Yes
Yes
Yes
Used as an Operand Yes
Controller Usage ALL
Default Value
Default Format
64
4.2
OPERAND USAGE:
_KD contains the value of the derivative constant.
RELATED COMMANDS:
Proportional Constant
Integral
EXAMPLES:
KD 100 Specify KD
KD ? Return KD
0100.00
KI
FUNCTION: Integrator
DESCRIPTION:
The KI command sets the integral gain of the control loop. It fits in the control equation as follows:
⋅
KP + 4
⋅
KD(z-1)/z + KI z/2(z-1)
The integrator term will reduce the position error at rest to zero.
ARGUMENTS: KI n where
n in an unsigned number in the range 0 to 2047.875 with a resolution of 1/128
“?” returns the value of the integrator
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Yes
Yes
Yes
Yes
Yes
Controller Usage ALL
Default Value
Default Format
0
4.0
OPERAND USAGE:
_KI contains the value of the integrator.
RELATED COMMANDS:
Proportional Gain
Derivative
Zero
Integrator Limit
EXAMPLES:
KI 12
KI ?
Specify integral gain
Return value
0012
120 ● 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
⋅
KP + 4
⋅
KD(z-1)/z + KI z/2(z-1)
For further details see the section Theory of Operation in the product manual.
ARGUMENTS: KP n where
n is an unsigned number in the range 0 to 1023.875 with a resolution of .125.
“?” returns the value of the proportional constant
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Yes
Yes
Yes
Yes
Used as an Operand Yes
Controller Usage ALL
Default Value
Default Format
6
4.2
OPERAND USAGE:
_KP contains the value of the proportional constant.
RELATED COMMANDS:
Proportional Gain
Integral constant
KS
FUNCTION: Step Motor Smoothing
DESCRIPTION:
The KS parameter smoothes the frequency of the step motor pulses. Larger values of KS provide greater smoothness. This parameter will also increase the motion time by 3KS sampling periods. KS adds a single pole low pass filter onto the output of the motion profiler. This function smoothes out the generation of step pulses and is most useful when operating in full or half step mode.
Note: The KS will cause the step output to be delayed.
ARGUMENTS: KS n where
n is a positive integer in the range between 0.5 and 16 with a resolution of 1.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Yes
Yes
Yes
Yes
Yes
Controller Usage ALL
Default Value 2
Default Format 4.0
OPERAND USAGE:
_KS contains the value of the smoothing constant.
RELATED COMMANDS:
Motor Type
Independent Time Constant-Smoothing Function
Motion Complete
EXAMPLES:
KS 5 Set smoothing parameter to 5.
Hint: KS is valid for step motor only.
122 ● 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
In a Program Yes
Command Line
Controller Usage
Yes
ALL
Default Value
Default Format
-
-
RELATED COMMANDS:
EXAMPLES:
: LA
CA [10]
LA [5]
NY [25]
VA [17]
List Labels
List Program
List Variable
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
In a Program Yes
Command Line
Controller Usage
Yes
ALL
Default Value
Default Format
-
-
OPERAND USAGE:
_LEx contains the total vector move length in encoder counts.
RELATED COMMANDS:
Linear Distance
BGS - Begin Sequence
Linear Interpolation Mode
Vector Speed
Vector Acceleration
Vector Deceleration
Position Formatting
EXAMPLES:
LM XY
LI 100,200
LE
Specify linear interpolation mode for X and Y axes
Specify linear distance
End linear move
124 ● 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:
_LFn – 0 when the limit switch input is negative*
_LFn = 1 when the limit switch input is active*
EXAMPLES:
MG _LF
JP#A,_LF=0
Display the status of the forward limit switch
Jump to label, #A, forward limit switch is activated
*This is an Operand - Not a command.
LI
FUNCTION: Linear Interpolation Distance
DESCRIPTION:
The LI x,y command specifies the incremental distance of travel for each axis in the Linear
Interpolation (LM) mode. LI parameters are relative distances given with respect to the current axis positions. Up to 511 LI specifications may be given ahead of the Begin
Sequence (BGS) command. Additional LI commands may be sent during motion when the controller sequence buffer frees additional spaces for new vector segments. The
Linear End (LE) command must be given after the last LI specification in a sequence.
This command tells the controller to decelerate to a stop at the last LI command. It is the responsibility of the user to keep enough LI segments in the controller's sequence buffer to ensure continuous motion.
LM ? Returns the available spaces for LI segments that can be sent to the buffer. 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 designates linear interpolation for the X and Y axes. The speed of these axes will be computed from VS
2
=XS
2
+YS
2
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 <o >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
In a Program Yes
Command Line
Controller Usage
Yes
ALL
Default Value
Default Format
-
-
RELATED COMMANDS:
Linear end
BGS - Begin sequence
Linear Interpolation Mode
Clear Sequence
Vector Speed
Vector Acceleration
Vector Deceleration
126 ● LI DMC-1400 Series Command Reference
EXAMPLES:
LM XY
LI 1000,2000
Specify linear interpolation mode
Specify distance
#LIMSWI
FUNCTION: Limit switch automatic subroutine
DESCRIPTION:
Without #LIMSWI defined, the controller will effectively issue the STn on the axis when it’s limit switch is tripped. With #LIMSWI defined, the axis is still stopped, and in addition, code is executed. #LIMSWI is most commonly used to turn the motor off when a limit switch is tripped (see example below). 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 Yes
In a Program Yes
Command Line
Controller Usage
No
ALL
RELATED COMMANDS:
State of forward limit switch
State of reverse limit switch
Return from error routine
EXAMPLES:
#Main ; 'print a message every second
MG "Main"
WT 1000
JP #Main
EN
#LIMSWI ; 'runs when a limit switch is tripped
IF (_LFX = 0) | (_LRX = 0)
MG "X"
DC X =67107840
ST X
AM X
MO X
ELSE ; IF (_LFY = 0) | (_LRY = 0)
MG "Y"
DC Y =67107840
ST Y
AM Y
MO Y
ENDIF ; ENDIF
RE
1
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 ● #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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
ALL
Default Value
Default Format
-
-
RELATED COMMANDS:
LV List Variables
EXAMPLES:
: LL
# FIVE
# FOUR
# ONE
# THREE
# TWO
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 VS
2
=XS
2
+YS
2
, 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
Controller Usage
Yes
ALL
Default Value
Default Format
-
-
OPERAND USAGE:
_LMx contains the number of spaces available in the sequence buffer for the coordinate system.
RELATED COMMANDS:
Linear end
Linear Distance
Vector acceleration
Vector Speed
Vector deceleration
_CS - Sequence counter
EXAMPLES:
LM XY
VS 10000; VA 100000;VD 1000000
LI 100,200
LI 200,300
LE; BGS
Specify linear interpolation mode
Specify vector speed, acceleration and deceleration
Specify linear distance
Specify linear distance
Last vector, then begin motion
130 ● 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:
For CN 1:
_LRx = 1 when the limit switch input is inactive*
_LRx = 0 when the limit switch input is active*
_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
JP#A,_LR=0
Display the status of the reverse limit switch
Jump to label, #A, when reverse limit switch is activated
*This is an Operand – Not a command.
LS
FUNCTION: List
DESCRIPTION:
The LS command sends a listing of the program memory. The listing will start with the line pointed to by the first parameter, which can be either a line number or a label. If no parameter is specified, it will start with line 0. The listing will end with the line pointed to by the second parameter--again either a line number or label. If no parameter is specified, the listing will go to the last line of the program.
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
Yes
No
Yes
No
No
ALL
Default Value
Default Format
0,Last Line
---
EXAMPLES:
:LS #A,6
002 #A
003 PR 500
004 BG
005 AM
006 WT 200
List program starting at #A through line 6
HINT: Remember to quit the Edit Mode <cntrl> Q prior to giving the LS command.
132 ● 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 Yes
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
ALL
Default Value
Default Format
-
-
RELATED COMMANDS:
EXAMPLES:
: LV
APPLE = 60.0000
BOY = 25.0000
ZEBRA = 37.0000
List Labels
LZ
FUNCTION: Inhibit leading zeros
DESCRIPTION:
The LZ command is used for formatting the values returned from interrogation commands or interrogation of variables and arrays. By enabling the LZ function, all leading zeros of returned values will be removed.
