Home

Optima Series COMMAND REFERENCE

1. ARGUMENTS DA c 0 variable name where c 0 Defined array name variable name Defined variable name Deallocates all the variables 0 Deallocates all the arrays DA Returns the number of arrays available on the controller USAGE DEFAULTS While Moving Yes Default Value s In a Program Yes Default Format _ Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _DA contains the total number of arrays available For example before any arrays have been defined the operand _DA is 30 If one array is defined the operand _DA will return 29 RELATED COMMANDS DM on page 59 Dimension Array EXAMPLES Cars and Sales are arrays and Total is a variable DM Cars 400 Sales 50 Dimension 2 arrays Total 70 Assign 70 to the variable Total DA Cars 0 Sales 0 Total Deallocate the 2 arrays amp variables DA Deallocate all arrays DA 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 Optima Series Command Reference DA 55 DC Binary 91 FUNCTION Deceleration DESCRIPTION The Deceleration command DC sets the linear deceleration rate of the motors for independent moves such as PR PA and JG moves The parameters will be rounded down to the nearest factor of 1024 and have units of counts per second squa
2. EXAMPLES Operator specifies length of material to be cut in inches and speed in inches sec 2 pitch lead screw 2000 counts rev encoder A Program A IN Enter Speed in sec V1 Prompt operator for speed IN Enter Length in V2 Prompt for length V3 V1 4000 Convert units to counts sec V4 V2 4000 Convert units to counts SP V3 Speed command PR V4 Position command BGA Begin motion AMA Wait for motion complete MG MOVE DONE Print Message EN End Program 100 IN Optima 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 a b c d command is equivalent to a PR a b c d and BG command The motor will move to the specified position at the requested slew speed and acceleration Case 2 Motor is moving towards a position as specified by PR PA or IP An IP command will cause the motor to move to a new position target which is the old target plus the specified increment The incremental position must be in the same direction as the existing motion Case 3 Motor is in the Jog Mode An IP command will cause the motor to instantly try to servo to a position which is the current instantaneous position plus the specified increment position The SP and AC
3. No argument specifies all axes USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS FE Binary A4 on page 83 Find Edge HM Binary A3 on page 90 Home BG Binary AO on page 31 Begin AC Binary 90 on page 14 DC Binary 91 on page 56 Acceleration Rate Deceleration Rate SP Binary 92 on page 161 Search Speed EXAMPLES HOME Home Routine JG 500 Set speed and forward direction FIA Find index BGA Begin motion AMA After motion MG FOUND INDEX Hint Find Index only searches for a change in state on the Index Use FE to search for the Home Use HM Home to search for both the Home input and the Index Remember to specify BG after each of these commands 84 FI Binary A5 Optima Series Command Reference FL Binary 8E FUNCTION Forward Software Limit DESCRIPTION The FL command sets the forward software position limit If this limit is exceeded during motion motion on that axis will decelerate to a stop Forward motion beyond this limit is not permitted The forward limit is activated at A 1 B 1 C 1 D 1 The forward limit is disabled at 2147483647 The units are in counts When the reverse software limit is activated the automatic subroutine LIMSWI will be executed if it is included in the program and a program is executing See User s Manual Automatic Subroutine ARGUMENTS FL n n n n n n n n
4. Optima Series COMMAND REFERENCE Manual Rev 1 01 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 support galilmc com URL www galilmc com Rev 06 02 Overview Controller Notation This command reference is a supplement to the Galil User Manual For proper controller operation consult the Users Manual This command reference describes commands for Galil Optima Series Motion Controllers DMC 1200 DMC 1600 DMC 1700 DMC 1800 DMC 2000 DMC 2100 and DMC 2200 Commands are listed in alphabetical order Please note that all commands may not be valid for every controller To identify the controllers for which the command is applicable please review the Usage Section of the command description 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 S Attention Pertains to servo motor use rm Attention Pertains to stepper motor use Command Descriptions Eac
5. WT Binary D3 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 n is an integer in the range 0 to 2 Billion decimal USAGE While Moving In a Program Command Line Controller Usage DEFAULTS Yes Default Value Yes Default Format Yes ALL CONTROLLERS EXAMPLES Assume that 10 seconds after a move is over a relay must be closed A PR 50000 BGA AMA WT 10000 SB 0 EN Program A Position relative move Begin the move After the move is over Wait 10 seconds Turn on relay End Program Hint To achieve longer wait intervals just stack multiple WT commands 196 WT Binary D3 Optima 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 8 programs may be executed with the controller ARGUMENTS XQ A n XQm n where A is a program name of up to seven characters m is a line number nis an integer representing the thread number for multitasking n is an integer in the range of 0 to 7 NOTE The arguments for the command XQ are optio
6. _ZSn contains the stack level for the specified thread where n 0 1 2 or 3 Note n can also be specified using A thread 0 B thread1 C thread2 or D thread3 EXAMPLES Ill Input Interrupt on 1 A JP A EN Main program ININT Input Interrupt MG INTERRUPT Print message S _ZS Interrogate stack S Print stack ZS Zero stack S _ZS Interrogate stack S Print stack EN End Optima Series Command Reference INDEX Abort 15 Off On Error 15 Off On Error 138 Stop Motion 164 Absolute Position 24 25 62 Acceleration 16 Analog Feedback 19 Analog Output 23 Array 145 Dimension 61 Record Data 151 Arrays Deallocating 57 Automatic Subroutine MCTIME 75 181 POSERR 81 Auxiliary Encoder 50 168 Define Position 59 Using Dual Loop 65 Backlash Compensation Dual Loop 65 Binary Commands 4 5 Burn Save Parameters 37 Save Program 39 Save Variables and Arrays 42 Capture Data Record 149 Circle 54 Circular Interpolation 189 Clear Bit 45 Clear Sequence 55 Clock 172 174 Sample Time 174 Update Rate 172 Code 1 Command Syntax 2 3 Communication Problems CW Command 56 Compare Function 59 168 Optima Series Command Reference Conditional jump 106 Configure Communication 56 DMA 63 Master Reset 157 Motor Type 131 Secondary FIFO 63 Configure Encoders CE Command 48 Configure System CN Command 52 Contour Mode 47 51 196 Time Interval 64 Coordinate Axes 44 Coordinated M
7. JS A Optima Series Command Reference DEFAULTS Yes Default Value Yes Default Format No ALL CONTROLLERS End 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 JS 105 KD Binary 83 FUNCTION Derivative Constant DESCRIPTION KD designates the derivative constant in the control filter The filter transfer function is D z 4 KP 4 KD z 1 z Kiz 2 z 1 For further details on the filter see the section Theory of Operation ARGUMENTS KD n n n n n n n n or KDX n where nis an unsigned numbers in the range 0 to 4095 875 with a resolution of 1 8 n Returns the value of the derivative constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value 64 In a Program Yes Default Format 4 2 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _KDn contains the value of the derivative constant for the specified axis RELATED COMMANDS KI Binary 82 on page 107 Integrator KP Binary 81 on page 108 Proportional EXAMPLES KD 100 200 300 400 25 Specify KD KD Return KD 0100 00 0200 00 0300 0 0 0400 25 106 KD Binary 83 Optima Series Command Reference KI Binary 82 FUNCTION Integrator DESCRIPTION The KI command sets the integral gain of the control loop It fits in the control equation as follows D z 4 KP 4 KD z 1 z KI z 2 z 1 The integrator term will reduce the position error at rest to
8. Note that the filtering results in longer motion time The use of IT will not effect the trippoints AR and AD The trippoints AR amp AD monitor the profile prior to the IT filter and therefore can be satisfied before the actual distance has been reached if IT is NOT 1 ARGUMENTS IT n n n n n n n n or ITA n where n is a positive numbers in the range between 0 004 and 1 0 with a resolution of 1 256 n Returns the value of the independent time constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value 1 In a Program Yes Default Format 7 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _ITn contains the value of the independent time constant for the specified n axis RELATED COMMANDS VT Binary B6 on page 193 Vector Time Constant for smoothing vector moves EXAMPLES IT 0 8 0 6 0 9 0 1 Set independent time constants for a b c d axes IT Return independent time constant for A axis 0 8 102 IT Binary 93 Optima Series Command Reference JG Binary A8 FUNCTION Jog DESCRIPTION The JG command sets the jog mode and the jog slew speed of the axes ARGUMENTS JG n n n n n n n n or JGA n where nis a signed numbers in the range 0 to 12 000 000 decimal The units of this are counts second For stepper motor operation the maximum value is 3 000 000 steps second n Returns the absolute value of the jog speed for the specified axis USAGE DEFAULTS While Moving Ye
9. Preserved of Bo fa sooo h aooo a m s HM FE aa mo fs mooo o at wo CO s Fast Firmware Operation The motion controllers can operate in a mode which allows for very fast servo update rates This mode is known as fast mode and allows the following update rates Optima Controllers with 1 2 axes 125 usec Optima Controllers with 3 4 axes 250 usec Optima Controllers with 5 6 axes 375 usec Optima Controllers with 7 8 axes 500 usec Note To set the desired update rates use the command TM 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 which are disabled and or altered Commands which are not Allowed when Operating in Fast Mode 6 Overview Optima Series Command Reference Stepper Motor Operation MT 2 2 2 5 2 5 Trippoints allowed only in thread 0 DMA channel Tell Velocity Interrogation Command TV Commands which are Altered when Operating in Fast Mode Command Modification M Command argument 2 2 5 2 2 5 not valid AD AI AM AP AR AS AT AV MC Commands not allowed in threads 1 7 MF MR WC Trippoints The Optima series controllers provide several commands that can be used to make l
10. Record Interval Label Define array Specify Record Mode Specify data type for record Begin recording at 2 msec intervals Start motion End Hint The record array mode is useful for recording the real time motor position during motion The data is automatically captured in the background and does not interrupt the program sequencer The record mode can also be used for a teach or learn of a motion path Optima Series Command Reference RA 147 148 RC 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 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 n Returns status of recording 1 if recording 0 if not recording USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _RC contains status of recording 1 if recording 0 if not recording RELATED COMMANDS DM on page 59 Dimension Array RD on page 149 Record Data QZ on page 146 Record Array Mode EXAMPLES RECORD Rec
11. The units are counts per second s Returns the value of the vector speed for the S coordinate plane t Returns the value of the vector speed for the T coordinate plane USAGE DEFAULTS While Moving Yes Default Value 25000 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _VSn contains the vector speed of the specified coordinate system S or T RELATED COMMANDS VA Binary B7 on page 183 Vector Acceleration VP Binary B2 on page 189 Vector Position CR Binary B3 on page 52 Circle LM Binary B 0 on page 116 Linear Interpolation VM on page 187 Vector Mode BG Binary AO on page 31 Begin Sequence VE on page 185 Vector End EXAMPLES VS 2000 Define vector speed of S coordinate system VS Return vector speed of S coordinate system 002000 Hint Vector speed can be attached to individual vector segments For more information see description of VP CR and LI commands 192 VS Binary B9 Optima Series Command Reference VT Binary B6 FUNCTION Vector Time Constant S curve DESCRIPTION The VT command filters the acceleration and deceleration functions in vector moves of VM LM type to produce a smooth velocity profile The resulting profile known as 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 result
12. VM AB VP 1000 2000 CR 1000 0 360 Optima Series Command Reference Program A Specify motion plane Specify vector position A B Specify arc VP Binary B2 189 VE Vector end VS 2000 Specify vector speed VA 400000 Specify vector acceleration BGS Begin motion sequence EN End Program Hint The first vector in a coordinated motion sequence defines the origin for that sequence All other vectors in the sequence are defined by their endpoints with respect to the start of the move sequence Non sequential axes do not require comma delimitation 190 VP Binary B2 Optima Series Command Reference VR Binary BA FUNCTION Vector Speed Ratio DESCRIPTION The VR sets a ratio to be used as a multiplier of the current vector speed The vector speed can be set by the command VS or the operators lt and gt used with CR VP and LI commands VR takes effect immediately and will ratio all the following vector speed commands VR doesn t ratio acceleration or deceleration but the change in speed is accomplished by accelerating or decelerating at the rate specified by VA and VD ARGUMENTS VR s t where s and t are between 0 and 10 with a resolution of 0001 The value specified by s is the vector ratio to apply to the S coordinate system and t is the value to apply to the T coordinate system s Returns the value of the vector speed ratio for the S coordinate plane t Returns the value of the vector speed ratio for the T coordi
13. Y axis latch is not armed bit 0 has a value of 1 176 TS Binary DF Optima Series Command Reference TT Binary DE FUNCTION Tell Torque DESCRIPTION The TT command reports the value of the analog output signal which is a number between 9 998 and 9 998 volts ARGUMENTS TT nnnnnnnnnn where nis A B C D E F G or H or any combination to specify the axis or axes No argunent will provide the torque for all axes USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 1 4 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TTn contains the value of the torque for the specified axis RELATED COMMANDS TL Binary 8a on page 171 Torque Limit EXAMPLES V1l _TTA Assigns value of TTA to variable V1 TTA Report torque on A 0 2843 Torque is 2843 volts Optima Series Command Reference TT Binary DE 177 TV Binary DC FUNCTION Tell Velocity DESCRIPTION The TV command returns the actual velocity of the axes in units of encoder count s The value returned includes the sign ARGUMENTS TV nnnnnnnnnn where nis A B C D E F G or H or any combination to specify the axis or axes No argument will provide the dual encoder position for all axes USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 7 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TVn contains the value of the velocity for the specified axis EXAMPLES VELA
14. amp staring point EQ Binary C5 on page 78 Disengage ECAM ET Binary CO on page 81 ECAM table EXAMPLES EAB Select B as a master for ECAM Optima Series Command Reference EB Binary C4 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 ECAM mode n 0 Stops ECAM mode n Returns 0if ECAM is disabled and a 1 if enabled USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _EB contains the state of Ecam mode 0 disabled 1 enabled RELATED COMMANDS EA on page 64 Choose ECAM master EC Binary C6 on page 66 Set ECAM table index EG Binary C3 on page 68 Engage ECAM EM Binary C1 on page 72 Specify ECAM cycle EP Binary C2 on page 77 Specify ECAM table intervals amp staring point EQ Binary C5 on page 78 Disengage ECAM ET Binary CO on page 81 ECAM table EXAMPLES EB1 Starts ECAM mode EBO Stops ECAM mode B _EB Return status of cam mode Optima Series Command Reference EB Binary C4 65 EC Binary C6 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 an
15. nis A B C D E F G or H or any combination to specify the axis or axes USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS MO Binary A9 on page 127 Motor off EXAMPLES SH Servo A B C D motors SHA Only servo the A motor the B C and D motors remain in its previous state SHB Servo the B motor leave the A C and D motors unchanged SHC Servo the C motor leave the A B and D motors unchanged SHD Servo the D motor leave the A B and C motors unchanged Note The SH command changes the coordinate system Therefore all position commands given prior to SH must be repeated Otherwise the controller produces incorrect motion 160 SH Binary AA Optima Series Command Reference SP Binary 92 FUNCTION Speed DESCRIPTION This command sets the slew speed of any or all axes for independent moves Note Negative values will be interpreted as the absolute value ARGUMENTS SP n n n n n n n n SPA n or where n is an unsigned even number in the range 0 to 12 000 000 for servo motors The units are encoder counts per second OR nis an unsigned number in the range 0 to 3 000 000 for stepper motors n Returns the speed for the specified axis USAGE DEFAULTS While Moving Yes Default Value 25000 In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _SPn contains the speed
16. on page 79 Error Limit POSERR Error Subroutine PEF on page 140 Position Formatting EXAMPLES TE Return all position errors 00005 00002 00000 00006 TEA Return the A motor position error 00005 TEB Return the B motor position error 00002 Error _TEA Sets the variable Error with the A axis position error Hint Under normal operating conditions with servo control the position error should be small The position error is typically largest during acceleration Optima Series Command Reference TE Binary DA 167 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 IP address and whether it is aQW or Command handle setup by the HC command ARGUMENTS None USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format _ Command Line Yes Controller Usage DMC 2100 2200 ONLY RELATED COMMANDS IH Internet Handle HR Handle Restore WH 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 SLAVE CD COMMAND IHB TCP PORT 1061 TO IP ADDRESS 10 51 0 89 PORT 1001 SLAVE CD AQ IHC TCP PORT 1012 TO IP ADDRESS 10 51 0 93 PORT 1002 SLAVE
17. to compute the speed The parameter n is optional and can be used to define the vector speed that is attached to the motion segment The LI command will apply to the selected coordinate system S or T To select the coordinate system use the command CAS or CAT ARGUMENTS LI n n n n n n n n lt o gt p or LIA n where n is a signed integers in the range 8 388 607 to 8 388 607 and represent incremental move distance o specifies a vector speed to be taken into effect at the execution of the linear segment s 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 Based on vector accel and decal rates o is an unsigned even integer between 0 and 8 000 000 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS Optima Series Command Reference LI Binary B1 113 LI cont RELATED COMMANDS LE Binary B5 on page 111 BG Binary AO on page 31 LM Binary B 0 on page 116 CS on page 53 VS Binary B9 on page 192 VA Binary B7 on page 183 VD Binary B8 on page 184 Linear end BGS Begin sequence Linear Interpolation Mode Clear Sequence Vector Speed Vector Acceleration Vector Deceleration EXAMPLES LM ABC Specify linear interpolation mode LI 1000 2000 3000 Specify distance LE
18. 0 if the ARP was successful contains a 1 if it has failed or is still in progress USAGE DEFAULTS While Moving No Default Value 8 In a Program Yes Default Format Command Line Yes Controller Usage DMC 2100 2200 ONLY RELATED COMMANDS IA on page 93 Internet Address EXAMPLES THA 251 29 51 1 Open handle A at IP address 251 29 51 1 IHA 2095238399 Open handle A at IP address 251 29 51 1 Note When the IH command is given the controller initializes an ARP on the slave device before opening a handle This operation can cause a small time delay before the controller responds 96 IH Optima Series Command Reference II Binary EC FUNCTION Input Interrupt DESCRIPTION The II command enables the interrupt function for the specified inputs By default input interrupts are configured for activation with a logic 0 but can be configured for activation with a logic 1 signal If any of the specified inputs are activated 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 ARGUMENTS II m n o p where m is an integer between 0 and 8 decimal 0 disables interrupt The value of m specifies the lowest input to be used for the input interrupt When the 2 argument n is omitted only th
19. FUNCTION Brushless Modulo DESCRIPTION The BM command defines the length of the magnetic cycle in encoder counts ARGUMENTS BM n n n n n n n n or BMA n where n is a decimal value between 1 and 1000000 with a resolution of 1 10 This value can also be specified as a fraction with a resolution of 1 16 n Returns the brushless module for the specified axis USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _BMnh indicates the cycle length in counts for the specified axis RELATED COMMANDS BA on page 27 Brushless Axis BB Binary 9E on page 28 Brushless Phase Begins BC on page 29 Brushless Commutation BD Binary 9D on page 30 Brushless Degrees BI on page 32 Brushless Inputs BO Binary 9F on page 36 Brushless Offset BS on page 38 Brushless Setup BZ on page 41 Brushless Zero EXAMPLES BM 60000 Set brushless modulo for B axis to be 60000 BMC 100000 6 Set brushless modulo for C axis to be 100000 3 33333 333 BM Interrogate the Brushless Module for the D axis Note Changing the BM parameter causes an instant change in the commutation phase 34 BM Binary 9B Optima Series Command Reference BN FUNCTION Burn DESCRIPTION The BN command saves controller parameters shown below in Flash EEPROM memory This command typically takes 1 second to execute and must not be interrupted The controller returns a when the Bu
20. Handshake 0 for handshake off 1 for handshake on r Mode 0 for daisy chain off 1 for daisy chain on p Echo 0 for echo off 1 for echo on Note echo only active when daisy chain feature is off USAGE DEFAULTS While Moving Yes Default Value 0 0 0 In a Program Yes Default Format Command Line Yes Controller Usage EXCEPT FOR DMC 1200 1600 1700 1800 RELATED COMMANDS CI on page 48 Set Bit EXAMPLES CC 9600 0 0 1 9600 baud no handshake daisy chain off echo on Typical setting with TERM P or TERM H CC 19200 1 1 0 19 200 baud handshake on daisy chain on echo off Typical setting in daisy chain mode 44 CO 7 7 Optima Series Command Reference CD Binary BE FUNCTION Contour Data DESCRIPTION The CD command specifies the incremental position on A B C and D axes The units of the command are in encoder counts This command is used only in the Contour Mode CM The incremental position will be executed over the time period specified by the command DT ranging from 2 to 256 servo updates ARGUMENTS CD n n n n n n n n or CDA n where n is an integer in the range of 32762 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS CM Binary BD on page 49 Contour Mode WC Binary D4 on page 194 Wait for Contour DT Binary BF on page 62 Time Increment CS on page 53 _CS is the Segment Counter EXAMPLES CM A
21. Last segment BGS Begin sequence 114 LI Binary B1 Optima Series Command Reference LL FUNCTION List Labels DESCRIPTION The LL command returns a listing of all of the program labels in memory in alphabetical order ARGUMENTS None USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS LA on page 110 List Arrays LS on page 119 List Program LV on page 120 List Variables EXAMPLES LL FIVE FOUR ONE THREE TWO Optima Series Command Reference The listing will be LL 115 LM Binary B 0 FUNCTION Linear Interpolation Mode DESCRIPTION The LM command specifies the linear interpolation mode and specifies the axes for linear interpolation Any set of thru 8 axes may be used for linear interpolation 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 ABC designates linear interpolation for the A B and C axes The speed of these axes will be computed from VS 7 _AS74BS 4
22. The I 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 The condition is a conditional statement using a logical operator logical operators are lt less than gt greater than equal to lt less than or equal to gt greater than or equal to lt gt not equal to USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Controller Usage ALL CONTROLLERS RELATED COMMANDS JS on page 105 Jump to Subroutine IF on page 94 If conditional statement ELSE on page 71 Else function for use with IF conditional statement ENDIF on page 75 End of IF conditional statement EXAMPLES JP POS1 V1 lt 5 Jump to label POS1 if variable V1 is less than 5 JP A V7 V8 0 Jump to A if V7 times V8 equals 0 JP B Jump to B no condition Hint JP is similar toan 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 Optima Series Command Reference 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 s
23. The file is terminated using lt control gt Z lt control gt Q lt control gt D or DO NOT insert spaces before each command If no parameter is specified downloading a data file will clear all programs in the controllers RAM The data is entered beginning at line 0 If there are too many lines or too many characters per line the controller will return a To download a program after a label specify the label name following DL The argument may be used with DL to append a file at the end of the program in RAM Using Galil DOS Terminal Software The ED command puts the controller into the Edit subsystem In the Edit subsystem programs can be created changed or destroyed The commands in the Edit subsystem are lt cntrl gt D Deletes a line lt cntrl gt I Inserts a line before the current one lt cntrl gt P Displays the previous line lt cntrl gt Q Exits the Edit subsystem lt return gt Saves a line ARGUMENTS DL n where n no argument Downloads program beginning at line 0 Erases programs in RAM n Label Begins download at line following Label n Begins download at end of program in RAM USAGE DEFAULTS While Moving Yes Default Value In a Program No Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE When used as an operand _DL gives the number of available labels All Optima series controllers have 254 available labels RELATED COMMANDS UL on page 182 Upload EXAMP
24. While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _AVS contains the vector distance from the start of the sequence in the S coordinate system and _AVT contains the vector distance from the start of the sequence in the T coordinate system EXAMPLES MOVE DP 0 0 Label CAT Specify the T coordinate system LMAB Linear move for A B LI 1000 2000 Specify distance LI 2000 3000 Specify distance LE BGT Begin motion in the T coordinate system AV 500 After path distance 500 MG Path gt 500 TPAB Print Message EN End Program Hint Vector Distance is calculated as the square root of the sum of the squared distance for each axis in the linear or vector mode 26 AV Optima Series Command Reference BA FUNCTION Brushless Axis DESCRIPTION The BA command configures the controller axes for sinusoidal commutation and reconfigures the controller to reflect the actual number of motors that can be controlled Each sinusoidal commutation axis requires 2 motor command signals The second motor command signals will always be associated with the highest axes on the controller For example a 3 axis controller with A and C configured for sinusoidal commutation will require 5 command outputs 5 axes controller where the second outputs for A and C will be the D and E axes respectively ARGUMENTS BA xxxxxxxxxx where nis A B C D E F G or any combination to specify the
25. coarser resolution The ES command will apply to the selected coordinate system S or T To select the coordinate system use the command CAS or CAT ARGUMENTS ES m n where m and n are positive integers in the range between 1 and 65 535 USAGE DEFAULTS While Moving Yes Default Value 1 1 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS VM on page 187 Vector Mode CR Binary B3 on page 52 Circle move VP Binary B2 on page 189 Vector position EXAMPLES VMAB ES3 4 Divide B resolution by 4 3 VMCA ES2 3 Divide A resolution by 3 2 VMAC ES3 2 Divide A Resolution by 3 2 80 ES Optima Series Command Reference ET Binary CO FUNCTION Electronic cam table DESCRIPTION The ET command sets the ECAM table entries for the slave axes The values of the master axes are not required The slave entry n is the position of the slave axes when the master is at the point n i o where i is the interval and o is the offset as determined by the EP command ARGUMENTS ET n n n n n n n n n where n is an integer in the range between 2 147 438 648 and 2 147 438 647 The value n can be left out of the command if the index count has been set using the command EC In this mode each ET command will automatically increment the index count by 1 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RE
26. code for all axes CODE EXPLANATION CODE EXPLANATION Cassone command Unrecognized command Command only valid from program Download error line too long or too many lines 3 4 5 Commarea pee 6 Dome dt epurbatienat Te Nunteroworanes d 7 Command not valid while running Empty program line or undefined label 7 IN only valid in task 0 Invalid label or line number Record mode already running JG only valid when running in jog 8 mode Undefined Array EEPROM check sum error 8 EEPROM write error 8 Not a valid number Too many elements Only A B C D valid operand SM jumper needs to be installed for IP incorrect sign during position move or IP given during forced deceleration ED BN and DL not valid while program running stepper motor operation i application program 21 ein vai ite oming 1 2 Begin not possible due to Limit Switch 101 Improper index into ET must be 0 256 Optima Series Command Reference Application strand already executing 0 1 2 3 4 5 6 7 8 9 0 1 2 Command not valid when not running 67 Too many arrays or variables al ai ae eT aaa ca I Pa foal KE Ls w CE Ci Surovine more han t6 deep 81 No aray or sowree specified paul w s Eo ca Dak ca 1 2 1 1 1 1 1 1 1 1 1 1 2 2 Begin not valid because no sequence defined S operand not valid No master axis defined for ECAM Not valid when axis performing ECAM Variable not
27. for the specified axis RELATED COMMANDS AC Binary 90 on page 14 DC Binary 91 on page 56 Acceleration Deceleration PA Binary A6 on page 139 PR Binary A7 on page 142 BG Binary AO on page 31 Position Absolute Position Relation Begin EXAMPLES PR 2000 3000 4000 5000 SP 5000 6000 7000 8000 BG AMC Specify a b c d parameter Specify a b c d speeds Begin motion of all axes After C motion is complete Note For vector moves use the vector speed command VS to change the speed SP is not a mode of motion like JOG JG Optima Series Command Reference SP Binary 92 161 ST Binary A1 FUNCTION Stop DESCRIPTION The ST command stops motion on the specified axis Motors will come to a decelerated stop ARGUMENTS ST nnnnnnnnnn where nis A B C D E F G H N S or T or any combination to specify the axis or sequence If the specific axis or sequence is specified program execution will not stop No argument will stop motion on all axes and stop any programs which are executing USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS BG Binary AO on page 31 Begin Motion Error Not a valid result for Abort Motion table on page 7 DC Binary 91 one page 56 Deceleration rate EXAMPLES STA Stop A axis motion STS Stop coordinated sequence ST ABCD Stop A B C D motion ST Stop p
28. is used to define the inputs which are used when Hall sensors have been wired for sinusoidally commutated motors These inputs can be the general use inputs bits 1 8 the auxiliary encoder inputs bits 81 96 or the extended I O inputs bits 17 80 The Hall sensors of each axis must be connected to consecutive input lines for example BI 3 indicates that inputs 3 4 and 4 are used for halls sensors The brushless setup command BS can be used to determine the proper wiring of the hall sensors ARGUMENTS BI n n n n n n n n or BIA n where nis an unsigned integer which represent the first digital input to be used for hall sensor input n 0 Clear the hall sensor configuration for the axis n Returns the starting input used for Hall sensors for the specified axis USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _BIn contains the starting input used for Hall sensors for the specified axis EXAMPLE BI 5 The Hall sensor of the Y axis are on inputs 5 6 and 7 RELATED COMMANDS BA on page 27 Brushless Axis BB Binary 9E on page 28 Brushless Phase Begins BC on page 29 Brushless Commutation BD Binary 9D on page 30 Brushless Degrees BM Binary 9B on page 34 Brushless Modulo BO Binary 9F on page 36 Brushless Offset BS on page 38 Brushless Setup BZ on page 41 Brushless Zero 32 BI Optima Series Command Referen
29. issue the following warning A time out occurred while waiting for a response from the controller This warning is normal and is designed to warn the user when the controller does not respond to a command within the timeout period This occurs because this command takes more time than the default timeout of 1 sec The timeout can be changed in the Galil software but this warning does not affect the operation of the controller or software 40 BV Optima Series Command Reference BZ FUNCTION Brushless Zero DESCRIPTION The BZ command is used for axes which are 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 n n n n n n n or BZA n or BZ lt t where n is a real number between 9 998 and 9 998 The parameter n will set the voltage to be applied to the amplifier during the initialization In order to be accurate the BZ command voltage must be large enough to move the motor If the argument is positive when the BZ operation is complete the motor will be left in the off state MO A negative value causes the motor to end up in the on state SH lt t is an integer between and 32767 and represents the settling time of the BZ function The controller will wait t usec to update sufficient samples sampling rate 1000 usec by default to settle the motor at the zero magnetic phase The t
30. motion stopped USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _PAn contains the last commanded position at which motion stopped RELATED COMMANDS PR Binary A7 on page 142 Position relative SP Binary 92 on page 161 Speed AC Binary 90 on page 14 Acceleration DC Binary 91 on page 56 Deceleration BG Binary AO on page 31 Begin PF on page 140 Position Formatting EXAMPLES PA 400 600 500 200 A axis will go to 400 counts B axis will go to 600 counts C axis will go to 500 counts D axis will go to 200 counts BG AM Execute Motion and Wait for Motion Complete PA Returns the current commanded position after motion has completed 400 600 500 200 BG Start the move PA 700 A axis will go to 700 on the next move while the BG B C and D axis will travel the previously set relative distance if the preceding move was a PR move or will not move if the preceding move was a PA move Optima Series Command Reference PA Binary A6 139 140 PF 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 to
31. on page 189 Vector Position CR Binary B3 on page 52 Circle VE on page 185 Vector End VM on page 187 Vector Mode BG Binary AO on page 31 Begin Sequence VT Binary B6 on page 193 Smoothing constant S curve EXAMPLES VECTOR Vector Program Label VMAB Specify plane of motion VA1000000 Vector Acceleration VD 5000000 Vector Deceleration VS 2000 Vector Speed VP 10000 20000 Vector Position VE End Vector BGS Begin Sequence 184 VD Binary B8 Optima 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 The VE command will apply to the selected coordinate system S or T To select the coordinate system use the command CAS or CAT ARGUMENTS VEn No argument specifies the end of a vector sequence n Returns the length of the vector in counts USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _VEn contains the length of the vector in counts for the specified coordinate system S or T RELATED COMMANDS VM on page 187 Vector Mode VS Binary B9 on page 192 Vector Speed VA Binary B7 on page 183 Vector Acceleration VD Binary B8 on page 184 Vector Deceleration CR Binary B3 on page 52 Circle VP Binary B2 on pa
32. on page 65 Enable ECAM EC Binary C6 on page 66 Set ECAM table index EG Binary C3 on page 68 Engage ECAM EM Binary C1 on page 72 Specify ECAM cycle EP Binary C2 on page 77 Specify ECAM table intervals amp staring point ET Binary CO on page 81 ECAM table EXAMPLES EQ 300 700 Disengages the A and B motors at master positions 300 and 700 respectively Note This command is not a trippoint This command will not hold the execution of the program flow If the execution needs to be held until master position is reached use MF or MR command 78 EQ Binary C5 Optima Series Command Reference ER Binary 88 FUNCTION Error Limit DESCRIPTION The ER command sets the magnitude of the position errors for each axis 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 ARGUMENTS ER n n n n n n n n or ERA n where n is an unsigned numbers in the range 1 to 32767 which represents the error limit in encoder counts A value of 1 will disable the position error limit for the specified axis n Returns the value of the Error limit for the specified axis USAGE DEFAULTS While Moving Yes Default Value 16384 In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _ERn contains the value of the Error limit for the specified axis RELATED COMMA
33. or FLA n where n is a signed integers in the range 2147483648 to 2147483647 n represents the absolute position of axis n 2147483647 turns off the forward limit n Returns the value of the forward limit switch for the specified axis USAGE DEFAULTS While Moving Yes Default Value 2147483647 In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _FLn contains the value of the forward s oftware limit for the specified axis RELATED COMMANDS BL Binary 8F on page 33 Reverse Limit PEF on page 140 Position Formatting EXAMPLES FL 150000 Set forward limit to 150000 counts on the A axis TEST Test Program AC 1000000 Acceleration Rate DC 1000000 Deceleration Rate FL 15000 Forward Limit JG 5000 Jog Forward BGA Begin AMA After Limit TPA Tell Position EN End Hint Galil controllers also provide hardware limits Optima Series Command Reference FL Binary 8E 85 FV Binary 95 FUNCTION Velocity Feedforward DESCRIPTION The FV command sets the velocity feedforward coefficient or returns the previously set value This coefficient generates an output bias signal in proportions to the commanded velocity Velocity feedforward bias 1 22 106 FV Velocity in cts s FV operates when commanding motion with PA PR JG VM LM and CM For example if FV 10 and the velocity is 200 000 count s the velocity feedforward bias equals 2 44 volts ARGU
34. page 30 Brushless Degrees BI on page 32 Brushless Inputs BM Binary 9B on page 34 Brushless Modulo BO Binary 9F on page 36 Brushless Offset BS on page 38 Brushless Setup BZ on page 41 Brushless Zero Optima Series Command Reference BC 29 BD Binary 9D 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 BD n n n n n n n n or BDA n where nis an integer between 0 360 n Returns the current brushless motor angle between 0 360 USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _BDn contains the commutation phase of the specified axis RELATED COMMANDS BA on page 27 Brushless Axis BB Binary 9E on page 28 Brushless Phase Begins BC on page 29 Brushless Commutation BI on page 32 Brushless Inputs BM Binary 9B on page 34 Brushless Modulo BO Binary 9F on page 36 Brushless Offset BS on page 38 Brushless Setup BZ on page 41 Brushless Zero 30 BD Binary 9D Optima Series Command Reference BG Binary AO FUNCTION Begin DESCRIPTION The BG command starts a motion on the specified axis or sequence ARGUME
35. parameter should be specified prior to issuing the BZ command 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 DEFAULTS While Moving No Default Value n 0 t 1000 In a Program Yes Default Format 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _BZn contains the distance in encoder counts from the motor s current position and the position of commutation zero for the specified axis This can useful to command a motor to move to the commutation zero position for phase initialization EXAMPLES BZ 3 Drive C axis to zero phase with 3 volt signal and end with motor enabled RELATED COMMANDS BA on page 27 Brushless Axis BB Binary 9E on page 28 Brushless Phase Begins BC on page 29 Brushless Commutation BD Binary 9D on page 30 Brushless Degrees BI on page 32 Brushless Inputs BM Binary 9B on page 34 Brushless Modulo BO Binary 9F on page 36 Brushless Offset BS on page 38 Brushless Setup Optima Series Command Reference BZ 41 CA FUNCTION Coordinate Axes DESCRIPTION The CA command specifies the coordinate system to apply proceeding vector commands The following commands apply to the active coordinate system as set by the CA command ARGUMENTS CAS or CAT where CAS specifies