ARGUMENTS: LZ n where n is
1 to remove leading zeros
0 to disabled the leading zero removal
LZ? Returns the state of the LZ function.
USAGE:
While Moving Yes
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
ALL
Default Value
Default Format
0
---
EXAMPLES:
0004
LZ 1 Inhibit leading zeros
4
134 ● 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.
FUNCTION CODE
01
02
03
04
05
DEFINITION
Read Coil Status (Read Bits)
Read Input Status (Read Bits)
Read Holding Registers (Read Words)
Read Input Registers (Read Words)
Force Single Coil (Write One Bit)
07
15
16
17
Read Exception Status (Read Error Code)
Force Multiple Coils (Write Multiple Bits)
Preset Multiple Registers (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
n is the number of registers array[] will hold the response
MBh = addr, 4, m, n, array[] where m is the starting register number n is the number of registers array[] will hold the response
MBh = addr, 5, m, n where m is the starting bit number n is 0 or 1 and represents the coil set to off or on.
MBh = addr, 6, m, n where m is the register number n is 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[] m is the starting bit number where n is the number of bits array[] contains the data (one byte per element)
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
USAGE:
While Moving
In a Program
Command Line
Controller Usage
Yes
Yes
Yes
DMC-1415/1416/1425
Default Value
Default Format
-
-
136 ● 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
No
No
ALL
Default Value
Default Format
-
-
RELATED COMMANDS:
Begin
After Move
Timeout
EXAMPLES:
#MOVE
PR 5000
BG
MC
SB1
EN
Program MOVE
Position relative moves
Start the axis
After the move is complete
Set output 1 to logic 1
End of Program
Hint: MC can be used to verify that the actual motion has been completed.
138 ● #MCTIME
#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
Command Line
Controller Usage
Yes
No
ALL
RELATED COMMANDS:
Wait for motion complete trip point
MC timeout
End routine
EXAMPLES:
#BEGIN ; 'Begin main program
TW X =1000 ; 'Set the time out to 1000 ms
PR X =10000 ; 'Position relative
BG X ; 'Begin motion
MC X ; 'Motion Complete trip point
EN ; 'End main program
#MCTIME ; 'Motion Complete Subroutine
MG "X fell short" ; 'Send out a message
EN 1 ; 'End subroutine
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
MF
FUNCTION: Forward Motion to Position
DESCRIPTION:
The MF command is a trippoint used to control the timing of events. This command will hold up the execution of the following command until the specified motor moves forward and crosses the position specified. The units of the command are in quadrature counts. The MF command can also be used when the encoder is the master and not under servo control.
ARGUMENTS: MF n where n is a signed integer in the range -2147483648 to 2147483647 decimal
USAGE:
While Moving Yes
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
No
No
ALL
Default Value
Default Format
---
---
RELATED COMMANDS:
Trippoint for after Relative Distance
Reverse motion to position
After Absolute Position
EXAMPLES:
#TEST
DP0
JG 1000
BG
MF 2000
V1=_TP
Program B
Define zero
Jog mode (speed of 1000 counts/sec)
Begin move
After passing the position 2000
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 in 2 msec. Multiply the speed by 2 msec to obtain the maximum error. MF tests for absolute position. The MF command can also be used when the specified motor is driven independently by an external device.
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 $m,n} {N} {Sn}
"m" is a text message including letters, numbers, symbols or <ctrl>G. Make sure that maximum line length is not exceeded (40 characters DMC-1410/1411/1412/1414, 80 characters DMC-1415/1416/1425).
{^n} is an ASCII character specified by the value n
V is a variable name or array element where the following specifiers can be used for formatting:
{Fm.n} Display variable in decimal format with m digits to left of decimal, and n to the right.
{$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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
No
No
ALL
Default Value -
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 {^13}, {^30}, {^37}, {N} Sends carriage return, characters 0 and 7 followed by no carriage return line feed command to the port.
140 ● 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
No
Yes
ALL
Default Value
Default Format
0
1.0
OPERAND USAGE:
_MO will return the state of the motor, 0 = servo loop on and 1 = servo loop off.
RELATED COMMANDS:
Servo Here
EXAMPLES:
MO
SH
Bob=_MO
Bob=
Turn off motor
Turn motor on
Sets Bob equal to the servo status
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.
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: MR n where n is a signed integer in the range -2147483648 to 2147483647 decimal
USAGE:
While Moving Yes
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
No
No
ALL
Default Value
Default Format
---
---
RELATED COMMANDS:
Trippoint for after Relative Distance
Forward motion to position
Trippoint After absolute position
EXAMPLES:
#TEST
DP0
JG 1000
BG
MR -3000
V1=_TP
Program B
Define zero
Jog mode (speed of 1000 counts/sec)
Begin move
After passing the position -3000
Assign current position to variable V1.
MG "Position is", V1 Print Message
ST Stop
EN 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 ● 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: MT n where n is:
1 Servo motor
-1
2
Servo motor reversed polarity
Step motor with active low step pulses
-2
2.5
Step motor with active high step pulses
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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
ALL
Default Value
Default Format
1
1.0
OPERAND USAGE:
_MT contains the value of the motor type.
RELATED COMMANDS:
Configure step pulse width
EXAMPLES:
MT 1
MT ?
V=_MT
Configure x as servo
Interrogate motor type
Assign motor type to variable
NB
FUNCTION: Notch Bandwidth
DESCRIPTION:
The NB command sets real part of the notch poles
ARGUMENTS: NB n,n or NBX=n where n is ranges from 0 Hz to
1
( 16 ⋅TM )
USAGE:
While Moving Yes
In a Program
Command Line
Controller Usage
Yes
Yes
DMC-1415/1416/1425
Default Value
Default Format
0.5
RELATED COMMANDS:
NOTE: This command is only valid for the DMC – 1415, 1416, and 1425 controllers.
NF
Notch Filter
Notch Zeros
EXAMPLES:
_NBX = 10
NOTCH = _NBX
Sets the real part of the notch pole to 10/2 Hz
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 ● NB DMC-1400 Series Command Reference
NF
FUNCTION: Notch Frequency
DESCRIPTION:
The NF command sets the frequency of the notch filter, which is placed in series with the PID compensation.
ARGUMENTS: NF n,n or NFX=n where n ranges from 1 Hz to
( 4
1
⋅ TM )
where TM is the update rate (default TM is 1 msec). n = ? Returns the value of the Notch filter for the specified axis.
USAGE:
While Moving Yes
In a Program Yes
Command Line
Controller Usage
Yes
DMC-1415/1416/1425
Default Value
Default Format
0
OPERAND USAGE:
_NFx contains the value of notch filter for the specified axis.
RELATED COMMANDS:
Notch bandwidth
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.
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: NO m where
m is any group of letter, number, symbol or <cntrl>G
USAGE:
While Moving Yes
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
No
ALL
Default Value
Default Format
---
---
EXAMPLES:
NO This Program
NO Does Absolutely
NO Nothing
EN
No Operation
No Operation
No Operation
End of Program
146 ● 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
1
( 16 ⋅TM )
n = ? Returns the value of the Notch filter zero for the specified axis.
USAGE:
While Moving Yes
In a Program
Command Line
Controller Usage
Yes
Yes
DMC-1415/1416/1425
Default Value
Default Format
0.5
OPERAND USAGE:
_NZx contains the value of the Notch filter zero for the specified axis.
RELATED COMMANDS:
Notch Bandwidth
"NOTE: This command is only valid for the DMC – 1415, 1416, and 1425 controllers.
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.
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
Yes
Yes
Yes
No
No
ALL
Default Value
Default Format
---
---
EXAMPLES:
OB 1, POS 1
OB 2, @IN[1]&@IN[2]
OB 3, COUNT[1]
OB N, COUNT[1]
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 ● 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 9 and 2 ⋅ 10 9 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>_TPx and n>0 for negative moves (e.g. JGx=-1000) m<_TPx and n<0 for positive moves (e.g. JGx=1000)
USAGE:
While Moving Yes
In a Program
Command Line
Controller Usage
Yes
Yes
DMC-1415/1416
Default Value
Default Format
-
-
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…
OE
FUNCTION: Off on Error
DESCRIPTION:
The OE command causes the controller to shut off the motor command if the position error exceeds the limit specified by the ER command or an abort occurs from either the abort input or an AB command.
The OE command, in addition to shutting off the motor command, will toggle the amplifier enable signal.
ARGUMENTS: OE n where n may be 0 or 1. 0 disables function. 1 enables off-on-error.
“?” returns the state of the off-on-error function
USAGE:
While Moving Yes
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
Yes
ALL
Default Value
Default Format
0
1.0
OPERAND USAGE:
_OE contains the status of the off-on-error function.
RELATED COMMANDS:
Error limit
Servo Here
Error Subroutine
EXAMPLES:
OE 1
OE 0
Enable OE
Disable OE
HINT: The OE command is useful for preventing system damage on excessive error.
150 ● 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: OF n where
n is a signed number in the range -9.998 to 9.998 volts with resolution of .0003.
“?” returns the offset
USAGE:
While Moving Yes
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
ALL
Default Value
Default Format
0
1.4
OPERAND USAGE:
_OF contains the offset.
EXAMPLES:
OF 1
OF ?
Set offset to 1
Return offset
1.0000
152 ● OP
OP
FUNCTION: Output Port
DESCRIPTION:
The OP command sends data to the output ports of the controller. You can use the output port to control external switches and relays.
ARGUMENTS (DMC-1410/1411/1412/1414/1417): OP m,n where m is an integer in the range 0 to 7 and is the decimal representation of the 3 output bits. n is an integer in the range 1 to 3 decimal and is used to specify the number of bits effected starting with the LSB. For example, if n=2, only outputs 1 and 2 will be changed by OP m. If the 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 Bits m 0 1-3 a 2,3 17-32
Description
General Outputs
Extended I/O
49-64 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:
Yes Default Value
Yes Default Format
Yes
Yes
Yes
ALL
0
3.0
OPERAND USAGE (DMC-1410/1411/1412/1414/1417):
_OP contains the status of the outputs.
OPERAND USAGE (DMC-1415/1416/1425):
_OP0 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:
Set output bit
Clear output bit
Output Byte
DMC-1400 Series Command Reference
EXAMPLES:
OP 0
OP 7
MG _OP0
MG _OP1
Clear Output Port – all bits
Set outputs 1,2 and 3
Returns the first parameter "m" (DMC-1415/1416/1425 only)
Returns the second parameter "a" (DMC-1415/1416/1425 only)
@OUT[n]
FUNCTION: Read digital output
DESCRIPTION:
Returns the value of the given digital output (either 0 or 1)
ARGUMENTS: @IN[n] where
n is an unsigned integer in the range 1 to 80
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format
Command Line
Controller Usage
Yes
ALL
RELATED COMMANDS:
Read analog input
Read digital input
Set digital output bit
Clear digital output bit
Set analog output offset
EXAMPLES:
:MG @OUT[1] ;'print digital output 1
1.0000
:x = @OUT[1] ;'assign digital output 1 to a variable
-
-
154 ● @OUT[n] DMC-1400 Series Command Reference
P1CD P2CD
FUNCTION: Serial port 1 or serial port 2 code
DESCRIPTION:
DMC-21x2/3: P1CD returns the status of the serial port when in the operator data entry mode
(CI,1)
DMC-2xx0: P2CD returns the status of the auxiliary serial port (port 2)
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program
Command Line
Controller Usage
Yes
Yes
DMC-1412 / 4 ONLY
Default Format
-
-
RELATED COMMANDS:
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
EXAMPLES:
:^R^V
DMC2240 Rev 1.0o
:^R^S
:CC 9600,0,0,0
:MG "TEST" {P2} ; 'send a message to the hand
terminal
:MG P2CD ; 'no characters entered on hand terminal
0.0000
:MG P2CD ; 'the number 6 was pushed on the hand
terminal
1.0000
:MG P2CD ; 'enter key pushed on hand terminal
3.0000
:MG P2CD ; 'the character B was pushed (shift f2)
2.0000
DMC-1400 Series Command Reference P1CD P2CD ● 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
(CI,1)
P2CH returns the last character sent to the auxiliary serial port (port 2)
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program
Command Line
Controller Usage
Yes
Yes
DMC-1412 / 4 ONLY
Default Format
-
-
RELATED COMMANDS:
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
EXAMPLES:
:^R^V
DMC2240 Rev 1.0o
:^R^S
:CC 9600,0,0,0
:MG "TEST" {P2} ; 'send a message to the hand
terminal
:MG P2CH {S1} ; 'the 6 button was pushed on the hand
terminal
6
:
156 ● P1CH P2CH
Reference
DMC-1400 Series Command
P1NM P2NM
FUNCTION: Serial port 1 or serial port 2 number
DESCRIPTION:
P1NM and P2NM convert from ASCII (e.g. “1234”) to binary so that a number can be stored into a variable and math can be performed on it. Numbers from -2147483648 to
2147483647 can be processed.
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: DEFAULTS:
While Moving Yes Default Value
In a Program
Command Line
Controller Usage
Yes
Yes
DMC-1412 / 4 ONLY
Default Format
-
-
RELATED COMMANDS:
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
EXAMPLES:
:^R^V
DMC2240 Rev 1.0o
:^R^S
:CC 9600,0,0,0
:MG "TEST" {P2} ; 'send a message to the hand
terminal
:x = P2NM ; 'the 1, 2, 3, <enter> buttons were pushed
:MG x
123.0000
:
P1ST P2ST
FUNCTION: Serial port 1 or serial port 2 string
DESCRIPTION:
P1ST returns the last string (followed by carriage return) sent to the serial port when in the operator data entry mode (CI,1)
P2ST returns the last string (followed by carriage return) sent to auxiliary serial port (port 2)
NO MORE THAN SIX CHARACTERS CAN BE ACCESSED.
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program
Command Line
Controller Usage
Yes
Yes
DMC-1412 / 4 ONLY
Default Format
-
-
RELATED COMMANDS:
Serial port 1/2 code
Serial port 1/2 character
Serial port 1/2 number
Configure #COMINT (and set operator data entry mode)
Configure serial port 2
Communication interrupt automatic subroutine
EXAMPLES:
:CC 9600,0,0,0
:MG "TEST" {P2} ; 'send a message to the hand terminal
:MG P2ST {S3} ; 'the characters ABC were entered
ABC
:
158 ● P1ST P2ST
Reference
DMC-1400 Series Command
#POSERR
FUNCTION: Position error automatic subroutine
DESCRIPTION:
The factory default behavior of the Galil controller upon a position error (TE
> ER) is to do nothing more than turn on the red light. If OE is set to 1, the motor whose position error ER was exceeded will be turned off MO.
#POSERR can be used if the programmer wishes to run code upon a position error (for example to notify a host computer).
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 command returns from the error subroutine to the main program.
USAGE:
While Moving Yes
In a Program
Command Line
Controller Usage
Yes
No
ALL
RELATED COMMANDS:
Off on error
Tell error
Error limit
Return from error routine
EXAMPLES:
#A ; '"Dummy" program
JP #A
#POSERR ; 'Position error routine
MG "TE > ER" ; 'Send message
RE 1 ; 'Return to main program
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
PA
FUNCTION: Position Absolute
DESCRIPTION:
The PA command will set the final destination of the next move. The position is referenced to the absolute zero. If a ? is used, then the current destination (current command position if not moving, destination if in a move) is returned. For each single move, the largest position move possible is +/- 2147483647. Units are in quadrature counts.
ARGUMENTS: PA n where n is a signed integer in the range -2147483647 to 2147483648 decimal n = ? Returns the commanded position
USAGE:
While Moving No
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
ALL
Default Value
Default Format
---
Position Format
OPERAND USAGE:
_PA contains current command position if not moving, start position if given during motion.
RELATED COMMANDS:
Position relative
Speed
Acceleration
Deceleration
Begin
EXAMPLES:
:PA 400
:PA ?
X-axis will go to 400 counts
Returns the current commanded position
0000000
:PA 700 X-axis will go to 700 on the next move
:BG
160 ● 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 ?
FL ?
TE
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
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
ALL
Default Value
Default Format
10.0
10.0
OPERAND USAGE:
_PF contains the value of position format parameter.