36. port Configure encoder type Configure default port Configure switches Data adjustment bit Define dual encoder position Define position DMA FIFO update rate Dual velocity dual loop Enable interrupts Echo off Independent smoothing Leading zeros format Motor off Motor Type Position format Download array Upload array Reset Master reset Revision information Variable format Trippoint Commands AD Al AM AP AR AS After distance After input After motion profiler After absolute position After relative distance At speed Optima Series Command Reference Overview 11 12 Overview AT AV MC MF MR WC WT At time After vector distance Motion complete After motion forward After motion reverse Wait for contour data Wait for time Vector Linear Interpolation CA CR SGA S28 SS 2Z5ER EEO Define vector plane Circular interpolation move Clear motion sequence Ellipse scaling Linear interpolation end Linear interpolation segment Linear interpolation mode Stop motion Tangent Vector acceleration Vector deceleration Vector sequence end Coordinated motion mode Vector position Vector speed ratio Vector speed Smoothing time constant vector Optima Series Command Reference AB Binary A2 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 specif
37. special label rn 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 recommended when operating with stepper motors since the generation of step pulses can be delayed due to the stepper motor smoothing function KS In this case the MC command would only be satisfied after all steps are generated ARGUMENTS MC nnnnnnnn where nis A B C D E F G or H or any combination to specify the axis or axes No argument specifies that motion on all axes is complete USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS BG Binary AO on page 31 Begin AM Binary C8 on page 20 After Move TW Binary CA on page 179 Timeout EXAMPLES MOVE Program MOVE PR2000 4000 Independent Move on A and B axis BG AB Start the B axis MC AB After the move is complete on T coordinate system MG DONE TP Print message EN End of Program Hint MC can be used to verify that the actual motion has been completed 124 MC Binary C9 Optima Series Command Reference MF Binary CB FUNCTION Forward Motion to Position DES CRIPTION The MF command is a trippoint used to control the timing o
38. that proceeding vector commands shall apply to the S coordinate system CAT specifies that proceeding vector commands shall apply to the T coordinate system CA returns a 0 if the S coordinate system is active and a if the T coordinate system is active OPERAND USAGE _CA contains a 0 if the S coordinate system is active and a 1 if the T coordinate system is active USAGE DEFAULTS While Moving Yes Default Value CAS In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS VP Binary B2 on page 189 Vector Position VS Binary B9 on page 192 Vector Speed VD Binary B8 on page 184 Vector Deceleration VA Binary B7 on page 183 Vector Acceleration VM on page 187 Vector Mode VE on page 185 End Vector BG Binary AO on page 31 BGS Begin Sequence EXAMPLES CAT Specify T coordinate system VMAB Specify vector motion in the A and B plane VS 10000 Specify vector speed CR 1000 0 360 Generate circle with radius of 1000 counts start at 0 degrees and complete one circle in counterclockwise direction VE End Sequence BGT Start motion of T coordinate system 42 CA Optima Series Command Reference CB Binary EB FUNCTION Clear Bit DESCRIPTION The CB command sets the specified output bit low CB can be used to clear the outputs of extended I O which have been configured as outputs ARGUMENTS CB n where n is an integer corresponding to a specific output on the contro
39. the axis or axes No argument specifies all axes USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS FI Binary A5 on page 84 Find Index HM Binary A3 on page 90 Home BG Binary AO on page 31 Begin AC Binary 90 on page 14 Acceleration Rate DC Binary 91 on page 56 Deceleration Rate SP Binary 92 on page 161 Speed for search EXAMPLES FE Set find edge mode BG Begin all axes FEA Only find edge on A BGA FEB Only find edge on B BGB FECD Find edge on C and D BGCD 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 FE Binary A4 83 FI Binary A5 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 nnnnnnnnnn where nis A B C D E F G or H or any combination to specify the axis or sequence
40. zero ARGUMENTS KI n n n n n n n n or KIA n where nis an unsigned numbers in the range 0 to 2047 875 with a resolution of 1 128 n Returns the value of the derivative constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 4 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _KIn contains the value of the derivative constant for the specified axis RELATED COMMANDS KP Binary 81 on page 108 Proportional Constant KI Binary 82 on page 107 Integrator IL Binary 89 on page 99 Integrator Limit EXAMPLES KI 12 14 16 20 Specify a b c d axis integral KI7 Specify a axis only KI 8 Specify c axis only KI Return A B C D 0007 0014 0008 0020 KI values Optima Series Command Reference KI Binary 82 107 KP Binary 81 FUNCTION Proportional Constant DESCRIPTION KP designates the proportional constant in the controller filter The filter transfer function is D z 4 KP 4 KD z 1 z KI z 2 z 1 For further details see the section Theory of Operation ARGUMENTS KP n n n n n n n n or KPA n where nis an unsigned numbers in the range 0 to 1023 875 with a resolution of 1 8 n Returns the value of the proportional constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 4 2 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _KPn contains the value of the proportio
41. 0 0 0 0 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _AFx contains a 1 if analog feedback is enabled and 0 if not enabled for the specified axis RELATED COMMANDS MT on page 129 Motor Type CE Binary 8C on page 46 Configure Encoder EXAMPLES AF 1 0 0 1 Analog feedback on A and D axis V1 _AFA Assign feedback type to variable AF Interrogate feedback type Optima Series Command Reference AF Binary 85 17 AI Binary D1 FUNCTION After Input DESCRIPTION The AI command is a trippoint used in motion programs to wait until after a specified input has changed state This command can be configured such that the controller will wait until the input goes high or the input goes low ARGUMENTS AI n where n is an integer between 1 and 96 and represents the input number If n is positive the controller will wait for the input to go high If n is negative it waits for n to go low USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS IN n Function to read input 1 through 8 II Binary EC on page 97 Input interrupt ININT Label for input interrupt EXAMPLES A Begin Program AIL8 Wait until input 8 is high SP 10000 Speed is 10000 counts sec AC 20000 Acceleration is 20000 counts sec2 PR 400 Specify position BGA Begin motion EN End Program Hint The AI co
42. 0 Position relative moves BGA Start the A axis AMA After the move is complete on A BGB Start the B axis AMB After the move is complete on B BGC Start the C axis AMC After the move is complete on C BGD Start the D axis AM D After the move is complete on D EN End of Program Hint AM is a very important command for controlling the timing between multiple move sequences For example if the A axis is in the middle of a position relative move PR you cannot make a position absolute move PAA BGA until the first move is complete Use AMA to halt the program sequences until the first motion is complete AM tests for profile completion The actual motor may still be moving Another method for testing motion complete is to check for the internal variable _BGn being equal to zero see BG on page 31 20 AM Binary C8 Optima Series Command Reference AO FUNCTION Analog Out DESCRIPTION The AO command sets the analog output voltage of Modbus Devices connected via Ethernet ARGUMENTS AOm n where m is the I O number calculated using the following equations m SlaveAddress 10000 HandleNum 1000 Module 1 4 Bitnum1 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 ra
43. 1 Tangent 175 189 XQ Vector Motion 189 Execute Program 199 Circle 54 Zero Stack 200 Vector Position 191 Vector Speed Ratio 193 202 INDEX Optima Series Command Reference
44. 10 Sets the real part of the notch pole to 10 2 Hz Optima Series Command Reference NZ 133 OB Binary E9 FUNCTION Output Bit DESCRIPTION The OB n logical expression command defines output bit n through 8 as either 0 or 1 depending on the result from the logical expression Any non zero value of the expression results in a one on the output ARGUMENTS OB n expression where n denotes the output bit expression is any valid logical expression variable or array element USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS EXAMPLES OB 1 POS 1 If POS 1 is non zero Bit 1 is high If POS 1 is zero Bit 1 is low OB 2 IN 1 amp IN 2 _ If Input 1 and Input 2 are both high then Output 2 is set high OB 3 COUNT 1 If the element 1 in the array is zero clear bit 3 OB N COUNT 1 If element 1 in the array is zero clear bit N 134 OB Binary E9 Optima 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 The output is a low going pulse with a duration of approximately 600 nanoseconds and is available at the output compare signal labeled CMP on the ICM 1900 and ICM 2900 This function cannot be used with any axis configured for a step motor and the auxiliary encoder of the corresponding axis can not be used while using th
45. 152 RL Binary DD Optima Series Command Reference RP Binary D8 FUNCTION Reference Position DESCRIPTION This command returns the commanded reference position of the motor s ARGUMENTS RP nnnnnnnnnn where nis A B C D E F G or H or any combination to specify the axis or axes USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _RPn contains the commanded reference position for the specified axis RELATED COMMAND TP Binary D9 on page 174 Tell Position Note The relationship between RP TP and TE TEA equals the difference between the reference position RPA and the actual position TPA EXAMPLES Assume that ABC and D axes are commanded to be at the positions 200 10 0 110 respectively The returned units are in quadrature counts PF 7 Position format of 7 0 RP 0000200 0000010 0000000 00001 10 Return A B C D reference positions RPA 0000200 Return the A motor reference position RPB 0000010 Return the B motor reference position PF 6 0 Change to hex format RP 0000C8 FFFFF6 000000 FFFF93 Return A B C D in hex Position _RPA Assign the variable Position the value of RPA Ahin RP command is useful when operating step motors since it provides the commanded position in steps when operating in stepper mode Optima Series Command Reference RP Binary D8 153 RS FUNCTION Reset DESCR
46. 6 Quit Abort 15 Stop Motion 164 Record 149 150 Reset 4 156 Master Reset 4 157 Return from Interrupt Routine 153 Revision Information 158 Sample Time 174 Update Rate 172 Save Parameters 37 Program 39 Variables and Arrays 42 SB Set Bit 160 Scaling Ellipse Scale 82 S Curve 104 Secondary FIFO Configure 63 Selective Abort Configure 52 Set Bit 160 Optima Series Command Reference slew 163 Slew 103 105 Smoothing 26 104 speed 163 Stack 99 Zeroing 200 Status 57 94 138 165 Stop Code 161 Tell Inputs 170 171 Tell Status 178 Stop Abort 15 Stop Code 1 161 Stop Motion 164 Subroutine 99 107 181 182 Syntax 2 3 Tangent 175 189 Teach Data Capture 149 Record 149 Theory 108 Time Clock 172 174 Sample Time 174 Update Rate 172 Timeout 126 181 MCTIME 181 Torque Limit 173 Trippoint 17 20 22 24 25 26 27 28 94 99 94 99 198 After Absolute Position 24 After Distance 17 After Input 20 After Motion 22 After Relative Distance 25 After Vector Distance 28 At Speed 26 At Time 27 Contour Mode 196 In Position Time Out 181 Motion Complete 126 Motion Forward 127 Motion Reverse 130 Troubleshooting 166 Update Rate 172 Sample Time 174 Upload 184 User Interrupt 183 Variables Deallocating 57 Vector Acceleration 185 87 Vector Mode 191 Circular Interpolation 189 Clear Sequence 55 Ellipse Scale 82 Specify Coordinate Axes 44 INDEX 20
47. A 87 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 be stopped by the ST command or by limit switches Only GRO will stop the gearing in this mode ARGUMENTS GM n n n n n n n n or GMA n where n 0 Disables gantry mode function n 1 Enables the gantry mode n Returns the state of gantry mode for the specified axis 0 gantry mode disabled 1 gantry mode enabled USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _GMnh contains the state of gantry mode for the specified axis 0 gantry mode disabled 1 gantry mode enabled RELATED COMMANDS GR Binary 96 on page 89 Gear Ratio GA on page 87 Master Axis for Gearing EXAMPLES GM 1 1 1 1 Enable GM on all axes GM 0 Disable GM on A axis other axes remain unchanged GM 1 1 Enable GM on C axis and D axis other axes remain unchanged GM 1 0 1 0 Enable GM on A and C axis disable GM on B and D axis Hint The GM command is useful for driving heavy load on both sides Gantry Style 88 GM Optima Series Command Reference GR Binary 96 FUNCTION Gear Ratio DESCRIPTION GR specifies the Gear Ratios for the geared axes in the electronic gearing mode The master axis is defined by the GA command The gear ratio may be different for each geared axis The mast
48. ALL CONTROLLERS OPERAND USAGE _ALn contains the state of the specified latch 0 not armed 1 armed RELATED COMMANDS RL Binary DD on page 152 Report Latch EXAMPLES START Start program ALB Arm B axis latch JG 50000 Set up jog at 50000 counts sec BGB Begin the move LOOP Loop until latch has occurred JP LOOP _ALB 1 RLB Transmit the latched position EN End of program Optima Series Command Reference AL Binary EE 19 AM Binary C8 FUNCTION After Move DESCRIPTION The AM command is a trippoint used to control the timing of events This command will hold up execution of the following commands until the current move on the specified axis or axes is completed Any combination of axes or a motion sequence may be specified with the AM command For example AM AB waits for motion on both the A and B axis to be complete AM with no parameter specifies that motion on all axes is complete ARGUMENTS AM nnnnnnnnnn where nis A B C D E F G H S or T or any combination to specify the axis or sequence nis N for the virtual axis N No argument specifies to wait for after motion on all axes and or sequences USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS Invalid from command line on Ethernet controllers RELATED COMMANDS BG Binary AO on page 31 _BGn contains a 0 if motion complete EXAMPLES MOVE Program MOVE PR 5000 5000 5000 500
49. AND USAGE RELATED COMMANDS EXAMPLES Optima Series Command Reference CF 47 CI FUNCTION Communication Interrupt DESCRIPTION The CI command configures a program interrupt based on characters received on Port 2 the AUX serial port An interrupt causes program flow to jump to the COMINT subroutine label If multiple program threads are used the COMINT subroutine runs in thread 0 and threads 1 2 and 3 continue to run in the background without interruption The characters received on the serial port are stored in internal variables such as P2CH See chapter 7 of the user manual for more detailed information on the communications interrupt ARGUMENTS CI n PARAMETER EXPLANATION Do not interrupt Port 2 Interrupt on carriage return character on Port 2 Interrupt on any character Port 2 Clear interrupt data buffer USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Controller Usage DMC 2000 DMC 2100 DMC 2200 ONLY RELATED COMMANDS CC on page 44 Configure communications IN on page 100 Communication input MG on page 126 Message output EXAMPLES Cl 1 Interrupt when the lt enter gt key is received on Port 2 CI2 Interrupt on a single character received on Port 2 48 CI Optima Series Command Reference CM Binary BD FUNCTION Contour Mode DES CRIPTION The Contour Mode is initiated by the instruction CM This mode allows the generation of an arbitrary moti
50. BCD Specify Contour Mode DT4 Specify time increment for contour CD 200 350 150 500 Specify incremental positions on A B C and C axes A axis moves 200 counts B axis moves 350 counts C axis moves 150 counts C axis moves 500 counts WC Wait for complete CD 100 200 300 400 New position data WC Wait for complete DTO Stop Contour CD 0 0 0 0 Exit Mode Optima Series Command Reference CD Binary BE 45 CE Binary 8C FUNCTION Configure Encoder DESCRIPTION The CE command configures the encoder to the quadrature type or the pulse and direction type It also allows inverting the polarity of the encoders which reverses the direction of the feedback Note when using a servo motor the motor will run away The configuration applies independently to the main axes encoders and the auxiliary encoders ARGUMENTS CE n n n n n n n n or CEA n where n is an integer in the range of 0 to 15 Each integer is the sum of two integers M and N which configure the main and the auxiliary encoders The values of M and N are m Main encoder type n Auxiliary encoder type 0 Nomra 0 Nomalquadrate E Normal pulse and direction Normal pulse and direction Reversed quadrature s Reversed quadrature Reversed pulse and direction Reversed pulse and direction For example n 10 implies M 2 and N 8 thus both encoders are reversed quadrature n Returns the value of the encoder configuration for the specified axes USAGE DEFAULTS While Moving Yes D
51. CS where AS BS and CS are the speed of the A B and C axes In this example If the LI command specifies only A and B the speed of C will still be used in the vector calculations The controller always uses the axis specifications from LM not LI to compute the speed The LM command will apply to the selected coordinate system S or T To select the coordinate system use the command CAS or CAT ARGUMENTS LM nnnnnnnnnn nis A B C D E F G or H or any combination to specify the axis or axes n Returns the number of spaces available in the sequence buffer for additional LI commands USAGE While Moving Yes In a Program Yes Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE Default Value Default Format _LMn contains the number of spaces available in the sequence buffer for the n coordinate system S or T RELATED COMMANDS LE Binary B5 on page 111 LI Binary B1 on page 113 VA Binary B7 on page 183 VS Binary B9 on page 192 VD Binary B8 on page 184 AV on page 26 CS on page 53 EXAMPLES LM ABCD VS 10000 VA 100000 VD 1000000 LI 100 200 300 400 LI 200 300 400 500 116 LM Binary B 0 Linear end Linear Distance Vector acceleration Vector Speed Vector deceleration Vector distance _CS Sequence counter Specify linear interpolation mode Specify vector speed acceleration and deceleration Specify linear distance Specify linear distance Optima Series Command Refere
52. DESCRIPTION The HS command is used to switch the handle assignments between two handles Handles are assigned by the controller when the handles are opened with the HC command or are assigned explicitly with the IH command Should those assignments need modifications the HS command allows the handles to be reassigned ARGUMENTS HSh I where his the first handle of the switch A through H S i is the second handle of the switch A through H S s is used to represent the current handle executing the command USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS IH HC HR EXAMPLES HSC D HSS E Optima Series Command Reference Yes Default Value Yes Default Format 3 _ Yes DMC 2100 2200 ONLY Internet Handle Automatic Handle Connect Handle Restore Connection for handle C is assigned to handle D Connection for handle D is assigned to handle C Executing handle connection is assigned to handle E Connection for handle E is assigned to executing handle HS 91 92 HX HX FUNCTION Halt Execution DESCRIPTION The HX command halts the execution of any program that is running ARGUMENTS HXn where n is an integer in the range of 0 to 7 and indicates the thread number USAGE DEFAULTS While Moving Yes Default Value n 0 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE When used as an operand HXn contain
53. E F G or H or any combination to specify the axis or axes USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TPx contains the current position value for the specified axis RELATED COMMANDS PF on page 140 Position Formatting EXAMPLES Assume the A axis is at the position 200 decimal the B axis is at the position 10 decimal the C axis is at position 0 and the D axis is at 110 decimal The returned parameter units are in quadrature counts PF 7 Position format of 7 TP Return A B C D positions 0000200 0000010 0000000 0000110 TPA Return the A motor position 0000200 TPB Return the B motor position 0000010 PF 6 0 Change to hex format TP Return A B C D in hex 0000C8 FFFFF6 000000 FFFF93 Position _TPA Assign the variable Position the value of TPA 174 TP Binary D9 Optima Series Command Reference TR FUNCTION Trace DESCRIPTION The TR command causes each instruction in a program to be sent out the communications port prior to execution TR1 enables this function and TRO disables it The trace command is useful in debugging programs ARGUMENTS TR n where n 0 Disables the trace function n 1 Enables the trace function No argument disables the trace function USAGE DEFAULTS While Moving Yes Default Value TRO In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS EXC