EXAMPLES:
:TP Tell position
:PF 5.2 Change format to 5 digits of integers and 2 of fractions
00021.00
PF-5.2 New format Change format to hexadecimal*
PR
FUNCTION: Position Relative
DESCRIPTION:
The PR command sets the incremental distance and direction of the next move. The move is referenced with respect to the current position. If a ? is used, then the current incremental distance is returned (even if it was set by a PA command). Units are in quadrature counts.
ARGUMENTS: PR n where n is a signed integer in the range -2147483648 to 2147483647 decimal
“?” returns the current incremental distance
USAGE:
While Moving No
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
ALL
Default Value 0
OPERAND USAGE:
_PR will return the current incremental distance.
RELATED COMMANDS:
Begin
Acceleration
Deceleration
Speed
Increment Position
EXAMPLES:
:PR 100 On the next move the X-axis will go 100 counts,
:BG
:PR ? Return relative distances
0000000100
162 ● 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 separated by a comma
(,) or by <CR><LF>. The downloaded array is terminated by a \.
ARGUMENTS: QD array[],start,end
“array[]” is a valid array name where
“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
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
No
ALL
Default Value
Default Format
0
Position Format
RELATED COMMANDS:
HINT:
Upload array
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 '\'
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
I/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:
While Moving Yes
In a Program Yes
Command Line
Controller Usage
Yes
DMC-1415/1416/1425
Default Value
Default Format
-
-
RELATED COMMANDS:
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 ● 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 <control>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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
No
No
ALL
Default Value 0
Default Format Position Format
RELATED COMMANDS:
Download array
QZ
FUNCTION: Return Data Record information
DESCRIPTION:
The QZ command is an interrogation command that returns information regarding the Data
Record (DMC-1415/1416/1425). The controller’s response to this command will be the return of 4 integers separated by commas. The four fields represent the following:
First field returns the number of axes.
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 Yes
In a Program
Command Line
Controller Usage
Yes
Yes
DMC-1415/1416/1425
Default Value
Default Format
---
RELATED COMMANDS:
Data Record
166 ● 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 Yes
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
No
ALL
Default Value
Default Format
---
---
RELATED COMMANDS:
Dimension Array
Record Data
Record Interval
EXAMPLES:
#Record Label
DM POS[100]
RA POS[]
RD _TP
RC 1
Define array
Specify Record Mode
Specify data type for record
Begin recording at 2 msec intervals
PR 1000;BG Start motion
EN End
HINT: The record array mode is useful for recording the real-time motor position during motion.
The data is automatically captured in the background and does not interrupt the program sequencer.
The record mode can also be used for a teach or learn of a motion path.
RC
FUNCTION: Record
DESCRIPTION:
The RC command begins recording for the Automatic Record Array Mode (RA). RC 0 stops recording.
ARGUMENTS: RC n,m where n is an integer 1 thru 8 and specifies 2 n 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
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
ALL
Default Value
Default Format
---
---
OPERAND USAGE:
_RC contains status of recording '1' if recording, '0' if not recording.
RELATED COMMANDS:
Dimension Array
Record Data
Record Array Mode
EXAMPLES:
#RECORD Record
DM Torque[1000]
RA Torque[]
RD _TT
RC 2
Define Array
Specify Record Mode
Specify Data Type
Begin recording and set 4 msec between records
JG 1000;BG
#A;JP #A,_RC=1
Begin motion
Loop until done
MG "DONE RECORDING" Print message
168 ● 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:
DATA TYPE MEANING
_TP Position
_TI Inputs
_OP Outputs
_TS Switches, only 0-4 bits valid
_TVn Filtered velocity. (Note: will be 65 times greater than TV command)
ARGUMENTS: RD m1, 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
No
Yes
ALL
Default Value
Default Format
---
---
OPERAND USAGE:
_RD contains the address for the next array element for recording.
RELATED COMMANDS:
Record Array
Record Interval
Dimension Array
EXAMPLES:
DM ERRORX[50]
RA ERRORX[]
RD _TE
Define array
Specify record mode
Specify data type
JG 1000;BG Begin motion
RE
FUNCTION: Return from Error Routine
DESCRIPTION:
The RE command is used to end a position error handling subroutine or limit switch handling subroutine. The error handling subroutine begins with the #POSERR label. The limit switch handling subroutine begins with the #LIMSWI. An RE at the end of these routines causes a return to the main program. Care should be taken to be sure the error or limit switch conditions no longer occur to avoid re-entering the subroutines. 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 RE1 is used. RE0 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: RE n where
n = 0 or 1
0 clears the interrupted trippoint
1 restores state of trippoint
USAGE:
While Moving No
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
No
No
No
ALL
Default Value
Default Format
0
---
RELATED COMMANDS:
Error Subroutine
Limit Subroutine
EXAMPLES:
#A;JP #A;EN
#POSERR
MG "ERROR"
SB1
RE
Label for main program
Begin Error Handling Subroutine
Print message
Set output bit 1
Return to main program and clear trippoint
HINT: An applications program must be executing for the #LIMSWI and #POSERR subroutines to function.
170 ● RE 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 controller and REM comments aren’t
(2) NO comments take up execution time and REM comments don’t; therefore, REM should be used for code that needs to run fast.
(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
n is a text string comment
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format
Command Line
Controller Usage
No
ALL
-
-
RELATED COMMANDS:
No operation (comment)
EXAMPLES:
REM This comment will be stripped when downloaded to the controller
'This comment will be downloaded and takes some execution time
PR X =1000 ; 'this comment is to the right of the code
RI
FUNCTION: Return from Interrupt Routine
DESCRIPTION:
The RI command is used to end the interrupt subroutine beginning with the label #ININT. An
RI at the end of this routine causes a return to the main program. The RI command also re-enables input interrupts. If the program sequencer was interrupted while waiting for a trippoint, such as WT, RI1 restores the trippoint on the return to the program. RI0 clears the trippoint. To avoid returning to the main program on an interrupt, use the command
ZS to zero the subroutine stack. This turns the jump subroutine into a jump only.
ARGUMENTS: RI n where
n = 0 or 1
0 clears interrupt trippoint
1 trippoint
USAGE:
While Moving No
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
No
No
ALL
Default Value
Default Format
---
---
RELATED COMMANDS:
EXAMPLES:
#A;II1;JP #A;EN
Input interrupt subroutine
Enable input interrupts
Program label
MG "INPUT INTERRUPT" Print Message
SB 1
RI 1
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 ● 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
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
Yes
ALL
Default Value
Default Format
0
Position Format
OPERAND USAGE:
_RL contains the latched position.
RELATED COMMAND:
Arm Latch
EXAMPLES:
JG 5000 Set up to jog
AL Arm the latch; assume that after about 2 seconds, input goes low
10000
@RND[n]
FUNCTION: Round
DESCRIPTION:
Rounds the given number to the nearest integer
ARGUMENTS: @RND[n]
n is a signed number in the range -2147483648 to 2147483647.
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program
Command Line
Controller Usage
Yes
Yes
ALL
Default Format
-
-
RELATED COMMANDS:
EXAMPLES:
:MG @RND[1.2]
1.0000
:MG @RND[5.7]
6.0000
:MG @RND[-1.2]
-1.0000
:MG @RND[-5.7]
-6.0000
:MG @RND[5.5]
6.0000
:MG @RND[-5.5]
-5.0000
:
Truncates to the nearest integer
174 ● @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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
No
Yes
ALL
Default Value
Default Format
0
Position Format
OPERAND USAGE:
_RP contains the commanded reference position.
RELATED COMMAND:
TP
TE
Tell Position
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
Position=_RP
Return in hex
Assign the variable, Position, 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.
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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
No
Yes
No
Yes
ALL
Default Value
Default Format
---
---
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:
176 ● RS DMC-1400 Series Command Reference
<control>R<control>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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
No
Yes
No
No
ALL
Default Value -
Default Format -
<control>R<control>V
FUNCTION: Revision Information
DESCRIPTION:
The Revision Information command causes the controller to return the firmware revision information.
USAGE:
While Moving Yes
In a Program No
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
No
ALL
Default Value -
Default Format -
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.