54. EF COMMAND IHD TCP PORT 1023 TO IP ADDRESS 10 51 0 93 PORT 1003 SLAVE EF QW IHE TCP PORT 1034 TO IP ADDRESS 10 51 0 101 PORT 1004 SLAVE IOC COMMAND IHF TCP PORT 1045 TO IP ADDRESS 10 51 0 101 PORT 1005 SLAVE IOC QW IHG AVAILABLE IHH AVAILABLE 168 TH Optima Series Command Reference TI Binary E0 FUNCTION Tell Inputs DESCRIPTION This command returns the state of the inputs including the extended I O configured as inputs The value returned by this command is decimal and represents an 8 bit value decimal value ranges from 0 to 255 Each bit represents one input where the LSB is the lowest input number and the MSB is the highest input bit ARGUMENTS TIn where n 0 Return Input Status for Inputs 1 through 8 n 1 Return Input Status for Inputs 9 through 16 n 2 Return Input Status for Inputs 17 through 24 n 3 through 9 where n represents the extended inputs ranging from 8 n 1 through 8 n 1 n 10 Return Input Status for Inputs 81 through 88 auxiliary encoder inputs see note 4 n 11 Return Input Status for Inputs 89 through 96 auxiliary encoder inputs see note 4 no argument will return the Input Status for Inputs 1 through 8 n returns the Input Status for Inputs through 8 note Applies only to controllers with more than 4 axes note Does not apply to DMC 2x00 controller note3 These arguments only apply when using extended I O configured as inputs note 4 These arguments only apply to the auxiliary enco
55. EPT DMC 2100 2200 ETHERNET Optima Series Command Reference TR 175 TS Binary DF FUNCTION Tell Switches DESCRIPTION TS returns status information of the Home switch Forward Limit switch 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 Axis error exceeds error limit if high Note For active high or active low configuration CN command these bits are 1 when the switch is inactive and 0 when active ARGUMENTS TS nnnnnnnnnn where nis A B C D E F G or H or any combination to specify the axis or axes No argument will provide the status for all axes USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 3 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TS contains the current status of the switches EXAMPLES V1 _TSB Assigns value of TSB to the variable V1 Vil Interrogate value of variable V1 015 returned value Decimal value corresponding to bit pattern 00001111 Y axis not in motion bit 7 has a value of 0 Y axis error limit not exceeded bit 6 has a value of 0 Y axis motor is on bit 5 has a value of 0 Y axis forward limit is inactive bit 3 has a value of 1 Y axis reverse limit is inactive bit 2 has a value of 1 Y axis home switch is high bit 1 has a value of 1
56. EXAMPLES CLEAR Label CAT Specify the T coordinate system vector points VP 1000 2000 VP 4000 8000 Vector position Vector position CST Clear vectors specified in T coordinate system CAS Specify the T coordinate system vector points VP 1000 5000 New vector VP 8000 9000 New vector CSS Clear vectors specified in S coordinate system Optima Series Command Reference CS 53 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 Because of the dual function only one field can be set at a time Instead of CW2 1 use CW2 CW 1 ARGUMENTS CW n m where n 0 Causes the controller to return the copyright information n 1 Causes the controller to set the MSB of unsolicited returned characters to 1 n 2 Causes the controller to not set the MSB of unsolicited characters n Returns the copyright information for the controller m is optional
57. F 4 0 Specify hexadecimal format with 4 bytes to the left of the decimal 186 VF Optima Series Command Reference VM FUNCTION Coordinated Motion Mode DESCRIPTION The VM command specifies the coordinated motion mode and the plane of motion This mode may be specified for motion on any set of two axes The motion is specified by the instructions VP and CR which specify linear and circular segments Up to 511 segments may be given before the Begin Sequence BGS or BGT 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 The VM command will apply to the selected coordinate system S or T To select the coordinate system use the command CAS or CAT ARGUMENTS VM n m p where n and m specify plane of vector motion and can be any two axes Vector Motion can be specified for one axis by specifying 2ra parameter m as N Specifying one axis is useful for obtaining sinusoidal motion on 1 axis p is the tangent axis and can be specified as any axis A value of N for the parameter p turns off tangent function n Returns the available spaces for motion segments that can be sent to the buffer A value of zero means that the buffer is full and no a
58. H Tell Handle Status WH What Handle I O Commands AL Arm latch CB Clear bit CI Communication interrupt CO Configure I O points H Enable interrupts I Input interrupt OB Define output bit OC Output compare function OP Output port SB Set bit UI User interrupts Independent Motion Commands AB Abort motion AC Acceleration BG Begin motion DC Deceleration FE Find edge FI Find index HM Home HX Halt execution IP Increment position IT Smoothing time constant JG Jog mode PA Position absolute PR Position relative SP Speed ST Stop Interrogation Commands LA _LF LL IR LS LV MG QR QZ RP RL ARAV SC TB List arrays Forward limit switch operand List labels Reverse limit switch operand List program List variables Message command Data record Return DMA information Report command position Report latch Firmware revision information Stop code Tell status Optima Series Command Reference Overview 9 10 Overview TC Tell error code TD Tell dual encoder TE Tell error TI Tell input TIME Time operand internal clock TP Tell position TR Trace program TS Tell switches TT Tell torque TV Tell velocity Math Special Functions SIN x Sine of x COS x Cosine of x TAN x Tangent of x COM x 1 s compliment of x ASIN x Arc sine of x ACOS x Arc cosine of x ATAN x Arc tangent of x ABS x Absolute value of x FRAC x Fraction portion of x INT x Integer portion o
59. IPTION 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 USAGE DEFAULTS While Moving Yes Default Value 0 In a Program No Default Format Command Line Yes Controller Usage ALL CONTROLLERS 154 RS Optima Series Command Reference lt control gt R lt control gt S FUNCTION Master Reset DESCRIPTION This command resets the controller to factory default settings and erases EEPROM A master reset can also be performed by installing a jumper on the controller at the location labeled MRST and resetting the controller power cycle or pressing the reset button Remove the jumper after this procedure USAGE DEFAULTS While Moving Yes Default Value In a Program No Default Format Command Line Yes Controller Usage ALL CONTROLLERS Note A master reset is not supported on the ethernet connection Any attempt will hang up the host Optima Series Command Reference lt control gt R lt control gt S 155 lt control gt R lt control gt V FUNCTION Revision Information DESCRIPTION The Revision Information command causes the controller to return firmware revision information USAGE DEFAULTS While Moving Yes Default Value In a Program No Default Format Command Line Yes Controller Usage ALL CONTROLLERS 156 lt control gt R lt control gt V Optima Series Command Reference SA FUNCTION Sen
60. IVE Message to be executed if IF conditional is false ENDIF End of conditional statement Optima Series Command Reference ENDIF 75 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 0 turns echo off n 1 1 turns echo on USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL Except for ETHERNET Communications EXAMPLES EO 0 Turns echo off EO 1 Turns echo on 76 EO Optima Series Command Reference EP Binary C2 FUNCTION Cam table intervals and starting point DESCRIPTION The EP command defines the ECAM table intervals and offset The offset is the master position of the first ECAM table entry The interval is the difference of the master position between 2 consecutive table entries This command effectively defines the size of the ECAM table The parameter m is the interval and n is the starting point Up to 257 points may be specified ARGUMENTS EP m n where m is a positive integer in the range between and 32 767 m Returns the value of the interval m nis an integer between 2 147 483 648 and 2 147 483 647 n is the offset USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _EP contains the value of the interval m RE
61. LATED COMMANDS EA on page 64 Choose ECAM master EB Binary C4 on page 65 Enable ECAM EC Binary C6 on page 66 Set ECAM table index EG Binary C3 on page 68 Engage ECAM EM Binary C1 on page 72 Specify ECAM cycle EP Binary C2 on page 77 Specify ECAM table intervals amp staring point EQ Binary C5 on page 78 Disengage ECAM EXAMPLES ET 0 0 0 Specifies the position of the slave axes A and C to be synchronized with the starting point of the master ET 1 1200 400 Specifies the position of the slave axes A and C to be synchronized with the second point of the master ECO Set the table index value to 0 the first element in the table ET 0 0 Specifies the position of the slave axes A and C to be synchronized with the starting point of the master ET 1200 400 Specifies the position of the slave axes A and C to be synchronized with the second point of the master Optima Series Command Reference ET Binary CO 81 FA Binary 94 FUNCTION Acceleration Feedforward DESCRIPTION The FA command sets the acceleration feedforward coefficient 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 5 107 Deceleration Feedforward Bias FA DC 1 5 107 The Feedforward Bias product is limited to 10 Volts FA operates when commanding motion wit
62. LATED COMMANDS EA on page 64 Choose ECAM master EB Binary C4 on page 65 Enable ECAM EC Binary C6 on page 66 Set ECAM table index EG Binary C3 on page 68 Engage ECAM EM Binary C1 on page 72 Specify ECAM cycle EQ Binary C5 on page 78 Disengage ECAM ET Binary CO on page 81 ECAM table EXAMPLES EP 20 100 Sets the cam master points to 100 120 140 D _EP Set the variable D equal to the ECAM internal valve Optima Series Command Reference EP Binary C2 77 EQ Binary C5 FUNCTION ECAM quit disengage DESCRIPTION The EQ command disengages an electronic cam slave axis at the specified master position Separate points can be specified for each axis If a value is specified outside of the master s range the slave will disengage immediately ARGUMENTS EQ 1 n n n n n n n or EQA n where nis the master positions at which the axes are to be disengaged n Returns 1 if engage command issued and axis is waiting to engage 2if disengage command issued and axis is waiting to disengage and 0 if ECAM engaged or disengaged USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _EQn contains 1 if engage command issued and axis is waiting to engage 2 if disengage command issued and axis is waiting to disengage and 0 if ECAM engaged or disengaged RELATED COMMANDS EA on page 64 Choose ECAM master EB Binary C4
63. LES DL Begin download A PR 4000 BGA Data AMA MG DONE Data EN Data lt control gt Z End download Optima Series Command Reference DM FUNCTION Dimension DESCRIPTION The DM command defines a single dimensional array with a name and the number of elements in the array The first element of the defined array starts with element number 0 and the last element is at n 1 ARGUMENTS DM c n where c is a name of up to eight characters starting with an uppercase alphabetic character n specifies the size of the array number of array elements n Returns the number of array elements available USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _DM contains the available array space For example before any arrays have been defined the operand _DM will return 8000 If an array of 100 elements is defined the operand _DM will return 7900 RELATED COMMANDS DA on page 55 Deallocate Array EXAMPLES DM Pets 5 Dogs 2 Cats 3 Define dimension of arrays pets with 5 elements Dogs with 2 elements Cats with 3 elements DM Tests 1600 Define dimension of array Tests with 1600 elements Optima Series Command Reference DM 59 DP Binary 97 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
64. MENTS FV n n n n n n n n or FVA n where nis an unsigned numbers in the range 0 to 8191 decimal n Returns the feedforward velocity for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 3 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _FVn contains the feedforward velocity for the specified axis RELATED COMMANDS FA Binary 94 on page 82 Acceleration feedforward EXAMPLES FV 10 20 Set feedforward coefficients to 10 and 20 for A and B respectively JG 30000 80000 This produces 0 366 volts for A and 1 95 volts for B FV Return the A and B values 010 020 86 FV Binary 95 Optima Series Command Reference GA FUNCTION Master Axis for Gearing DESCRIPTION The GA command specifies the master axes for electronic gearing Multiple masters for gearing may be specified The masters may be the main encoder input auxiliary encoder input or the commanded position of any axis The master may also be the commanded vector move in a coordinated motion of LM or VM type When the master is a simple axis it may move in any direction and the slave follows When the master is a commanded vector move the vector move is considered positive and the slave will move forward if the gear ratio is positive and backward if the gear ratio is negative The slave axes and ratios are specified with the GR command and gearing is turned off by the command GRO ARGUMENTS GA n n n n n
65. N The SC command allows the user to determine why a motor stops The controller responds with the stop code as follows CODE MEANING CODE MEANING Motors are running independent Stopped after Finding mode Edge FE 1 Motors stopped at commanded 10 Stopped after homing independent position HM 2 Decelerating or stopped by FWD 11 Stopped by Selective limit switches Abort Input 3 Decelerating or stopped by REV 50 Contour running limit switches 4 Decelerating or stopped by Stop 51 Contour Stop Command ST 7 Stopped by Abort command AB 100 Motors are running vector sequence Decelerating or stopped by Off on 101 Motors stopped at Error OE1 commanded vector ARGUMENTS SC nnnnnnnnnn where nis A B C D E F G or H or any combination to specify the axis or axes USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 3 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _SCn contains the value of the stop code for the specified axis EXAMPLES Tom _SCD Assign the Stop Code of D to variable Tom Optima Series Command Reference SC Binary E1 159 SH Binary AA FUNCTION Servo Here DESCRIPTION The SH commands 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 nnonnnnnnnn where
66. NDS OE Binary 8D on page 135 Off On Error POSERR Automatic Error Subroutine EXAMPLES ER 200 300 400 600 Set the A axis error limit to 200 the B axis error limit to 300 the C axis error limit to 400 and the D axis error limit to 600 ER 1000 Sets the B axis error limit to 1000 leave the A axis error limit unchanged ER Return A B C and D values 00200 00100 00400 006 00 ER Return A value 00200 V1 _ERA Assigns V1 value of ERA Vl Returns V1 00200 Hint The error limit specified by ER should be high enough as not to be reached during normal operation Examples of exceeding the error limit would be a mechanical jam or a fault in a system component such as encoder or amplifier Optima Series Command Reference ER Binary 88 79 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 gt n the resolution of the first axis x will be divided by the ratio m n When m lt n the resolution of the second axis y will be divided by n m The resolution change applies for the purpose of generating the VP and CR commands effectively changing the axis with the higher resolution to match the
67. NTS BG nnnnnnnnnn where nis A B C D E F G H N S or T or any combination to specify the axis or sequence USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _BGn contains a 0 if motion complete on the specified axis or coordinate system otherwise contains a 1 RELATED COMMANDS AM Binary C8 on page 20 After motion complete ST Binary A1 on page 162 Stop motion EXAMPLES PR 2000 3000 5000 Set up for a relative move BG ABD Start the A B and D motors moving HM Set up for the homing BGA Start only the A axis moving JG 1000 4000 Set up for jog BGY Start only the B axis moving BSTATE _BGB Assign a 1 to BSTATE if the B axis is performing a move VP 1000 2000 Specify vector position VS 20000 Specify vector velocity BGS Begin coordinated sequenOce VMAB Vector Mode VP 4000 1000 Specify vector position VE Vector End PR 8000 5000 Specify C and D position BGSCD Begin sequence and C D motion MG _BGS Displays a 1 if motion occurring on coordinated system S Hint A BG command cannot be executed for any axis in which motion has not completed Use the AM trippoint to wait for motion complete between moves Determining when motion is complet can also be accomplished by testing for the value of the operand _BGn Optima Series Command Reference BG Binary AO 31 BI FUNCTION Brushless Inputs DESCRIPTION The command BI
68. PTION 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 1o n n n n n n n or TLA n where n is an unsigned numbers in the range 0 to 9 998 volts with resolution of 0 003 volts n Returns the value of the torque limit for the specified axis USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TLn contains the value of the torque limit for the specified axis EXAMPLES TL 1 5 9 7 5 Limit A axis to 1 volt Limit B axis to 5 volts Limit C axis to 9 volts Limit D axis to 7 5 volts TL Return limits 1 0000 5 0000 9 0000 7 5000 TL Return A axis limit 1 0000 Optima Series Command Reference TL Binary 8a 171 TM Binary E5 FUNCTION Update Time DESCRIPTION The TM command sets the sampling period of the control loop Changing the sampling period will uncalibrate the speed and acceleration parameters A negative number turns off the internal clock allowing for an external source to be used as the time base The units of this command are usec ARGUMENTS TM n where With the fast firmware n is an integer in the range 125 to 20000 decimal with resolution of 125 microseconds The minimum sample time for the DMC 1210 amp DMC 1710 is possible when using the fast firmware In the Fast firmwar
69. Reference RD 149 150 RE 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 REI is used REO clears the trippoint To avoid returning to the main program on an interrupt use the ZS command to zero the subroutine stack ARGUMENTS RE n where n 0 Clears the interrupted trippoint n 1 Restores state of trippoint no argument clears the interrupted trippoint USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line No Controller Usage ALL CONTROLLERS RELATED COMMANDS POSERR Error Subroutine LIMSWI Limit Subroutine EXAMPLES A JP A EN Label for main program POSERR Begin Error Handling Subroutine MG ERROR Print message SB1 Set output bit 1 RE Return to main program and clear trippoint Hint An applications program must be executing for the LIMSWI and POSERR subroutines to function Optima Series Command Refe
70. Returns the position of the auxiliary encoders for the specified axes n returns the commanded reference position of the motor in step pulses when used with a stepper motor Example DEO This will define the TP or encoder position to 0 This will not effect the DE value To set the DE value when in stepper mode use the DP command USAGE DEFAULTS While Moving Yes Default Value 0 0 0 0 In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _DEn contains the current position of the specified auxiliary encoder RELATED COMMANDS DP Binary 97 on page 60 Define main encoder position TD Binary DB on page 166 Tell Dual Encoder position EXAMPLES DE 0 100 200 400 Set the current auxiliary encoder position to 0 100 200 400 on A B C and D axes DE Return auxiliary encoder positions DUALA DEA Assign auxiliary encoder position of A axis to the variable DUALA 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 Optima Series Command Reference DE Binary 98 57 58 DL DL FUNCTION Download DESCRIPTION The DL command transfers a data file from the host computer to the controller Instructions in the file will be accepted as a datastream without line numbers