31
Typical usage would have the first argument as a string such as “KI” and the subsequent arguments as the arguments to the command: Example SAF= “KI”,1,2 would send the command “KI 1,2”
USAGE:
While Moving Yes
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
DMC-1415/1416/1425
Default Value
Default Format
--
--
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 –2^31.
RELATED COMMANDS:
Set Internet Handles
EXAMPLES:
SAA=”KI”,1,2;WT5
SAA=”KI?,?”
MG _SAA1
: 1
MG _SAA2
: 2
Sends the command to handle A (slave controller): KI 1,2
Sends the command to handle A (slave controller): KI?,?
Display the content of the operand _SAA (first response to KI?,? command)
Display the content of the operand _SAA (2nd response to KI?,? command)
NOTE: A wait statement (eg. WT5) should be inserted between successive calls to SA.
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: SA n where n is a number between 0 and 7 representing the address of the controller. This command may be saved by issuing the BN command.
USAGE:
While Moving Yes
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
No
DMC-1412/1414
Default Value
Default Format
--
--
OPERAND USAGE:
_SA gives the serial address of the controller
EXAMPLES:
SA7
%7
PR500
Assigns the address 7 to the current controller
Talk only to controller 7
Specify X distance on controller 7
%0
PR500
!BG
Talk only to controller 0
Specify X distance on controller 0
Begin motion on all controllers
180 ● 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: SB n where n is an integer in the range 1 to 3 decimal.
USAGE:
While Moving Yes
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
No
No
ALL
Default Value
Default Format
---
---
RELATED COMMAND:
EXAMPLES:
SB 3
SB 1
Configure output port
Clear Bit
Set output line 3
Set output line 1
SC
FUNCTION: Stop Code
DESCRIPTION:
The SC command allows the user to determine why a motor stops. The controller responds with the stop code as follows:
CODE MEANING
0 Motors are running, independent mode
9 Stopped after Finding
Edge (FE)
1 10
2
3
4
6
7
8
Motors decelerating or stopped at commanded independent position
Decelerating or stopped by FWD limit switch or software limit, FL
Decelerating or stopped by REV limit switch or software limit, BL
Decelerating or stopped by Stop
Command (ST)
Stopped by Abort input
Stopped by Abort command (AB)
Decelerating or stopped by Off-on-
Error (OE1)
11
99
100
101
Stopped after Homing
(HM)
Stopped by selective
Abort Input
MC timeout
Motors are running, vector sequence
Motors stopped at commanded vector
ARGUMENTS: SC
USAGE:
While Moving Yes
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
Yes
ALL
Default Value
Default Format
OPERAND USAGE:
_SC contains the value of the stop code.
EXAMPLES:
Tom=_SC Assign the Stop Code to variable Tom
---
3.0
182 ● 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 of a motor has been manually adjusted following a motor off (MO) command.
ARGUMENTS: SH
USAGE:
While Moving No
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
No
ALL
Default Value
Default Format
---
---
RELATED COMMANDS:
EXAMPLES:
Motor-off
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.
@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
Command Line
Controller Usage
Yes
Yes
ALL
Default Format
-
-
RELATED COMMANDS:
Arc sine
Cosine
Arc tangent
Arc cosine
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 ● @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: SL n where n is an integer representing the number of lines to execute before pausing again
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program No
Command Line
Controller Usage
Yes
ALL CONTROLLERS
1
RELATED COMMANDS:
EXAMPLES:
BK 3
BK 5
SL
SL 3
Breakpoint
Trace
Pause at line 3 (the 4 th line) in thread 0
Continue to line 5
Execute the next line
Execute the next 3 lines
SP
FUNCTION: Speed
DESCRIPTION:
This command sets the slew speed for independent moves. The parameters input will be rounded down to the nearest factor of 2 and the units of the parameter are in counts per second. Note: Negative values will be interpreted as the absolute value.
ARGUMENTS: SP n where n is an unsigned even integer in the range 0 to 8,000,000 for servo motors on the 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
ALL
Default Value 25000
Default Format Position Format
OPERAND USAGE:
_SP contains the current speed setting.
RELATED COMMANDS:
Acceleration
Deceleration
Position Relation
Begin
EXAMPLES:
PR 2000
SP 5000
BG
AM
Specify position relative move
Specify speeds
Begin motion of all axes
After motion is complete
Note: SP is not a "mode" of motion like JOG (JG).
Note: SP2 is the minimum non-zero speed.
186 ● 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
Command Line
Controller Usage
Yes
Yes
ALL
Default Format
-
-
RELATED COMMANDS:
Absolute value
EXAMPLES:
:MG @SQR[2]
1.4142
:MG @SQR[-2]
1.4142
:
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 Yes Default Value ---
In a Program Yes Default Format ---
Command Line
Can be Interrogated
Used as an Operand
Yes
No
No
RELATED COMMANDS:
Begin Motion
Wait for motion end
Deceleration rate
EXAMPLES:
HINT: Use the after motion complete command, AM, to wait for motion to be stopped.
188 ● ST DMC-1400 Series Command Reference
@TAN[n]
FUNCTION: Tangent
DESCRIPTION:
Returns the tangent of the given angle in degrees
ARGUMENTS: @TAN[n] where n is a signed number in degrees in the range -2147483648 to 2147483647.
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program
Command Line
Controller Usage
Yes
Yes
ALL
Default Format
-
-
RELATED COMMANDS:
Arc sine
Cosine
Arc tangent
Arc cosine
Tangent
EXAMPLES:
:MG @TAN[-90]
-2147483647.0000
:MG @TAN[0]
0.0000
:MG @TAN[90]
2147483647.0000
:
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
Bit 7 Executing program
Bit 6
Bit 5
DMA Active (when available)
Contouring
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Executing error or limit switch routine
Input interrupt enabled
Executing input interrupt routine
0 (Reserved)
Echo on
ARGUMENTS: None
USAGE:
While Moving Yes
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
ALL
OPERAND USAGE:
_TB contains the status byte.
EXAMPLES:
TB
65
Default Value
Default Format
Tell status information from the controller
Executing program and echo on (2 6 + 2 0 = 64 + 1 = 65)
---
1.0
190 ● TB DMC-1400 Series Command Reference
TC
7
8
9
10
11
12
13
4
5
6
2
3
FUNCTION: Tell Error Code
DESCRIPTION:
The TC command returns a number between 1 and 255. This number is a code that reflects why a command was not accepted by the controller. This command is useful when the controller halts execution of a program at a command or when the response to a command is a question mark. Entering the TC command will provide the user with a code as to the reason. After TC has been read, it is set to zero. TC 1 returns the text message as well as the numeric code.
ARGUMENTS: TC n
n=0 returns code only
n=1 returns code and message
CODE EXPLANATION
14
15
16
17
18
Command only valid from program
Command not valid in program
Operand error
Input buffer full
Number out of range
Command not valid while running
Command not valid when not running
Variable error
Empty program line or undefined label
Invalid label or line number
Subroutine more than 16 deep
JG only valid when running in jog mode
EEPROM check sum error
EEPROM write error
IP incorrect sign during position move or IP given during forced deceleration
ED, BN and DL not valid while program running
Command not valid when contouring
CODE EXPLANATION
67
68
71
80
81
82
83
60 Download error - line too long or too many lines
61 Duplicate or bad label
62
63
65
66
Too many labels
IF statement without ENDIF
IN command must have a comma
Array space full
Too many arrays or variables
Not valid from USB Port
IN only valid in task #0
Record mode already running
No array or source specified
Undefined Array
Not a valid number
84
90
96
97
98
Too many elements
Only X Y Z W valid operand
SM jumper needs to be installed for stepper motor operation
Bad Binary Command Format
19
20
21
22
24
25
Application strand already executing
Begin not valid with motor off
Begin not valid while running
Begin not possible due to Limit Switch
Begin not valid because no sequence defined
Variable not given in IN command
99
100
101
102
103
104
Binary Commands not valid in application program
Bad binary command number
Not valid when running ECAM
Improper index into ET
(must be 0-256)
No master axis defined for ECAM
Master axis modulus greater than
256 ∗EP value
Not valid when axis performing
31
32
33
28
29
30
56
57
58
53
54
55
50
51
52
41
42
46
S operand not valid
Not valid during coordinated move
Sequence segment too short
105
110
111
ECAM
EB1 command must be given first
No hall effect sensors detected
Must be made brushless by BA command
BZ command timeout Total move distance in a sequence > 2 billion
More than 511 segments in a sequence
112
VP or CR commands cannot be mixed with LI commands
113
114
No movement in BZ command
BZ command runaway
Contouring record range error 118 Controller has GL1600 not GL1800
Contour data being sent too slowly 120 Bad transmit
Gear axis both master and follower
Not enough fields
Question mark not valid
Missing " or string too long
Error in {}
121
122
123
124
125
Bad Ethernet packet received
Ethernet input buffer overrun
TCP lost sync
Ethernet handle already in use
No ARP response from IP address
Missing [ or []
Array index invalid or out of range
Bad function or array
Not a valid Command Operand
(i.e._GNX)
127
128
130
131
Illegal Modbus function code
IP Address not valid
Illegal IOC Command
Serial Port Handshake timeout
USAGE:
While Moving Yes
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
ALL
OPERAND USAGE:
_TC contains the value of the error code.