71. TION Linear Interpolation Distance DESCRIPTION The LI a b c d command specifies the incremental distance of travel for each axis in the Linear Interpolation LM mode LI parameters are relative distances given with respect to the current axis positions Up to 511 LI specifications may be given ahead of the Begin Sequence BGS command Additional LI commands may be sent during motion when the controller sequence buffer frees additional spaces for new vector segments The Linear End LE command must be given after the last LI specification in a sequence This command tells the controller to decelerate to a stop at the last LI command It is the responsibility of the user to keep enough LI segments in the controller s sequence buffer to ensure continuous motion LM Returns the available spaces for LI segments that can be sent to the buffer 511 returned means the buffer is empty and 511 LI segments can be sent A zero means the buffer is full and no additional segments can be sent It should be noted that the controller computes the vector speed based on the axes specified in the LM mode For example LM ABC designates linear interpolation for the A B and C axes The speed of these axes will be computed from VS 2 AS4 BS CS where AS BS and CS are the speed of the A B and C axes If the LI command specifies only A and B the speed of C will still be used in the vector calculations The controller always uses the axis specifications from LM not LI
72. Vector BG Binary AO on page 31 BGS Begin Sequence EXAMPLES VMAB Specify vector motion in the A and B plane VS 10000 Specify vector speed 52 CR Binary B3 CR 1000 0 360 CR 1000 0 360 lt 40000 VE BGS Generate circle with radius of 1000 counts start at 0 degrees and complete Generate circle with radius of 1000 counts start at 0 degrees and complete End Sequence Start motion Optima Series Command Reference CS FUNCTION Clear Sequence DESCRIPTION The CS command will remove VP CR or LI commands stored in a motion sequence for the S or T coordinate systems 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 ARGUMENTS CSS or CST where S and or T can be used to clear the sequence buffer for the S or T coordinate system USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _CSn contains the segment number in the sequence specified by n S or T This operand is valid in the Linear mode LM Vector mode VM RELATED COMMANDS CR Binary B3 on page 52 LI Binary B1 on page 113 LM Binary B 0 on page 116 Circular Interpolation Segment Linear Interpolation Segment Linear Interpolation Mode VM on page 187 Vector Mode VP Binary B2 on page 189 Vector Position
73. _TVA Assigns value of A axis velocity to the variable VELA TVA Returns the A axis velocity 0003420 Note The TV command is computed using a special averaging filter over approximately 25 sec Therefore TV will return average velocity not instantaneous velocity 178 TV Binary DC Optima Series Command Reference TW Binary CA FUNCTION Timeout for IN Position MC DESCRIPTION The TW 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 n n n n n n n or TWA n where n specifies the timeout in msec n ranges from 0 to 32767 msec n 1 Disables the timeout n Returns the timeout in msec for the MC command for the specified axis USAGE DEFAULTS While Moving Yes Default Value 32766 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TWn contains the timeout in msec for the MC command for the specified axis RELATED COMMANDS MC Binary C9 on page 122 Motion Complete trippoint Optima Series Command Reference TW Binary CA 179 TZ FUNCTION Tell I O Status DESCRIPTION The TZ command is used to r
74. age 184 VT Binary B6 on page 193 EXAMPLES VA 1024 VA 00001024 VA 20000 VA 0019456 ACCEL _VA Optima Series Command Reference Begin Sequence Vector Deceleration Vector smoothing constant S curve Set vector acceleration to 1024 counts sec Return vector acceleration Set vector acceleration Return vector acceleration Assign variable ACCEL the value of VA VA Binary B7 183 VD Binary B8 FUNCTION Vector Deceleration DESCRIPTION This command sets the deceleration rate of the vector in a coordinated motion sequence ARGUMENTS VD s t where s and t are unsigned integers in the range 1024 to 68431360 s represents the vector deceleration for the S coordinate system and t represents the vector acceleration for the T coordinate system The parameter input will be rounded down to the nearest factor of 1024 The units of the parameter is counts per second squared s Returns the value of the vector deceleration for the S coordinate plane t Returns the value of the vector deceleration for the T coordinate plane USAGE DEFAULTS While Moving No Default Value 256000 In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _VDn contains the value of the vector deceleration for the specified coordinate system S or T RELATED COMMANDS VA Binary B7 on page 183 Vector Acceleration VS Binary B9 on page 192 Vector Speed VP Binary B2
75. age 46 Configure encoder type EXAMPLES MT 1 1 2 2 Configure a as servo b as reverse servo c and d as steppers MT Interrogate motor type V _MTA Assign motor type to variable Optima Series Command Reference MT 129 NB FUNCTION Notch Bandwidth DESCRIPTION The NB command sets real part of the notch poles ARGUMENTS NB n n n n n n n n or NBA n where 1 nis ranges from 0 Hz to 16 T M USAGE DEFAULTS While Moving Yes Default Value 0 5 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _NBn contains the value of the notch bandwidth for the specified axis RELATED COMMANDS NF on page 131 Notch Filter NZ on page 133 Notch Zeros EXAMPLES _NBA 10 Sets the real part of the notch pole to 10 2 Hz NOTCH _NBA Sets the variable NOTCH equal to the notch bandwidth value for the Aaxis 130 NB Optima 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 n n n n n n or NFA n where n ranges from 1 Hz to where TM is the update rate default TM is 1 msec 4 TM n Returns the value of the Notch filter for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _NFn contains the value of notch filter
76. alue In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS AD Binary CD on page 15 Trippoint for relative distances MF Binary CB on page 125 Trippoint for forward motion EXAMPLES TEST Program B DPO Define zero JG 1000 Jog mode speed of 1000 counts sec BGA Begin move AP 2000 After passing the position 2000 V1 _TPA Assign V1 A position MG Position is Vi Print Message ST Stop EN End of Program Hint The accuracy of the AP command is the number of counts that occur in 2 msec Multiply the speed by 2 msec to obtain the maximum error AP tests for absolute position Use the AD command to measure incremental distances 22 AP Binary CE Optima Series Command Reference AR Binary CF 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 actual motor position crosses the specified relative distance from either the start of the move or the last AR or AD command When using a stepper motor this condition is satisfied when the stepper position as determined by the output buffer has crossed the specified Relative Position For further information see Chapter 6 of the User Manual Stepper Motor Operation 2 The motion profiling on the axis is complete 3 T
77. atile 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 Optima Series Command Reference Overview 3 Resetting the Controller to Factory Default When a master reset occurs the controller will always reset all setup parameters to their default values and the non volatile memory is cleared to the factory state A master reset is executed by the command lt ctrl R gt lt ctrl S gt lt Return gt OR by powering up or resetting the controller with the MRST jumper or dip switch on For example the command KD is used to set the Derivative Constant for each axis The default value for the derivative constant is 64 If this parameter is not set by using the command KD the controller will automatically set this value to 64 for each axis If the Derivative Constant is changed but not saved in non volatile memory the default value of 64 will be used if the controller is reset or upon 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 dec
78. axis axes for sinusoidal commutation brushless axes No argument removes all axes configured for sinusoidal commutation USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _BAn indicates the axis number of the auxiliary DAC used for the second phase of the selected sinusoidal axis The axis numbers start with zero for the A axis DAC If the motor is configured as standard servo or stepper motor BAn contains 0 RELATED COMMANDS BB Binary 9E on page 28 Brushless Phase Begins BC on page 29 Brushless Commutation BD Binary 9D on page 30 Brushless Degrees BI on page 32 Brushless Inputs BM Binary 9B on page 34 Brushless Modulo BO Binary 9F on page 36 Brushless Offset BS on page 38 Brushless Setup BZ on page 41 Brushless Zero Optima Series Command Reference BA 27 BB Binary 9E FUNCTION Brushless Phase Begins DESCRIPTION The BB function describes the position offset between the Hall transition point and 9 0 for sinusoidally commutated motor This command must be saved in non volatile memory to be effective upon reset ARGUMENTS BB n n n n n n n or BAA n where nis a signed integer which represent the phase offset of the selected axes expressed in multiples of 30 n returns the hall offset for the specified axis USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command L
79. ce BL Binary 8F FUNCTION Reverse Software Limit DESCRIPTION The BL command sets the reverse software limit If this limit is exceeded during motion motion on that axis will decelerate to a stop Reverse motion beyond this limit is not permitted When the reverse software limit is activated the automatic subroutine LIMSWI will be executed if it is included in the program and a program is executing See User s Manual Automatic Subroutine ARGUMENTS BL n n n n n n n n or BLA n where nis a signed integer in the range 2147483648 to 2147483647 The reverse limit is activated at the position n 1 The units are in quadrature counts n 2147483648 Turns off the reverse limit n Returns the reverse software limit for the specified axes USAGE DEFAULTS While Moving Yes Default Value 214783648 In a Program Yes Default Format Position format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _BLn contains the value of the reverse software limit for the specified axis RELATED COMMANDS FL Binary 8E on page 85 Forward Limit PEF on page 140 Position Formatting EXAMPLES TEST Test Program AC 1000000 Acceleration Rate DC 1000000 Deceleration Rate BL 15000 Set Reverse Limit JG 5000 Jog Reverse BGA Begin Motion AMA After Motion limit occurred TPA Tell Position EN End Program Hint Galil Controllers also provide hardware limits Optima Series Command Reference BL Binary 8F 33 BM Binary 9B
80. ck from 1 to 16 BitNum is the I O point in the module from to 4 n the voltage which ranges from 9 99 to 9 99 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage DMC 2100 ONLY RELATED COMMANDS SB Binary EA on page 158 Set Bit CB Binary EB on page 43 Clear Bit EXAMPLES Optima Series Command Reference AO 21 AP Binary CE FUNCTION After Absolute Position DESCRIPTION The After Position AP command is a trippoint used to control the timing of events This command will hold up the execution of the following command until one of the following conditions have been met 1 The actual motor position crosses the specified absolute position When using a stepper motor this condition is satisfied when the stepper position as determined by the output buffer has crossed the specified position For further information see Chapter 6 of the User Manual Stepper Motor Operation 2 The motion profiling on the axis is complete 3 The commanded motion is in the direction which moves away from the specified position The units of the command are quadrature counts Only one axis may be specified at a time The motion profiler must be on or the trippoint will automatically be satisfied ARGUMENTS AP n n n n n n n n or APA n where nis a signed integer in the range 2147483648 to 2147483647 decimal USAGE DEFAULTS While Moving Yes Default V
81. command will set both the TP and RP values The DP command sets the commanded reference position for axes configured as steppers The units are in steps Example DP 0 this will set the registers for TD and RP to zero but will not effect the TP register value ARGUMENTS DP n n n n n n n n or DPA n where nis a signed integer in the range 2147483648 to 2147483647 decimal n Returns the current position of the motor for the specified axes USAGE DEFAULTS While Moving No Default Value 0 0 0 0 In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _DPn contains the current position of the specified axis RELATED COMMANDS PEF on page 140 Position Formatting EXAMPLES DP 0 100 200 400 Sets the current position of the A axis to 0 the B axis to 100 the C axis to 200 and the D axis to 400 DP 50000 Sets the current position of B axis to 50000 The B C and D axes remain unchanged DP Interrogate the position of A B C and D axis 0000000 0050000 0000200 00004 00 Returns all the motor positions DP Interrogate the position of A axis 0000000 Returns the A axis motor position Hint The DP command is useful to redefine the absolute position For example you can manually position the motor by hand using the Motor Off command MO Turn the servo motors back on with SH and then use DPO to redefine the new position as your absolute zero 60 DP Binary 97 Optima Series C
82. d in position after motion forward after motion reverse wait for contour data to complete wait for time Instruction Set Automatic Subroutines see User Manual Chapter 7 for more details 8 Overview LIMS WI Limit switch on any axis goes low ININT Input specified by II goes low POSERR Position error exceeds limit specified by ER MCTIME CMDERR Bad command given COMINT TCPERR Brushless Motor Commands BA BB BC BD BI BM BO BS BZ Brushless axis Brushless phase Brushless calibration Brushless degrees Brushless inputs Brushless modulo Brushless offset Brushless setup Brushless zero Contour Mode Commands CD Contour data CM Contour mode DT Contour time interval WC Wait for contour data ECAM Gearing EA Ecam master EB Enable ECAM EC ECAM table index EG ECAM go EM ECAM cycle EP ECAM interval EQ Disengage ECAM ET ECAM table entry GA Master axis for gearing GM Gantry mode GR Gear ratio for gearing Error Control Commands BL ER FL OE Backward software limit Error limit Forward software limit Off on error function Communication Interrupt Routine TCP IP communication error Motion Complete timeout occurred Timeout period set by TW command Optima Series Command Reference TL TW Torque limit Timeout for in position Ethernet Commands DMC 2100 DMC 2200 only AO Analog output voltage of Modbus devices IA Set IP address TH Internet handle MB ModBus T
83. d command DESCRIPTION SA sends a command form the master to a slave in a distributed control system Any command can be sent to a slave controller and will be interpreted by the slave as a local command Some commands are only local commands and must be sent with the SA command ARGUMENTS Sah arg or Sah arg arg arg arg arg arg arg arg where his the handle being used to send commands to the slave controller arg is anumber controller operand variable mathematical function or string The range for numeric values is 4 bytes of integer 2 followed by two bytes of fraction 2 147 483 647 9999 The maximum number of characters for a string is 6 characters Strings are identified by quotations Typical usage would have the first argument as a string such as KT and the subsequent arguments as the arguments to the command Example SAF KT 1 2 would send the command USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format _ Command Line Yes Controller Usage DMC 2100 2200 ONLY 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 F 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 2431 RELATED COMMAND MG Send messages to a handle EXAMPLES SAA KT 1 2 Sends the command to ha
84. d 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 DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _EC contains the current value of the index into the ECAM table RELATED COMMANDS EA on page 64 Choose ECAM master EB Binary C4 on page 65 Enable ECAM EG Binary C3 on page 68 Engage ECAM EM Binary C1 on page 72 Specify ECAM cycle EP Binary C2 on page 77 Specify ECAM table intervals amp staring point EQ Binary C5 on page 78 Disengage ECAM ET Binary CO on page 81 ECAM table EXAMPLES ECO Set ECAM index to 0 ET 200 400 Set first ECAM table entries to 200 400 ET 400 800 Set second ECAM table entries to 400 800 66 EC Binary C6 Optima Series Command Reference ED FUNCTION Edit DESCRIPTION Using Galil DOS Terminal Software The ED command puts the controller into the Edit subsystem In the Edit subsystem programs can be created changed or destroyed The commands in the Edit subsystem are lt cntrl gt D lt cntrl gt I lt cntrl gt P lt cntrl gt Q lt return gt Deletes a line Inserts a line before the current one Displays the previous line Exits the Edit subsystem Saves a line Using Galil Windows Terminal Software The ED comma
85. dditional segments may be sent USAGE DEFAULTS While Moving No Default Value A B In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _VMn contains instantaneous commanded vector velocity for the specified coordinate system Sor T Optima Series Command Reference VM 187 RELATED COMMANDS VP Binary B2 on page 189 Vector Position VS Binary B9 on page 192 Vector Speed VA Binary B7 on page 183 Vector Acceleration VD Binary B8 on page 184 Vector Deceleration CR Binary B3 on page 52 Circle VE on page 185 End Vector Sequence CS on page 53 Clear Sequence VT Binary B6 on page 193 Vector smoothing constant S curve AV on page 26 Trippoint for Vector distance EXAMPLES CAS Specify S coordinate system VM A B Specify coordinated mode for A B CR 500 0 180 Specify arc segment VP 100 200 Specify linear segment VE End vector BGS Begin sequence 188 VM Optima Series Command Reference VP Binary B2 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 For three or more axes linear interpolation use the LI command The VP command will apply to the selected coordinate system S or T To select the coordinate syste
86. der inputs available on the controller USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TIn contains the status byte of the input block specified by n Note that the operand can be masked to return only specified bit information see section on Bit wise operations EXAMPLES TI 08 Input 4 is high others low TI 00 All inputs low Input _TI Sets the variable Input with the TI value TI 255 All inputs high Optima Series Command Reference TI Binary E0 169 TIME FUNCTION Time Operand Keyword DESCRIPTION The TIME operand returns 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 1 1024 seconds Thus the value returned by the TIME operand will be off by 2 4 of the actual time The clock is reset to 0 with a standard reset or a master reset The keyword TIME does not require an underscore _ as does the other operands EXAMPLES MG TIME Display the value of the internal clock 170 TIME Optima Series Command Reference TL Binary 8a FUNCTION Torque Limit DESCRI
87. dual loop mode USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format _ Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _DVn contains the state of dual velocity mode for specified axis 0 disabled enabled RELATED COMMANDS KD Binary 83 on page 106 Damping constant FV Binary 95 on page 86 Velocity feedforward EXAMPLES DV 1 1 1 1 Enables dual loop on all axes DVO Disables DV on A axis DV 1 1 Enables dual loop on C axis and D axis Other axes remain unchanged DV 1 0 1 0 Enables dual loop on A and C axis Disables dual loop on B and D axis MG_DVA Returns state of dual velocity mode for A axis Hint The DV command is useful in backlash and resonance compensation Optima Series Command Reference DV Binary 84 63 64 EA EA FUNCTION Choose ECAM master DESCRIPTION The EA command selects the master axis for the electronic cam mode Any axis may be chosen ARGUMENTS EAn where n is one of the axis specified as A B C D E F G H or N USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS EB Binary C4 on page 65 Enable ECAM EC Binary C6 on page 66 Set ECAM table index EG Binary C3 on page 68 Engage ECAM EM Binary C1 on page 72 Specify ECAM cycle EP Binary C2 on page 77 Specify ECAM table intervals
88. e 146 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 Optima Series Command Reference QU FUNCTION Upload Array DESCRIPTION The QU command transfers array data from the controller to a host computer The QU requires that the array name be specified along with the first element of the array and last element of the array The uploaded array will be followed by a lt control gt Z as an end of text marker ARGUMENTS QU array start end delim where array is a valid array name start is the first element of the array default 0 end is the last element of the array default last element delim specifies the character used to delimit the array elements If delim is 1 then the array elements will be separated by acomma Otherwise the elements will be separated by a carriage return USAGE DEFAULTS While Moving No Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS QD on page 143 Download array Optima Series Command Reference QU 145 146 QZ QZ FUNCTION Return DMA Data Record information DESCRIPTION The QZ command is an interrogation command that returns information regarding DMA transfers DMC 1700 the secondary FIFO DMC 1600 DMC 1700 DMC 1800 or the Data Record DMC 1200 2000 2100 The co
89. e 9 9988 In a Program Yes Default Format 1 4 Command Line Yes Controller Usage ALL CONTROLLERS USAGE _ILn contains the value of the integrator limit for the specified axis RELATED COMMANDS KI Binary 82 on page 107 Integrator EXAMPLES KI 2 3 5 8 Integrator constants IL 3 2 7 2 Integrator limits IL Returns the A axis limit 3 0000 Optima Series Command Reference IL Binary 89 99 IN FUNCTION Input Variable DESCRIPTION The IN command allows a variable to be input from a keyboard When the IN command is executed in a program the prompt message is displayed The operator then enters the variable value followed by a carriage return The entered value is assigned to the specified variable name The IN command holds up execution of following commands in a program until a carriage return or semicolon is detected If no value is given prior to a semicolon or carriage return the previous variable value is kept Input Interrupts Error Interrupts and Limit Switch Interrupts will still be active The IN command may only be used in thread 0 Note When using the DMC 2000 or DMC 2100 the IN command works only with the serial ports ARGUMENTS IN m n where m is prompt message n is the variable name The total number of characters for n and m must be less than 80 characters USAGE DEFAULTS While Moving Yes Default Value 8 In a Program Yes Default Format Position Format Command Line No Controller Usage ALL CONTROLLERS
90. e 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 At the second stage the motor change directions and slowly approach the transition again When the transition is detected the motor is stopped instantaneously At the third stage the motor slowly moves 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 USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _HMn contains the state of the home switch for the specified axis RELATED COMMANDS CN Binary E6 on page 50 Configure Home FI Binary A5 on page 84 Find Index Only FE Binary A4 on page 83 Find Home Only EXAMPLES HM Set Homing Mode for all axes BG Home all axes BGA Home only the A axis BGB Home only the B axis BGC Home only the C axis BGD Home only the D axis Hint You can create your own custom homing sequence by using the FE Find Home Sensor only and FI Find Index only commands 90 HM Binary A3 Optima Series Command Reference HS FUNCTION Handle Assignment Switch
91. e input specified by m will be enabled nis an integer between 2 and 8 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 255 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 00001111 where the bottom 4 bits are 1 bit 0 through bit 3 and the top 4 bits are O bit 4 through bit 7 Each bit represents an interrupt to be enabled bitO 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 255 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 00000010 input 2 will be activated by a logic 1 and inputs 1 3 and 4 will be activated with a logic 0 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 3 0 mask only Command Line No Cont
92. e mode the following functions are disabled Gearing CAM PL Analog Feedback Steppers Trippoints in main thread DMA and TV Using the fast firmware the minimum sample times are the following Optima Controllers with 1 2 axes 125 usec Optima Controllers with 3 4 axes 250 psec Optima Controllers with 5 6 axes 375 psec Optima Controllers with 7 8 axes 500 usec With the normal firmware Using the normal firmware the minimum sample times are the following Optima Controllers with 1 2 axes 250 usec Optima Controllers with 3 4 axes 375 usec Optima Controllers with 5 6 axes 500 usec Optima Controllers with 7 8 axes 625 usec n returns the value of the sample time USAGE DEFAULTS While Moving Yes Default Value 1000 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TM contains the value of the sample time EXAMPLES TM 1000 Turn off internal clock TM 2000 Set sample rate to 2000 EQN mu sec This will cut all speeds in half and all acceleration in fourths TM 1000 Return to default sample rate 172 TM Binary E5 Optima Series Command Reference TN Binary B4 FUNCTION Tangent DESCRIPTION The TN m n command describes the tangent axis to the coordinated motion path m is the scale factor in counts degree of the tangent axis n is the absolute position of the tangent axis where the tangent axis is aligned with zero degrees in the coordinated motion plane The tangent axis is
93. e should be applied to the motor phases USAGE DEFAULTS While Moving No Default Value of V 0 In a Program Yes Default Value of n 200 Command Line Yes Controller Usage ALL CONTROLLERS EXAMPLES BSC 2 900 Apply set up test to C axis with 2 volts for 900 millisecond on each step 38 BS Optima Series Command Reference RELATED COMMANDS BA on page 27 Brushless Axis BB Binary 9E on page 28 Brushless Phase Begins BC on page 29 Brushless Commutation BD Binary 9D on page 30 Brushless Degrees BI on page 32 Brushless Inputs BM Binary 9B on page 34 Brushless Modulo BO Binary 9F on page 36 Brushless Offset BZ on page 41 Brushless Zero Note When using Galil Windows software the timeout must be set to a minimum of 10 seconds timeout 10000 when executing the BS command This allows the software to retrieve all messages returned from the controller Optima Series Command Reference BS 39 BV FUNCTION Burn Variables amp Arrays DESCRIPTION The BV command saves the controller 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 is complete ARGUMENTS None USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Not in a Program Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS BP on page 37 Burn Program Note This command may cause the Galil software to
94. ed in the Galil software but this warning does not affect the operation of the controller or software Optima Series Command Reference BP 37 BS FUNCTION Brushless Setup DESCRIPTION The command BS tests the wiring of a sinusoidally commutated brushless motor If Hall sensors are connected this command also tests the wiring of the Hall sensors This function can only be performed with one axis at a time 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 BSA v n where vis areal number between 0 and 10 v represents the voltage level to be applied to each phase n is a positive integer between 100 or 1000 n represents the duration in milliseconds that voltag
95. efault Value In a Program Yes Default Format 2 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _CEn contains the value of encoder type for the axis specified by n RELATED COMMANDS MT on page 129 Specify motor type EXAMPLES CE 0 3 6 2 Configure encoders CE Interrogate configuration V _CEA Assign configuration to a variable Note When using pulse and direction encoders the pulse signal is connected to CHA and the direction signal is connected to CHB 46 CE Binary 8C Optima Series Command Reference CF FUNCTION Configure DESCRIPTION Sets the default port for unsolicited messages By default the DMC 2x00 will send unsolicited responses to the main RS 232 serial port if the ENET USB dip switch is off otherwise the DMC 2x00 will send these responses to the last Ethernet handle to send a message to the controller The CF command allows the user to override the ENET USB dip switch and send unsolicited responses to the Main Serial Port Auxiliary Serial Port or Handles A F ARGUMENTS CFn where USAGE DMC 2100 2200 nis A thru F for Ethernet handles 1 thru 6 S for Main serial port or T for Auxiliary port N reads ENET switch DMC 2000 n is S for Main serial port T for Auxiliary port any other letter for USB N reads USB switch While Moving Yes Default Value In a Program Yes Default Format Command Line No Controller Usage DMC 2000 2100 2200 ONLY OPER
96. either the abort input or on AB command If a position error is detected on an axis and the motion was executing an independent move only that axis will be shut off If the motion is a part of coordinated mode of the types VM LM or CM all participating axes will be stopped ARGUMENTS OE n n n n n n n n or OEA n where n 0 Disables the Off On Error function n 1 Enables the Off On Error function USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _OEn contains the status of the off on error function for the specified axis 0 off 1 on RELATED COMMANDS AB on page 13 Abort ER Binary 88 on page 79 Error limit SH Binary AA on page 160 Servo Here POSERR Error Subroutine EXAMPLES OE 1 1 1 1 Enable OE on all axes OE 0 Disable OE on A axis other axes remain unchanged OE 1 1 Enable OE on C axis and D axis other axes remain unchanged OE 1 0 1 0 Enable OE on A and C axis Disable OE on B and D axis Hint The OE command is useful for preventing system damage due to excessive error 136 OE Binary 8D Optima Series Command Reference OF Binary 99 FUNCTION Offset DESCRIPTION The OF command sets a bias voltage in the motor command output or returns a previously set value This can be used to counteract gravity or an offset in an amplifier ARGUMENTS OF n n n n n n n n or OFA n where nis a signed number in the ran
97. emory m is used to specify the last line to be listed USAGE DEFAULTS While Moving Yes Default Value 0 Last Line In a Program No Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS LA on page 110 List Arrays LL on page 115 List Labels LV on page 120 List Variables EXAMPLES LS A 6 List program starting at A through line 6 002 A 003 PR 500 004 BGA 005 AM 006 WT 200 Hint Remember to quit the Edit Mode lt cntrI gt Q prior to giving the LS command Optima Series Command Reference LS 119 120 LV LV FUNCTION List Variables DESCRIPTION The LV command returns a listing of all of the program variables in memory The listing will be in alphabetical order ARGUMENTS None USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS LA on page 110 LS on page 119 LL on page 115 EXAMPLES gt LV APPLE 60 0000 BOY 25 0000 ZEBRA 37 0000 DEFAULTS Yes Default Value Yes Default Format Yes ALL CONTROLLERS List Arrays List Program List Labels Optima Series Command Reference LZ Binary E7 FUNCTION Leading Zeros DESCRIPTION The LZ command is used for formatting the values returned from interrogation commands or interrogation of variables and arrays By enabling the LZ function all leading zeros of returned values will be removed ARGUMENTS LZ n where n 1 Removes leading zeros n 0 Does not remove leading zer
98. equest the I O status This is returned to the user as a text string ARGUMENTS TZ where USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format _ Command Line Yes Controller Usage DMC 2100 2200 ONLY RELATED COMMANDS TI Binary E0 Tell Inputs SB Binary EA CB Binary EB Set Clear output bits OP Binary E8 Output port CO Configure I O EXAMPLES TZ Tell current master I O status BLOCK 0 8 1 dedicated as input value 255 1111_1111 BLOCK 0 8 1 dedicated as output value 0 0000_0000 BLOCK 1 16 9 dedicated as input value 255 1111_1111 BLOCK 1 16 9 dedicated as output value 0 0000_0000 BLOCK 2 24 17 configured as input value 255 1111_1111 BLOCK 3 32 25 configured as input value 255 1111_1111 BLOCK 4 40 33 configured as input value 255 1111_1111 BLOCK 5 48 41 configured as input value 255 1111_1111 BLOCK 6 56 49 configured as input value 255 1111_1111 BLOCK 7 64 57 configured as input value 255 1111_1111 BLOCK 8 72 65 configured as input value 255 1111_1111 BLOCK 9 88 81 dedicated as input value 255 1111_1111 BLOCK 10 96 89 dedicated as input value 255 1111_1111 180 TZ Optima 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 comma
99. er nis the 16 bit value MBh addr 7 array where array is where the returned data is stored one byte per element MBh addr 15 m n array where m is the starting bit number n is the number of bits array contains the data one byte per element MBh addr 16 m n array where m is the starting register number nis 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 DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage DMC 2100 2200 ONLY RELATED COMMANDS Optima Series Command Reference MB 123 MC Binary C9 FUNCTION Motion Complete In Position DESCRIPTION The MC command is a trippoint used to control the timing of events This command will hold up execution of the following commands until the current move on the specified axis or axes is completed and the encoder reaches or passes the specified position Any combination of axes may be specified with the MC command For example MC AB waits for motion on both the A and B axis to be complete MC with no parameter specifies that motion on all axes is complete The command 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
100. er can go in both directions A gear ratio of 0 disables gearing for each axis A limit switch also disables the gearing unless gantry mode has been enabled see GM command ARGUMENTS GR 1 n n n n n n n or GRA n where nis a signed numbers in the range 127 with a fractional resolution of 0001 n 0 Disables gearing n Returns the value of the gear ratio for the specified axis USAGE While Moving In a Program Command Line Controller Usage OPERAND USAGE DEFAULTS Yes Default Value Yes Default Format Yes ALL CONTROLLERS _GRn contains the value of the gear ratio for the specified axis RELATED COMMANDS GA on page 87 GM on page 88 EXAMPLES GEAR MOB GAB GR 25 5 EN Master Axis Gantry Mode Turn off servo to B motor Specify master axis as B Specify A and C gear ratios End program Now when the B motor is rotated by hand the A will rotate at 1 4th the speed and C will rotate 5 times the speed in the opposite direction Hint when the geared motors must be coupled strongly to the master use the gantry mode GM Optima Series Command Reference GR Binary 96 89 HM Binary A3 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 During first stage of the homing sequence the motor moves at the user programmed speed until detecting a transition on th
101. er is 1 P Z P and the equivalent continuous filter is A S A where A is the filter cutoff frequency A 1 T In 1 p rad sec and T is the sample time ARGUMENTS PL n n n n n n n n or PLA n where nis a positive number in the range 0 to 0 9999 n Returns the value of the pole filter for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 0 In a Program Yes Default Format 3 0 Not in a Program Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _PLn contains the value of the pole filter for the specified axis RELATED COMMANDS KD Binary 83 on page 106 Derivative KP Binary 81 on page 108 Proportional KI Binary 82 on page 107 Integral Gain EXAMPLES PL 95 9 8 822 Set A axis Pole to 0 95 B axis to 0 9 C axis to 0 8 D axis pole to 0 822 PL Return all Poles 0 9527 0 8997 0 7994 0 8244 PL Return A Pole only 0 9527 PL Return B Pole only 0 8997 Optima Series Command Reference PL Binary 87 141 PR Binary A7 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 ARGUMENTS PR n n n n n n n n or PRA n where nis a signed integer in the range 2147483648 to 2147483647 decimal Units are in encoder counts n Returns the current incremental distance for the specified axis USAGE DEFAULTS While Moving No Default Value 0 In a Program Yes Defa
102. erminates the Contour Mode n 1through8 specifies the time interval of 2 samples By default the sample period is 1 msec set by the TM command with n 1 the time interval would be 2 msec n Returns the value for the time interval for contour mode USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _DT contains the value for the time interval for Contour Mode RELATED COMMANDS CM Binary BD on page 49 Contour Mode CD Binary BE on page 45 Contour Data WC Binary D4 on page 194 Wait for next data EXAMPLES DT4 Specifies time interval to be 16 msec DT7 Specifies time interval to be 128 msec CONTOUR Begin CMAB Enter Contour Mode DT4 Set time interval CD 1000 2000 Specify data WC Wait for contour CD 2000 4000 New data WC Wait DTO Stop contour CDO Exit Contour Mode EN End 62 DT Binary BF Optima Series Command Reference DV Binary 84 FUNCTION Dual Velocity Dual Loop DESCRIPTION The DV function changes the operation of the filter It causes the KD derivative term to operate on the dual encoder instead of the main encoder This results in improved stability in the cases where there is a backlash between the motor and the main encoder and where the dual encoder is mounted on the motor ARGUMENTS DV n n n n n n n n or DVX n where n 0 Disables the dual loop mode n 1 Enables the
103. f 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 In a Program Command Line Controller Usage RELATED COMMANDS LL on page 115 LS on page 119 LV on page 120 EXAMPLES LA CA 10 LA 5 NY 25 VA 17 DEFAULTS Yes Default Value Yes Default Format Yes ALL CONTROLLERS List Labels List Program List Variable Optima Series Command Reference LE Binary B5 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 The LE command will apply to the selected coordinate system S or T To select the coordinate system use the command CAS or CAT ARGUMENTS n Returns the total vector move length in encoder counts for the selected coordinate system S or T To select the coordinate system use the command CAS or CAT USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _LEn contains the total vector move length in encoder counts RELATED COMMANDS LI Binary B1 on page 113 Linear Distance BG Binary AO o
104. f events This command will hold up the execution of the following command until the specified motor moves forward and crosses the position specified The units of the command are in quadrature counts Only one axis may be specified at a time The MF command only requires an encoder and does not require that the axis be under servo control When using a stepper motor this condition is satisfied when the stepper position as determined by the output buffer has crossed the specified Forward Motion Position For further information see Chapter 6 of the User Manual Stepper Motor Operation ARGUMENTS MF n n n n n n n n or MFA n where nis a signed integer in the range 2147483648 to 2147483647 decimal USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS AD Binary CD on page 15 Trippoint for after Relative Distances AP Binary CE on page 21 Trippoint for after Absolute Position EXAMPLES TEST Program B DPO Define zero JG 1000 Jog mode speed of 1000 counts sec BGA Begin move MF 2000 After passing the position 2000 Vi _TPA Assign V1 A position MG Position is V1 Print Message ST 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 mot
105. f x RND x Round of x SQR x Square root of x INIx State of digital input x OUTIx State of digital output x ANIx Value of analog input x Programming Commands DA Deallocate variables arrays DL Download program DM Dimension arrays ED Edit program ELSE Conditional statement ENDIF End of conditional statement EN End program IF If statement IN Input variable JP Jump JS Jump to subroutine NO No operation for remarks RA Record array automatic data capture RC Record interval for RA RD Record data for RA RE Return from error routine REM Remark program RI Return from interrupt routine UI User Interrupt UL Upload program XQ Execute program ZS Zero stack Servo Motor Commands AF Analog feedback FA Acceleration feedforward FV Velocity feedforward Optima Series Command Reference IL Integrator limit KD Derivative constant KI Integrator constant KP Proportional constant NB Notch bandwidth NF Notch frequency NZ Notch zero OF Offset PL Pole SH Servo here TL Torque limit TM Sample time Stepper Motor Commands DE Define encoder position DP Define reference position KS Stepper motor smoothing MT Motor type RP Report commanded position TD Step counts output TP Tell position of encoder System Configuration BN BP BV cc CE CF CN CW DE DP DR DV H EO IT IZ MO MT PF QD QU RS ARAS ARAV VE Burn parameters Burn program Burn variables and arrays Configure auxiliary