EXAMPLES:
?TC Tell error code
Default Value
Default Format
---
3.0
192 ● 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
Controller Usage
No
DMC-14x5 / 6 ONLY
RELATED COMMANDS:
Tell error code
Last dropped handle
Print message
Send ASCII command via Ethernet
EXAMPLES:
#L
MG { EA } "L"
WT 1000
JP #L
#TCPERR
MG {P1} "TCPERR. Dropped handle" , _IA 4
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
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 Moving Yes
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
Yes
ALL
Default Value
Default Format
0
Position Format
OPERAND USAGE:
_TD contains the dual encoder position.
RELATED COMMANDS:
Dual Encoder
EXAMPLES:
:PF 7 Position format of 7
0000200
DUAL=_TD Assign the variable, DUAL, the value of TD
194 ● 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
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
Yes
ALL
Default Value
Default Format
0
Position Format
RELATED COMMANDS:
Error Limit
Error Subroutine
EXAMPLES:
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.
TH
FUNCTION: Tell Handle Status
DESCRIPTION:
The TH command is used to request the controllers’ handle status. Data returned from this command indicates the IP address and Ethernet address of the current controller. This data is followed by the status of each handle indicating connection type and IP address.
ARGUMENTS: None
USAGE:
While Moving Yes
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
No
DMC-1415/1416/1425
Default Value
Default Format
--
--
RELATED COMMANDS:
Internet Handle
Which Handle
EXAMPLES:
:TH 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 ● 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.
BIT TI
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Input 7
Input 6
Input 5
Input 4
Input 3
Input 2
Input 1
ARGUMENTS: TI
USAGE:
While Moving Yes
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
ALL
Default Value
Default Format
---
3.0
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 Input 4 is high, others low
TI
00
Input =_TI
All inputs low
Sets the variable, Input, with the TI value
TI
127 All inputs high
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
Controller Usage
Yes
ALL
Format TIME
EXAMPLES:
MG TIME Display the value of the internal clock
198 ● 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: TL n where
n is an unsigned number in the range 0 to 9.998 volts with resolution of 0.0003.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
Yes
ALL
Default Value
Default Format
9.9988
1.4
OPERAND USAGE:
_TL contains the value of the torque limit.
EXAMPLES:
TL 1
TL ?
Limit X-axis to 1volt
Return limit
1.0000
TM
FUNCTION: Update Time
DESCRIPTION:
The TM command sets the sampling period of the control loop. Changing the sampling period will uncalibrate the speed and acceleration parameters. A negative number turns off the servo loop. The units of this command are μsec.
ARGUMENTS: TM n where n is an integer in the range 375 to 20000 decimal with resolution of 125 microseconds. For the DMC-1415/1416/1425 the range is from 250 to 20000.
“?” returns the value of the sample clock
USAGE:
While Moving Yes
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
ALL
Default Value
Default Format
1000
5.0
OPERAND USAGE:
_TM contains the value of the sample time.
EXAMPLES:
TM -1000
TM 2000
TM 1000
Turn off internal clock
Set sample rate to 2000 μsec (This will cut all speeds in half and all acceleration in fourths)
Return to default sample rate
200 ● 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
No
Yes
ALL
Default Value
Default Format
OPERAND USAGE:
_TP contains the current position value.
EXAMPLES:
:PF 7 Position format of 7
0000200
PF-6.0 Change to hex format
$0000C8
Position=_TP Assign the variable, Position, the value of TP
0
Position Format
TR
FUNCTION: Trace
DESCRIPTION:
The TR command causes each instruction in a program to be sent out the communications port prior to execution. TR1 enables this function and TR0 disables it. The trace command is useful in debugging programs.
ARGUMENTS: TR n where
0 disables function
1 enables function
USAGE:
While Moving Yes
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
No
Yes
ALL
Default Value
Default Format
TR0
---
202 ● 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 STATUS
Bit 7 Axis in motion if high
Bit 6
Bit 5
Error limit exceeded if high
Motor off if high
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Undefined
Forward Limit inactive if high
Reverse Limit inactive if high
State of home switch
Latch not armed if high
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. For 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
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
ALL
Default Value ---
OPERAND USAGE:
_TS contains the current status of the switches.
EXAMPLES:
V1=_TSX
V1=
015 (returned value)
Assigns value of TSX to the variable V1
Interrogate value of variable V1
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 0 has value of 1)
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
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
Yes
ALL
Default Value
Default Format
---
1.4
OPERAND USAGE:
_TT contains the value of the torque.
RELATED COMMANDS:
Torque Limit
EXAMPLES:
V1=_TT Assigns value of TT to variable, V1
-0.2843 Torque is -.2843 volts
204 ● 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
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
No
Yes
ALL
Default Value
Default Format
0
7.0
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.
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: TW n where
n specifies timeout in msec range 0 to 32767 msec, -1 disables the timeout
“?” returns the timeout in msec for the MC command
USAGE:
While Moving Yes
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
ALL
Default Value
Default Format
32766
OPERAND USAGE:
_TW contains the timeout in msec for the MC command .
RELATED COMMANDS:
Motion Complete - "In Position"
206 ● 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: UI n where n is an integer between 0 and 15.
USAGE:
While Moving Yes
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
No
No
DMC-1410/1411/1417
Default Value
Default Format
0
---
EXAMPLES:
#I Label
PR 10000
SP 5000
Position relative
Speed
AS
UI 1
Wait for at speed
Send interrupt 1
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 information and re-enable the interrupts.
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 <control>Z or a \ as an end of Text marker.
ARGUMENTS: None
USAGE:
While Moving Yes
In a Program No
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
Yes
ALL
Default Value
Default Format
---
---
OPERAND USAGE:
When used as an operand, _UL gives the number of available variables. The total number of variables is 126.
RELATED COMMAND:
Download
EXAMPLES:
NO This is an Example
NO Program
Line 1
Line 2
<cntrl>Z Terminator
208 ● 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: VA n where n is an unsigned integer in the range 1024 to 68,431,360. The parameter input will be rounded down to the nearest factor of 1024. The units of the parameter is counts per second squared. n = ? Returns the value of the vector acceleration for the coordinate plane.
USAGE:
While Moving Yes
In a Program Yes
Command Line
Controller Usage
Yes
ALL
Default Value
Default Format
262144
Position Format
OPERAND USAGE:
_VAx contains the value of the vector acceleration for the specified axis.
RELATED COMMANDS:
Vector Speed
Vector Position
End Vector
Circle
Vector Mode
Begin Sequence
Vector Deceleration
Vector smoothing constant
EXAMPLES:
VA 1024 Set vector acceleration to 1024 counts/sec 2
VA ? Return vector acceleration
00001024
VA 20000
VA ?
0019456
Set vector acceleration
Return vector acceleration
VD
FUNCTION: Vector Deceleration
DESCRIPTION:
This command sets the deceleration rate of the vector in a coordinated motion sequence.
ARGUMENTS: VD n where n is an unsigned integer in the range 1024 to 68431360. The parameter input will be rounded down to the nearest factor of 1024. The units of the parameter is counts per second squared. n = ? Returns the value of the vector deceleration for the coordinate plane.