106. for the specified axis RELATED COMMANDS NB on page 130 Notch bandwidth NZ on page 133 Notch Zero EXAMPLES NF 20 Sets the notch frequency of B axis to 20 Hz Optima Series Command Reference NF 131 NO apostrophe also accepted FUNCTION No Operation DESCRIPTION The NO or an apostrophe command performs no action in a sequence but can be used as a comment in a program This helps to document a program ARGUMENTS NO m where m is any group of letters and numbers up to 77 characters can follow the NO command USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS EXAMPLES A Program A NO No Operation NO This Program No Operation NO Does Absolutely No Operation NO Nothing No Operation EN End of Program 132 NO apostrophe also accepted Optima Series Command Reference NZ FUNCTION Notch Zero DESCRIPTION The NZ command sets the real part of the notch zero ARGUMENTS NZ n n n n n n n n or NZA n where 1 nis ranges from 1 Hz to 16 TM n Returns the value of the Notch filter zero for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 5 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _NZn contains the value of the Notch filter zero for the specified axis RELATED COMMANDS NB on page 130 Notch Bandwidth NF on page 131 Notch Filter EXAMPLES NZA
107. ge 9 998 to 9 998 volts with resolution of 0 0003 n Returns the offset for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _OFn contains the offset for the specified axis EXAMPLES OF 1 2 3 5 Set A axis offset to 1 the B axis offset to 2 the C axis to 3 and the D axis to 5 OF 3 Set A axis offset to 3 Leave other axes unchanged OF 0 Set B axis offset to 0 Leave other axes unchanged OF Return offsets 3 0000 0 0000 3 0000 5 0000 OF Return A offset 3 0000 OF Return B offset 0 0000 Optima Series Command Reference OF Binary 99 137 OP Binary E8 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 OP m a b c d where m is an integer in the range 0 to 65535 decimal or 0000 to FFFF hexadecimal 0 to 255 for 4 axes or less m is the decimal representation of the general output bits Output 1 through output 8 for controllers with 4 axes or less Outputs 1 through output 16 for controller with 5 or more axes a b c d represent the extended I O in consecutive groups of 16 bits values from 0 to 65535 Arguments which 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 o
108. ge 189 Vector Position BG Binary AO on page 31 Begin Sequence CS on page 53 Clear Sequence EXAMPLES VM AB Vector move in AB VP 1000 2000 Linear segment CR 0 90 180 Arc segment VP 0 0 Linear segment VE End sequence BGS Begin motion Optima Series Command Reference VE 185 VF FUNCTION Variable Format DESCRIPTION The VF command formats the nunber of digits to be displayed when interrogating the controller If a number exceeds the format the number will be displayed as the maximum possible positive or negative number i e 999 99 999 8000 or 7FF ARGUMENTS VF m n where m and n are unsigned numbers in the range 0 lt m lt 10 and 0 lt n lt 4 m represents the number of digits before the decimal point A negative m specifies hexadecimal format When in hexadecimal the string will be preceded by a and Hex numbers are displayed as 2 s complement with the first bit used to signify the sign n represents the number of digits after the decimal point m Returns the value of the format for variables and arrays USAGE DEFAULTS While Moving Yes Default Value 10 4 In a Program Yes Default Format 2 1 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _VF contains the value of the format for variables and arrays RELATED COMMANDS PEF on page 140 Vector Position EXAMPLES VF 5 3 Sets 5 digits of integers and 3 digits after the decimal point VF 8 0 Sets 8 digits of integers and no fractions V
109. given in IN command Master axis modulus greater than 256 EP value Not valid during coordinated move 1 1 1 EB1 command must be given first Sequence segment too short No hall effect sensors detected Total move distance in a sequence gt 2 111 billion command VP or CR commands cannot be mixed 113 No movement in BZ command with LI commands Contouring record range error BZ command runaway Contour data being sent too slowly Controller has GL1600 not GL1800 Gear axis both master and follower Not enough fields Question mark not valid i Missing or string too long 1 1 1 1 1 1 1 Lor a f EE 23 Emorin 12 4 Bthemethandle already in use i s 26 x7 28 02 103 04 05 20 21 22 23 124 25 26 27 28 Bad command response i e _GNX While Moving In a Program Not in a Program Controller Usage USAGE DEFAULTS Yes Default Value Yes Default Format Yes ALL CONTROLLERS _TC contains the error code EXAMPLES GF32 TC 001 Optima Series Command Reference Bad command Tell error code Unrecognized command Must be made brushless by BA TC 165 TD Binary DB FUNCTION Tell Dual Encoder DESCRIPTION This command returns the current position of the dual auxiliary encoder s Auxiliary encoders are not available for stepper axes or for the axis where output compare is used When operating with stepper motors the TD command returns the number of counts that ha
110. gured as an output The least significant bit represents block 2 and the most significant bit represents block 9 The decimal value can be calculated by the following formula n n 2 n3 4 n4 8 n5 16 ng 32 n7 64 ng 128 no where n represents the block To configure a block as an output block substitute a one into that nx in the formula If the nx value is a zero then the block of 8 I O points will be configured as an input For example if block 3 and 4 is to be configured as an output CO 6 is issued USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage FOR DMC 1600 1700 1800 17x8 2000 2100 2200 For DMC 1700 1800 with extended I O board OPERAND USAGE _CO returns output configuration value RELATED COMMANDS CB Binary EB on page 43 Clear Output Bit SB Binary EA on page 158 Set Output Bit OP Binary E8 on page 138 Set Output Port TI Binary EO on page 168 Tell Inputs EXAMPLES CO 0 Configure all points as inputs Co 1 Configures block 1 to outputs on extended I O Hint See appendix for more information on the extended I O boards Optima Series Command Reference CoO 51 CR Binary B3 FUNCTION Circle DESCRIPTION ARGUMENTS CR 1 6 A9 lt n gt o0 The CR command specifies a 2 dimensional arc segment of radius r starting at angle 0 and traversing over angle A0 A positive AO denotes counterclockwise traverse negative AO de
111. h PA PR and JG ARGUMENTS FA n n n n n n n n or FAS n where nis an unsigned number in the range 0 to 8191 decimal with a resolution of 0 25 n Returns the value of the feedforward acceleration coefficient for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 4 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _FAn contains the value of the feedforward acceleration coefficient for the specified axis RELATED COMMANDS FV Binary 95 on page 86 Velocity feedforward EXAMPLES AC 500000 1000000 Set feedforward coefficient to 10 for the A axis FA 10 15 and 15 for the B axis The effective bias will be 0 75V for A and 2 25V for B FA Return A and B values 010 015 Note If the feedforward coefficient is changed during a move then the change will not take effect until the next move 82 FA Binary 94 Optima Series Command Reference FE Binary A4 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 Optima Series Command Reference the motor decelerates to a stop This command is useful for creating your own homing sequences ARGUMENTS FE nnnnnnnn where nis A B C D E F G or H or any combination to specify
112. h executable instruction is listed in the following section in alphabetical order Below is a description of the information which is provided for each command The two letter Opcode for each instruction is placed in the upper right corner Some commands have a binary equivalent and the binary value is listed next to the ASCII command in parenthesis For binary command mode see discussion below Below the opcode is a description of the command and required arguments Optima Series Command Reference Overview 1 Axes Arguments Some commands require the user to identify the specific axes to be affected These commands are followed by uppercase X Y Z W or A B C D E F G and H No commas are needed and the order of axes is not important Do not insert any spaces prior to any command For example STX AMX is invalid because there is a space after the semicolon The proper syntax for commands requires that the command argument be separated from the command by a single space When an argument is not required and is not given the command is executed for all axes Valid syntax SHA Servo Here A only SH ABD Servo Here A B and D axes SH ACD Servo Here A C and D axes SH ABCD Servo Here A B C and D axes SH BCAD Servo Here A B C and D axes SH ADEG Servo Here A D E and G axes SHH Servo Here H axis only SH Servo Here all axes Parameter Arguments Some commands require numerical arguments to be specified following the instruction In the a
113. h represent binary numbers These binary numbers are used to logically AND with the interrupt registers as described by the following tables The use of the values m and n to select the desired bits from the interrupt register is known as masking BIT m CONDITION BIT m CONDITION e 2 laa ae ee a a E complete A ca a a a Inputs uses n for mask 32 F motion complete 13 8192 Application program stopped 1 C Cc EC Te a e Note n is only used if the interrupt function is enabled for bit 15 Optima Series Command Reference EI Binary ED 69 USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Controller Usage EXCEPT FOR DMC 2000 2100 2200 RELATED COMMANDS UI on page 181 User interrupt EXAMPLES 1 Specify interrupts when motion is complete on all axes OR if a limit switch occurs From the table enable bits 8 and 10 m 28 210 256 1024 1280 EI 1280 2 Specify interrupt on Input 3 Enable bit 15 on m and bit 2 on n m 215 32768 n 22 4 EI 32768 4 70 EI Binary ED Optima Series Command Reference 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 a
114. he commanded motion is in the direction which moves away from the specified position The units of the command are quadrature counts Only one axis may be specified at a time The motion profiler must be on or the trippoint will automatically be satisfied Note AR will be affected when the motion smoothing time constant IT is not 1 See IT command for further information ARGUMENTS AR 1 n n n n n n n or ARA n where nis an unsigned integer in the range 0 to 2147483647 decimal USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS AV on page 26 Trippoint for after vector position for coordinated moves AP Binary CE on page 21 Trippoint for after absolute position EXAMPLES A DP 0 0 0 0 Begin Program JG 50000 7000 Specify speeds BG AD Begin motion B Label AR 25000 After passing 25000 counts of relative distance on A axis MG Passed _A TPA Send message on A axis JP B Jump to Label B EN End Program Hint AR is used to specify incremental distance from last AR or AD command Use AR if multiple position trippoints are needed in a single motion sequence Optima Series Command Reference AR Binary CF 23 AS Binary DO 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 comma
115. he latch must first be armed by the AL command and then a 0 must occur on the appropriate input Each axis uses a specific general input for the latch input X A axis latch Input 1 Y B axis latch Input 2 Z axis latch Input 3 W D axis latch Input 4 E axis latch Input 9 F axis latch Input 10 G axis latch Input 11 H axis latch Input 12 The armed state of the latch can be configured using the CE command Note The Latch Function works with the main encoder When working with a stepper motor without an encoder the latch can be used to capture the stepper position To do this place a wire from the controller Step PWM output into the main encoder input channel A Connect the Direction sign output into the channel B input Configure the main encoder for Step Direction using the CE command The latch will now capture the stepper position based on the pulses generated by the controller ARGUMENTS RL nnnnnnnnnn where nis X Y Z W A B C D E F G or H or any combination to specify the axis or axes USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _RLn contains the latched position of the specified axis RELATED COMMAND AL Binary EE on page 19 Arm Latch EXAMPLES JG 5000 Set up to jog the B axis BGB Begin jog ALB Arm the B latch assume that after about 2 seconds input goes low RLB Report the latch 10000
116. ications interrupt subroutine there are two arguments the first determines whether trippoints will be restored upon completion of the subroutine and the second determines whether the communication interrupt will be re enabled ARGUMENTS ENm n where m 0 Return from subroutine without restoring trippoint m 1 Return from subroutine and restore trippoint n 0 Return from COMINT without restoring interrupt n 1 Return from communications interrupt COMINT and restore interrupt Note1 The default values for the arguments are 0 For example EN 1 and ENO 1 have the same effect Note2 The arguments will specify how the COMINT routine handles trippoints 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 and by continue to wait for the trippoint or clear the trippoint and continue executing the program at the command just after the trippoint Note3 Use the RE command to return from the interrupt handling subroutines LIMS WI and POSERR Use the RI command to return from the ININT subroutine USAGE DEFAULTS While Moving Yes Default Value m 0 n 0 In a Program Yes Default Format Command Line No Controller Usage ALL CONTROLLERS RELATED COMMANDS RE on page 150 Return from error subroutine RT on page 151 Retur
117. ied The command AB will shut off the motors for any axis in which the off on error function is enabled see command OE AB aborts motion on all axes in motion and cannot stop individual axes ARGUMENTS AB n where n 0 The controller aborts motion and program n 1 The controller aborts motion only No argument will cause the controller to abort the motion and program USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _AB gives state of Abort Input inactive and 0 active RELATED COMMANDS SH Binary AA on page 160 Re enables motor OE Binary 8D on page 136 Specifies Off On Error EXAMPLES AB Stops motion OE 1 1 1 1 Enable off on error AB Shuts off motor command and stops motion A Label Start of program JG 20000 Specify jog speed on X axis BGX Begin jog on X axis WT 5000 Wait 5000 msec ABI Stop motion without aborting program WT 5000 Wait 5000 milliseconds SH Servo Here JP A Jump to Label A EN End of the routine Hint Remember to use the parameter I following AB if you only want the motion to be aborted Otherwise your application program will also be aborted Optima Series Command Reference AB Binary A2 13 AC Binary 90 FUNCTION Acceleration DESCRIPTION The Acceleration AC command sets the linear acceleration rate of the motors for independent moves such as PR PA and JG moves The accelerati
118. igh See HM and FE commands 1 Home switch configured to drive motor in reverse direction when input is high See HM and FE commands 1 Configures inputs 5 6 7 8 13 14 15 16 as selective abort inputs for axes A B C D E F G and H respectively Inputs 5 6 7 8 13 14 15 16 are configured as general use inputs USAGE DEFAULTS While Moving Yes Default Value 1 1 1 0 In a Program Yes Default Format 2 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _CNO Contains the limit switch configuration _CN1 Contains the home switch configuration _CN2 Contains the latch input configuration _CN3 Contains the state of the selective abort function 1 enabled 0 disabled RELATED COMMANDS AL Binary EE on page 19 Arm latch EXAMPLES CN 1 1 Sets limit and home switches to active high CN 1 Sets input latch active low 50 CN Binary E6 Optima Series Command Reference CO FUNCTION Configure Outputs DESCRIPTION The CO command configures the extended I O For the DMC 1600 17x8 and DMC 2x00 Note for the DMC 1700 series controller this command only applies to DMC 17x8 The 64 extended I O points of the DMC 17x8 series controller can be configured in blocks of 8 The extended I O is denoted as bits 17 80 and blocks 2 9 ARGUMENTS COn where nis a decimal value which represents a binary number Each bit of the binary number represents one block of extended I O When set to 1 the corresponding block is confi
119. imal point Binary Commands 4 Overview Some commands have an equivalent binary value for the controllers These values are listed next to the command in parentheses in hexadecimal format Binary communication mode can be executed much faster than ASCII commands Binary format can only be used when commands are sent from the PC and cannot be embedded in an application program hexadecimal format represents a byte as two 4 bit values Each 4 bit value is represented as a single character with a decimal equivalent between 0 and 15 The characters used for representing 10 15 is A B C D E and F For example the hexadecimal value 6D represent the binary value 01101101 Negative values are represented in 2 s complement Binary Command Format All binary commands have a 4 byte header followed by data fields The 4 bytes are specified in hexadecimal format Header Format Byte 1 specifies the command number between 80 to FF The complete binary command number table is listed below Byte 2 specifies the of bytes in each field as 0 1 2 4 or 6 as follows 00 No datafields i e SH or BG 01 One byte per field 02 One word 2 bytes per field 04 One long word 4 bytes per field 06 Galil real format 4 bytes integer and 2 bytes fraction Byte 3 specifies whether the command applies to a coordinated move as follows 00 No coordinated motion movement 01 Coordinated motion movement For example the command STS designates motion
120. ine Yes Controller Usage ALL CONTROLLERS EXAMPLES BB 30 60 The offsets for the Y and W axes are 30 and 60 respectively OPERAND USAGE _BBn contains the position offset between the Hall transition and 0 0 for the specified axis RELATED COMMANDS BA on page 27 Brushless Axis BC on page 29 Brushless Commutation BD Binary 9D on page 30 Brushless Degrees BI on page 32 Brushless Inputs BM Binary 9B on page 34 Brushless Modulo BO Binary 9F on page 36 Brushless Offset BS on page 38 Brushless Setup BZ on page 41 Brushless Zero Note BB is only effective as part of the BC command or upon reset 28 BB Binary 9E Optima Series Command Reference BC FUNCTION Brushless Calibration DESCRIPTION The function BC monitors the status of the Hall sensors of a sinusoidally commutated motor and resets the commutation phase upon detecting the first hall sensor This procedure replaces the estimated commutation phase value with a more precise value determined by the hall sensors ARGUMENTS BC nnnnnnn where nis A B C D E F G or any combination to specify the axis USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _BCn contains the state of the Hall sensor inputs This value should be between 1 and 6 RELATED COMMANDS BA on page 27 Brushless Axis BB Binary 9E on page 28 Brushless Phase Begins BD Binary 9D on
121. ing 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 413 410 448 4055 displays carriage return and the characters 0 and 7 Optima Series Command Reference MO Binary A9 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 nonnnnnnnn where nis A B C D E F G or H or any combination to specify the axis or axes No argument specifies all axes USAGE DEFAULTS While Moving No Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _MOn contains the state of the motor for the specified axis RELATED COMMANDS SH Binary AA on page 160 Servo Here EXAMPLES MO Turn off all motors MOA Turn off the A motor Leave the other motors unchanged MOB Turn off the B motor Leave the other motors unchanged MOCA Turn off the C and A motors Leave the other motors unchanged SH Turn all motors on Bob _MOA Sets Bob equal to the A axis servo status Bob Return value of Bob If 1 in motor off mode If 0 in servo mode Hint The MO command is useful for positioning the moto
122. is 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 ARGUMENTS OCx m n where x A B C D E F G H specifies which encoder input to be used m Absolute position for first pulse Integer between 2 10 and 2 10 n Incremental distance between pulses Integer between 65535 and 65535 Notes 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 dis tance of 65536 In where Inl is the absolute value of n USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS 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 OCA 300 100 Select A encoder as position sensor First pulse at 300 Following pulses at 400 500 Optima Series Command Reference OC 135 OE Binary 8D FUNCTION Off on Error DESCRIPTION The OE command causes the controller to shut off the motor command if a position error exceeds the limit specified by the ER command occurs or an abort occurs from