USAGE:
While Moving No
In a Program Yes
Command Line
Controller Usage
Yes
ALL
Default Value
Default Format
262144
Position Format
OPERAND USAGE:
_VDx contains the value of the vector deceleration for the coordinate system.
RELATED COMMANDS:
Vector Acceleration
Vector Speed
Vector Position
Circle
Vector End
Vector Mode
Begin Sequence
Smoothing constant
EXAMPLES:
#VECTOR
VMXY
Vector Program Label
Specify plane of motion
VD 5000000
VS 2000
VP 10000, 20000
Vector Deceleration
Vector Speed
Vector Position
210 ● 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: VE n
No argument specifies the end of a vector sequence n = ? Returns the length of the vector in counts.
USAGE:
While Moving Yes
In a Program
Command Line
Controller Usage
Yes
Yes
ALL
Default Value
Default Format
-
-
OPERAND USAGE:
_VEx contains the length of the vector in counts for the coordinate system.
RELATED COMMANDS:
Vector Mode
Vector Speed
Vector Acceleration
Vector Deceleration
Circle
Vector PGosition
Begin Sequence
Clear Sequence
EXAMPLES:
VM XY
VP 1000,2000
CR 0,90,180
VP 0,0
Vector move in XY
Linear segment
Arc segment
Linear segment
VF
FUNCTION: Variable Format
DESCRIPTION:
The VF command allows the variables and arrays to be formatted for number of digits before and after the decimal point. When displayed, the value m represents the number of digits before the decimal point, and the value n represents the number of digits after the decimal point. When in hexadecimal, the string will be preceded by a $. Hex numbers are displayed as 2's complement with the first bit used to signify the sign.
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<m<10 and 0<n<4. A negative m specifies hexadecimal format.
VF? returns the value of the format for variables and arrays.
USAGE:
While Moving Yes
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
ALL
Default Value
Default Format
10.4
2.1
OPERAND USAGE:
_VF contains the value of the format for variables and arrays.
EXAMPLES:
VF 5.3
VF 8.0
VF -4.0
Sets 5 digits of integers and 3 digits after the decimal point
Sets 8 digits of integers and no fractions
Specify hexadecimal format with 4 bytes to the left of the decimal
212 ● 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 motion 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 nd parameter, m, as N (the designation for the virtual axis). Specifying one axis is useful for obtaining sinusoidal motion on 1 axis.
USAGE:
While Moving No
In a Program Yes
Command Line
Controller Usage
Yes
ALL
Default Value
Default Format
X,Y
-
OPERAND USAGE:
_VM contains instantaneous commanded vector velocity for the coordinate system.
RELATED COMMANDS:
Vector Position
Vector Speed
Vector Acceleration
Vector Deceleration
Circle
End Vector Sequence
Clear Sequence
Vector smoothing constant
EXAMPLES:
VM XY
CR 500,0,180
VP 100,200
Specify coordinated mode for X,Y
Specify arc segment
Specify linear segment
VP
FUNCTION: Vector Position
DESCRIPTION:
The VP command defines the target coordinates of a straight line segment in a 2 axis motion sequence which have been selected by the VM command. The units are in quadrature counts, and are a function of the vector scale factor set using the command VS.
ARGUMENTS: VP n,m < o > p where n and m are signed integers in the range -2147483648 to 2147483647 The length of each segment must be limited to 8 106. 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
In a Program Yes
Command Line Yes
Controller Usage ALL
Default Value -
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:
EXAMPLES:
Circle
Vector Mode
Vector Acceleration
Vector Deceleration
Vector End
Vector Speed
Begin Sequence
Vector smoothing
VM X,Y
VP 1000,2000
CR 1000,0,360
Specify motion plane
Specify vector position X,Y
Specify arc
VS 2000;VA 400000
BGS;EN
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 vectors in the sequence are defined by their endpoints with respect to the start of the move sequence.
214 ● 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 < and > used with CR, VP and LI commands. VR takes effect immediately and will ratio all the following vector speed commands. VR doesn't ratio acceleration or deceleration, but the change in speed is accomplished by accelerating or decelerating at the rate specified by VA and VD.
ARGUMENTS: VR n where
N is between 0 and 10 with a resolution of .0001. n = ? Returns the value of the vector speed ratio for the coordinate plane.
USAGE:
While Moving Yes
In a Program
Command Line
Controller Usage
Yes
Yes
ALL
OPERAND USAGE:
Default Value
Default Format
1
-
_VRx contains the vector speed ratio of the coordinate system.
RELATED COMMANDS:
Vector Speed
EXAMPLES:
#A Vector Program
VP 1000,2000
CR 1000,0,360
VE
VS 2000
Vector Position
Specify Arc
End Sequence
Vector Speed
VR@AN[1]*.1 Read analog input compute ratio
JP#SPEED Loop
XQ#A,0; XQ#SPEED,1 Execute task 0 and 1 simultaneously
Note: VR is useful for feedrate override, particularly when specifying the speed of individual segments using the operator ‘<’ and '>'.
VS
FUNCTION: Vector Speed
DESCRIPTION:
The VS command specifies the speed of the vector in a coordinated motion sequence in either the LM or VM modes. VS may be changed during motion.
Vector Speed can be calculated by taking the square root of the sum of the squared values of speed for each axis specified for vector or linear interpolated motion.
ARGUMENTS: VS n where n is an unsigned even number in the range 2 to 12,000,000 for servo motors and 2 to
3,000,000 for stepper motors. The units are counts per second. n = ? Returns the value of the vector speed for the coordinate plane.
USAGE:
While Moving Yes
In a Program Yes
Command Line
Controller Usage
Yes
ALL
Default Value
Default Format
8192
-
OPERAND USAGE:
_VSx contains the vector speed of the coordinate system.
RELATED COMMANDS:
Vector Acceleration
Vector Position
Circle
Linear Interpolation
Vector Mode
Begin Sequence
Vector End
EXAMPLES:
VS 2000
VS ?
Define vector speed of the coordinate system
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 ● VS DMC-1400 Series Command Reference
VT
FUNCTION: Vector Time Constant
DESCRIPTION:
The VT command filters the acceleration and deceleration functions in vector moves of VM,
LM type to produce a smooth velocity profile. The resulting profile, known as
Smoothing, has continuous acceleration and results in reduced mechanical vibrations.
VT sets the bandwidth of the filter, where 1 means no filtering and 0.004 means maximum filtering. Note that the filtering results in longer motion time.
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
In a Program
Command Line
Controller Usage
Yes
Yes
ALL
Default Value
Default Format
1.0
1.4
OPERAND USAGE:
_VT contains the vector time constant.
RELATED COMMANDS:
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
WC
FUNCTION: Wait for Contour Data
DESCRIPTION:
The WC command acts as a flag in the Contour Mode. After this command is executed, the controller does not receive any new data until the internal contour data buffer is ready to accept new commands. This command prevents the contour data from overwriting on itself in the contour data buffer.
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
No
No
ALL CONTROLLERS
Default Value
Default Format
---
---
RELATED COMMANDS:
Contour Mode
Contour Data
Contour Time
EXAMPLES:
CM
DT 4
CD 200
WC
CD 100
WC
DT 0
CD 0
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 ● 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
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
DMC-1415/1416/1425
Default Value
Default Format
--
--
RELATED COMMANDS:
Tell Handle
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
IHC
:WH
RS232
Request handle identification
Command executed in handle C
Request handle identification
Command executed in RS232 port
WT
FUNCTION: Wait
DESCRIPTION:
The WT command is a trippoint used to time events. After this command is executed, the controller will wait for the number of samples specified before executing the next command. If the TM command has not been used to change the sample rate from 1 msec, then the units of the Wait command are milliseconds.
ARGUMENTS: WT n where n is an integer in the range 0 to 2 Billion decimal
USAGE:
While Moving Yes
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
No
ALL CONTROLLERS
Default Value
Default Format
---
---
EXAMPLES:
Assume that 10 seconds after a move is over a relay must be closed.
PR 50000 Position relative move
AM
WT 10000
SB 1
After the move is over
Wait 10 seconds
Turn on relay
HINT: To achieve longer wait intervals, just stack multiple WT commands.
220 ● 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
In a Program Yes
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
Yes
ALL CONTROLLERS
Default Value
Default Format n = 0
---
OPERAND USAGE:
_XQ contains the current line number of execution for thread n, and -1 if thread n is not running.
RELATED COMMANDS:
Halt execution
EXAMPLES:
XQ #Apple,0
XQ #data,1
XQ 0
Start execution at label Apple, thread zero
Start execution at label data, thread one
Start execution at line 0
HINT: Don't forget to quit the edit mode first before executing a program!
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:
ARGUMENTS: ZR n where n is an unsigned number in the range 0 to 1 decimal with a resolution of 1/256
USAGE:
While Moving
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
Yes
Yes
Yes
Yes
Default Value
Default Format
DMC-1410/1411/1412/1414/1417
.9143
3.0
OPERAND USAGE:
_ZR contains the value of the compensating zero.
RELATED COMMANDS:
Derivative
Proportional
Integral Gain
EXAMPLES:
ZR .95
ZR ?
Set zero to 0.95
Zero
0.9527
222 ● 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 stack to its original condition.
ZS1 adjusts the stack to eliminate one return. This turns the jump to subroutine into a jump. Do not use RI (Return from Interrupt) when using ZS. To re-enable interrupts, you must use II command again.
ARGUMENTS: ZS n where
0 returns stack to original condition
1 eliminates one return on stack
USAGE:
While Moving Yes
In a Program
Command Line
Can be Interrogated
Used as an Operand
Controller Usage
Yes
No
Yes
Yes
ALL CONTROLLERS
Default Value
Default Format
---
---
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:
II1
#A;JP #A;EN
Input Interrupt on 1
Main program
MG "INTERRUPT" Print message
S=
EN
THIS PAGE LEFT BLANK INTENTIONALLY
224 ● ZS DMC-1400 Series Command Reference
Index
Abort........................................................... 13, 180, 181
Off-On-Error............................................................ 13
Acceleration.................................. 33, 35, 36, 38, 41, 45
Analog Feedback ........................................................ 18
Analog Output ............................................................ 23
Arrays ......................................................................... 64
Automatic Record.................................................. 169
Automatic Record..................................................... 169
Automatic Subroutine
MCTIME ............................................................... 138
Begin Motion.............................................................. 37
Burn 42
Variables.................................................................. 46
Circle .......................................................................... 61
Circular Interpolation ............................................... 214
Clear Sequence ........................................................... 62
Clock ........................................................................ 199
Update Rate ........................................................... 199
Code 1, 100, 110, 138
Comments................................................................. 147
Communication .......................................................... 63
Configuring
Encoders .................................................................. 51
Contour Mode............................................................. 50
Control Filter
Gain ......................................................................... 97
Coordinated Motion............................ 210–11, 215, 217
Circular .................................................................. 214
Ecam ........................................................................ 79
Electronic Cam ........................................................ 72
Linear Interpolation ............................................... 127
Vector Mode .......................................................... 215
Cycle Time
Clock...................................................................... 199
Damping ..................................................................... 71
Data Capture............................................................. 168
Automatic Record.................................................. 169
Debugging ................................................................ 203
Deceleration................................................................ 13
Default Setting
Master Reset .................................................. 179, 199
Digital Filter
Damping...................................................................71
Feedforward .............................................................15
Integrator................................................................121
DMA .................................................................165, 167
Download....................................................................67
Dual Loop ...................................................................71
Ecam ...........................................................................79
ECAM.........................................................................86
Choose Master..........................................................72
Counter.....................................................................74
Echo 84, 191
Editor ..........................................................................75
Electronic CAM ..........................................................86
Electronic Gearing ......................................................99
Gearing.....................................................................99
Ellipse Scale................................................................88
ELSE Function............................................................79
Encoder
Index Pulse.............................................................100
Quadrature..............................................17, 24, 25, 40
Encoders................................................................20, 51
Auxiliary Encoders.............................................51, 66
Dual Loop ................................................................71
Index ........................................................................91
Error
Codes......................................................................192
Handling.................................................................171
Error Code.............................................1, 100, 110, 138
Error Limit ................................................................204
Off-On-Error ............................................................13
Excessive Error .........................................................151
Execute Program.......................................................101
Feedforward ................................................................15
Feedforward Acceleration...........................................90
Filter Parameter
Gain..........................................................................97
Formatting
Hexadecimal...................................................162, 213
Frequency..................................................................123
Gain 97
Gearing........................................................................99
Set Gear Master........................................................96
Halt
Abort........................................................ 13, 180, 181
Off-On-Error............................................................ 13
Home Inputs ............................................................... 56
Homing..................................................................... 100
IF conditional............................................................ 103
IF Conditional Statements
ELSE........................................................................ 79
IF Statement
ENDIF ..................................................................... 83
Independent Motion
Jog 187
Index........................................................................... 91
Index Pulse ............................................................... 100
ININT ......................................................................... 82
Input Interrupt..................................................... 82, 191
ININT ...................................................................... 82
Inputs
Index ........................................................................ 91
Limit Switch ............................................................ 56
Integrator .................................................................. 121
Internal Variable ....................................................... 180
Interrupt ................................................ 19, 82, 109, 191
Jog 24, 187
Keyword ........................................... 126, 132, 180, 199
Label......................................................................... 138
Special Label ......................................................... 138
Limit Switch ........................56, 109, 126, 132, 183, 191
Linear Interpolation .................................................. 127
Clear Sequence ........................................................ 62
End of Motion........................................................ 125
Logical Operators ..................................................... 118
Master Reset ..................................................... 179, 199
Math Functions
Absolute Value ........................................................ 80
Logical Operators .................................................. 118
MCTIME .................................................................. 138
Message .................................................................... 109
Modbus....................................................................... 23
Motion Complete
MCTIME ............................................................... 138
Motion Smoothing
VT 218
Moving
Acceleration............................... 33, 35, 36, 38, 41, 45
Begin Motion........................................................... 37
Circular .................................................................. 214
Contour Mode.......................................................... 50
Home Inputs ............................................................ 56
Jog 24
Slew Speed .............................................................. 65
Multitasking...................................................... 101, 222
No Operation ............................................................ 147
OE
Off-On-Error............................................................ 13
Off-On-Error............................................................... 13
Operand
Internal Variable .................................................... 180
226 ● Index
Outputs........................................................................48
POSERR
Position Error ...........................................................17
Position Capture..........................................................20
Position Error ..............................................................17
Position Latch .............................................................20
Program Flow..............................................................86
Interrupt....................................................82, 109, 191
Protection
Error Limit .............................................................204
Quadrature.................................................17, 24, 25, 40
Quit
Abort ........................................................13, 180, 181
Record.......................................................................168
Record Array.......................................................168–70
Reset....................................................................63, 199
Master Reset...................................................179, 199
Standard .................................................................199
Sample Time
Update Rate............................................................199
Scaling
Ellipse Scale.............................................................88
Send Command.........................................................180
Slew 187
Slew Speed..................................................................65
Smoothing.................................................................123
Special Label.............................................................138
Standard Reset ..........................................................199
Status.....................................................63, 76, 101, 151
Tell Inputs ..............................................................220
Step Motor ................................................................123
KS, Smoothing .......................................................123
Step Motors...............................................144, 176, 196
Stop 189
Abort ........................................................13, 180, 181
Stop Code..............................................1, 100, 110, 138
Subroutine Stack .......................................................106
Teach.........................................................................168
Tell Error
Position Error ...........................................................17
Tell Handle Status.....................................................197
Terminal......................................................................63
Time
Clock ......................................................................199
Update Rate............................................................199
Timeout.....................................................................138
MCTIME................................................................138
Torque Limit .............................................................200
Trippoint ........................................... 17, 24, 25, 32, 138
After Vector Distance ..............................................32
Trippoints............................................................25, 106
Update Rate...............................................................199
Upload.........................................................................67
Variable
Internal ...................................................................180
Vector Acceleration ............................................210–12
Vector Mode .............................................................215
Circular Interpolation .............................................214
DMC-1400 Series Command Reference
Clear Sequence ........................................................ 62
Ellipse Scale ............................................................ 88
Vector Motion .......................................................... 214
Circle ....................................................................... 61
Vector Position ......................................................... 215
Vector Smoothing .....................................................218
Vector Speed.............................................................217
Vector Speed Ratio ...................................................216
Which Handle ...........................................................220
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