123. lement of array default 0 end is last element of array default last element USAGE DEFAULTS While Moving No Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS QU on page 145 Upload array HINT Using Galil terminal software the command can be used in the following manner 1 Set the timeout to 0 2 Send the command QD 3a Use the send file command to send the data file OR 3b Enter data manually from the terminal End the data entry with the character Optima Series Command Reference QD 143 144 QR 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 is described in Chapter 4 of the user s manual ARGUMENTS QR nnnnnnnnnn where nis A B C D E F G H S T or I or any combination to specify the axis axes sequence or I O status S and T represent the S and T coordinated motion planes I represents the status of the I O Chapter 4 of the users manual provides the definition of the data record information USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS QZ on pag
124. ll help minimize the error 14 AC Binary 90 Optima Series Command Reference AD Binary CD FUNCTION After Distance DESCRIPTION The After Distance AD command is a trippoint used to control the timing of events This command will hold up the execution of the following command until one of the following conditions have been met 1 The commanded motor position crosses the specified relative distance from the start of the move 2 The motion profiling on the axis is complete 3 The commanded motion is in the direction which moves away from the specified position The units of the command are quadrature counts Only one axis may be specified at a time The motion profiler must be on or the trippoint will automatically be satisfied Note AD command will be affected when the motion smoothing time constant IT is not 1 See IT command for further information ARGUMENTS AD n n n n n n n n or ADA n or ADN n where nis an unsigned integers in the range 0 to 2147483647 decimal ADN2 sets trippoint for N axis Note The AD command cannot have more than largument USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS AV on page 26 After distance for vector moves AP Binary CE on page 21 After position trip point AR Binary CF on page 23 After relative distance trip point MF Binary CB on page 125 Motion Forward trip poin
125. ller to be cleared set to 0 The first output on the controller is denoted as output 1 Note When using Modbus devices DMC 2100 DMC 2200 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 to 16 BitNum is the I O point in the module from to 4 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS SB Binary EA on page 158 Set Bit OB Binary E9 on page 134 Output Bit OP Binary E8 on page 138 Define output port byte wise EXAMPLES CB7 Clear output bit 7 CB 16 Clear output bit 16 8 axis controllers only Optima Series Command Reference CB Binary EB 43 CC FUNCTION Configure Communications Port 2 DESCRIPTION The CC command configures baud rate handshake mode and echo for the AUX SERIAL PORT referred to as Port 2 This command must be given before using the MG IN or CI commands with Port 2 ARGUMENTS CC m n 1 p m Baud rate 300 1200 4800 9600 19200 or 38400 n
126. m use the command CAS or CAT ARGUMENTS VP n m lt o gt p 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 where o specifies a vector speed to be taken into effect at the execution of the vector segment nis 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 DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _VPn contains the absolute coordinate of the axes at the last intersection along the sequence For example during the first motion segment this instruction returns the coordinate at the start of the sequence The use as an operand is valid in the linear mode LM and in the Vector mode VM RELATED COMMANDS CR Binary B3 on page 52 VM on page 187 VA Binary B7 on page 183 VD Binary B8 on page 184 VE on page 185 VS Binary B9 on page 192 BG Binary AO on page 31 VT Binary B6 on page 193 Circle Vector Mode Vector Acceleration Vector Deceleration Vector End Vector Speed Begin Sequence Vector smoothing EXAMPLES A
127. m 0 Causes the controller to pause program execution when output FIFO is full and to resume execution when FIFO is no longer full m 1 Causes the controller to continue program execution when output FIFO is full Characters output after FIFO is full will be lost USAGE DEFAULTS While Moving Yes Default Value 2 0 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _CW contains the value of the data adjustment bit 2 off 1 on Note The CW command can cause garbled characters to be returned by the controller The default state of the controller is to disable the CW command however the Galil Servo Design Kit software and terminal software may sometimes enable the CW command for internal usage If the controller is reset while the Galil software is running the CW command could be reset to the default value which would create difficulty for the software It may be necessary to re enable the CW command The CW command status can be stored in EEPROM 54 CW Optima Series Command Reference DA FUNCTION Deallocate the Variables amp Arrays DESCRIPTION The DA command frees the array and or variable memory space In this command more than one array or variable can be specified for memory de allocation Different arrays and variables are separated by comma when specified in one command The argument deallocates all the variables and 0 deallocates all the arrays
128. mmand 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 18 AI Binary D1 Optima Series Command Reference AL Binary EE FUNCTION Arm Latch DESCRIPTION The AL command enables the latching function high speed main or auxiliary position capture of the controller When the position latch is armed the main or auxiliary encoder position will be captured upon a low going signal Each axis has a position latch and can be activated through the general inputs A axis latch Input 1 B axis latch Input 2 C axis latch Input 3 D axis latch Input 4 E axis latch Input 9 F axis latch Input 10 G axis latch Input 11 H axis latch Input 12 The command RL returns the captured position for the specified axes When interrogated the AL command will return a if the latch for that axis is armed or a zero after the latch has occurred The CN command can be used to change the polarity of the latch function ARGUMENTS AL nnnnnnnn or ALn n n n n n n n where ncan be A B C D E F G or H The value of n is used to specify main encoder for the specified axis to be latched ncan be SA SB SC SD SE SF SG or SH The value of n is used to specify the auxiliary encoder for the specified axis to be latched USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage
129. n from interrupt subroutine Optima Series Command Reference EN 73 EXAMPLES A Program A PR 500 Move A axis forward 500 counts BGA Pause the program until the A axis completes the motion AMA Move A axis forward 1000 counts PR 1000 Set another Position Relative move BGA Begin motion EN End of Program Note Instead of EN use the RE command to end the error subroutine and limit subroutine Use the RI command to end the input interrupt subroutine 74 EN Optima Series Command Reference 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 No Controller Usage ALL CONTROLLERS RELATED COMMANDS II Binary EC on page 98 Command to begin IF conditional statement ELSE on page 71 Optional command to be used only after IF command JP on page 104 Jump command JS on page 105 Jump to subroutine command EXAMPLES IF IN 1 0 IF conditional statement based on input 1 MG INPUT 1 IS ACT
130. n n n or GAA n where ncan be A B C D E F G H or N The value of x is used to set the specified main encoder axis as the gearing master and N represents the virtual axis The slave axis is specified by the position of the argument The first position of the argument corresponds to the A axis the second position corresponds to the B axis etc A comma must be used in place of an argument if the corresponding axes will not be a slave ncan be CA CB CC CD CE CF CG or CH The value of x is used to set the commanded position of the specified axis as the gearing master ncan be S or T S and T are used to specify the vector motion of the coordinated system S or T as the gearing master ncan be DA DB DC DD DE DF DG or DH The value of n is used to set the specified auxiliary encoder axis as the gearing master USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS GR Binary 96 on page 89 Gear Ratio GM on page 88 Gantry Mode EXAMPLES GEAR Gear program GA A T Specify A axis as master for B and vector motion on T as master for C GR 5 2 5 Specify B and C ratios JG 5000 Specify master jog speed BGA Begin motion WT 10000 Wait 10000 msec STA Stop Hint Using the command position as the master axis is useful for gantry applications Using the vector motion as master is useful in generating Helical motion Optima Series Command Reference G
131. n page 31 BGS Begin Sequence LM Binary B 0 on page 116 Linear Interpolation Mode VS Binary B9 on page 192 Vector Speed VA Binary B7 on page 183 Vector Acceleration VD Binary B8 on page 184 Vector Deceleration PF on page 140 Position Formatting EXAMPLES CAS Specify S coordinated motion system LM CD Specify linear interpolation mode for C and D axes LI 100 200 Specify linear distance LE End linear move BGS Begin motion Optima Series Command Reference LE Binary B5 111 112 _LF _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 switch input is inactive _LFn 0 when the limit switch input is active For CN 1 _LFn 0 when the limit switch input is inactive _LFn 1 when the limit switch input is active The term active refers to the condition when at least 1ma 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 for further details EXAMPLES MG_LFA Display the status of the A axis forward limit switch This is an Operand Not a command Optima Series Command Reference LI Binary B1 FUNC
132. nal If no arguments are given the first program in memory will be executed as thread 0 USAGE DEFAULTS While Moving Yes Default Value of n 0 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _XQn contains the current line number of execution for thread n and 1 if thread n is not running RELATED COMMANDS HX on page 92 Halt execution EXAMPLES XQ Apple 0 Start execution at label Apple thread zero XQ data 2 Start execution at label data thread two XQ0 Start execution at line 0 Hint Don t forget to quit the edit mode first before executing a program Optima Series Command Reference XQ 197 198 ZS 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 ZS 1 adjusts the stack to eliminate one return This turns the jump to subroutine into a jump Do not use RI Return from Interrupt when using ZS To re enable interrupts you must use II command again The status of the stack can be interrogated with the operand _ZSn see operand usage below ARGUMENTS ZS n where n 0 Returns stack to original condition n 1 Eliminates one return on stack USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 3 0 Command Line No Controller Usage ALL CONTROLLERS OPERAND USAGE
133. nal constant for the specified axis RELATED COMMANDS KP Binary 81 on page 108 Proportional Constant KI Binary 82 on page 107 Integrator IL Binary 89 on page 99 Integrator Limit 108 KP Binary 81 Optima Series Command Reference KS Binary 86 FUNCTION Step Motor Smoothing DESCRIPTION The KS parameter sets the amount of smoothing of stepper motor pulses This is most useful when operating in full or half step mode 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 Note KS will cause a delay in the generation of output steps ARGUMENTS KS n n n n n n n n or KSA n where n is a positive number in the range between 5 and 16 with a resolution of 1 32 n Returns the value of the derivative constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value 1 313 In a Program Yes Default Format 4 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _KSn contains the value of the derivative constant for the specified axis RELATED COMMANDS MT on page 129 Motor Type EXAMPLES KS 2 4 8 Specify a b c axes KS5 Specify a axis only KS 15 Specify c axis only Hint KS is valid for step motor only Optima Series Command Reference KS Binary 86 109 110 LA LA FUNCTION List Arrays DESCRIPTION The LA command returns a list o
134. nate plane USAGE DEFAULTS While Moving Yes Default Value 1 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _VRn contains the vector speed ratio of the specified coordinate system S or T RELATED COMMANDS VS Binary B9 on Vector Speed EXAMPLES A Vector Program VMAB Vector Mode VP 1000 2000 Vector Position CR 1000 0 360 Specify Arc VE End Sequence VS 2000 Vector Speed BGS Begin Sequence AMS After Motion JP A Repeat Move SPEED Speed Override 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 lt and gt Optima Series Command Reference VR Binary BA 191 VS Binary B9 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 s t where s and t are unsigned even numbers in the range 2 to 12 000 000 for servo motors and 2 to 3 000 000 for stepper motors s is the speed to apply to the S coordinate system and t is the speed to apply to the T coordinate system
135. nce LE BGS Last vector then begin motion Optima Series Command Reference LM Binary B 0 117 118 _LR _LR FUNCTION Reverse Limit Switch Operand Keyword DESCRIPTION The _LR operand contains the state of the reverse limit switch for the specified axis The operand is specified as _LRn 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 _LRn 1 when the limit switch input is inactive _LRn 0 when the limit switch input is active For CN 1 _LRn 0 when the limit switch input is inactive _LRn 1 when the limit switch input is active The term active refers to the condition when at least 1ma 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 for further details EXAMPLES MG _LRA Display the status of the A axis reverse limit switch Note This is an Operand Not a command Optima Series Command Reference LS FUNCTION List Program DESCRIPTION The LS command returns a listing of the programs in memory ARGUMENTS LS n m where n and m are valid numbers from 0 to 999 or labels n is the first line to be listed m is the last n is an integer in the range of 0 to 999 or a label in the program memory n is used to specify the first line to be listed m is an integer in the range of to 999 or a label on the program m
136. nd one IRQ line must be enabled on the controller and the data 2 and 4 written to the control register at address N 1 Interrupts may be enabled through the Plug and Play feature An interrupt service routine must also be incorporated in your host program The interrupt condition can be read by writing a 6 to address N 1 and then reading address N 1 Refer to the user manual for additional information ARGUMENTS UIn where n is an integer between 0 and 15 USAGE While Moving In a Program Command Line Controller Usage EXAMPLES 1 PR 10000 SP 5000 BGA AS UI 1 EN DEFAULTS Yes Default Value 0 Yes Default Format Yes EXCEPT FOR DMC 2000 2100 2200 Label Position relative Speed Begin motion Wait for at speed Send interrupt 1 End program This program sends an interrupt to the selected IRQ line The host writes a 6 to address N 1 and then reads address N 1 to receive data E1 which corresponds to UII Optima Series Command Reference Ure 181 UL FUNCTION Upload DESCRIPTION The UL command transfers data from the controller to a host computer through port 1 Programs are sent without line numbers The Uploaded program will be followed by a lt control gt Z or a as an end of text marker ARGUMENTS None USAGE DEFAULTS While Moving Yes Default Value 0 In a Program No Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE When used as an operand UL gi
137. nd until the commanded speed has been reached The AS command will operate after either accelerating or decelerating If the speed is not reached the trippoint will be triggered after the motion is stopped after deceleration ARGUMENTS AS nnnnnnnnnn where nis A B C D E F G H S or T or any combination to specify the axis or sequence nis N for the virtual axis N USAGE While Moving In a Program Command Line Controller Usage EXAMPLES SPEED PR 100000 SP 10000 BGA ASA MG At Speed EN WARNING DEFAULTS Yes Default Value Yes Default Format Yes ALL CONTROLLERS Program A Specify position Specify speed Begin A After speed is reached Print Message End of Program The AS command applies to a trapezoidal velocity profile only with linear acceleration Smoothing profiling will be inaccurate 24 AS Binary DO AS used with Optima Series Command Reference AT Binary D2 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 nis a signed even integer in the range 0 to 2 Billion n 0 defines a reference time at curre
138. nd causes the Windows terminal software to open the terminal editor OPERAND USAGE _ED contains the line number of the last line to have an error _ED1 contains the number of the thread where the error occurred for multitasking EXAMPLES ED 000 START 001 PR 2000 002 BGA 003 SLKJ 004 EN 005 CMDERR 006 V _ED Bad line Routine which occurs upon a command error 007 MG An error has occurred n 008 MG In line V F3 0 009 ST 010 ZSO 011 EN XQ_ED2 XQ_ED3 Retry instruction that included error Execute next instruction Hint Remember to quit the Edit Mode prior to executing or listing a program Optima Series Command Reference ED 67 EG Binary C3 FUNCTION ECAM go engage DESCRIPTION The EG command engages an ECAM slave axis at a specified position of the master Ifa 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 n n n n n n n or EGA n where nis the ECAM master position at which the ECAM slave axis must be engaged n Returns 1 if specified axis is engaged and 0 if disengaged USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _EGn contains ECAM status for specified axis 0 axis is not engaged 1 axis is engaged RELATED COMMANDS EA on
139. nd 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 128 MR Binary CC Optima 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 servomotors 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 servomotors and inverts logic level of the pulse train for step motors ARGUMENTS MT n n n n n n n n or MTA n where n 1 Specifies Servo motor n l Specifies Servo motor with reversed polarity n 2 Specifies Step motor with active high step pulses n 2 Specifies Step motor with active low step pulses n 25 Specifies Step motor with reversed direction and active high step pulses n 2 5 Specifies Step motor with reversed direction and active low step pulses n Returns the value of the motor type for the specified axis USAGE DEFAULTS While Moving No Default Value 1 1 1 1 In a Program Yes Default Format 1 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _MTn contains the value of the motor type for the specified axis RELATED COMMANDS CE Binary 8C on p
140. ndex 86 I O Clear Bit 45 Set Bit 160 IF conditional 96 IF Conditional Statements ELSE 73 IF Statement ENDIF 77 Independent Motion Deceleration 58 Jog 103 105 Independent Time Constant 104 ININT 20 99 Input Interrupt 99 165 ININT 20 99 Integral Gain 109 Integrator 101 Interrogation Tell Position 176 Tell Velocity 180 Interrupt 99 165 183 Enable 71 Invert Encoders 48 Jog 103 105 Keyword 120 TIME 172 Label 60 99 Latch Configure 52 Report Position 154 Limit Switch 87 120 161 165 Configure 52 Forward 114 Linear Interpolation Clear Sequence 55 End of Motion 113 Master Reset 4 157 MCTIME 75 181 Memory 37 121 Array 145 Deallocating Arrays and Variables 57 Download 145 Modbus 23 Motion Complete MCTIME 75 181 Motion Smoothing 26 S Curve 104 VT 195 Motor Type 131 Moving Circular 189 Multitasking Execute Program 199 Optima Series Command Reference Halt Thread 94 Non volatile memory Burn 37 39 42 OE Off On Error 15 Off On Error 138 Off On Error 15 Off On Error Error 138 Off On Error 138 Output of Data Set Bit 160 PID Integral Gain 109 Plug and Play 71 POSERR 81 Position Error 138 Position Capture 21 Position Error 138 POSERR 81 Position Limit 87 Program Download 60 Upload 184 Program Flow Interrupt 99 165 Stack 99 200 Programming Halt 94 Protection Error Limit 81 Torque Limit 173 Quadrature 155 17
141. ndle A slave controller KI 1 2 SAA TE Sends the command to handle A slave controller TE MG_SAA Display the content of the operand_SAA first response to TE command 132 MG_SAB Display the content of the operand_SAA 2 response to TE command 212 Optima Series Command Reference SA 157 SB Binary EA FUNCTION Set Bit DESCRIPTION The SB command sets one of the output bits ARGUMENTS SB n where nis an integer which represents a specific controller output bit to be set high output 1 Note When using Modbus devices DMC 2100 2200 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 to 4 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMAND CB Binary EB on page 43 Clear Bit EXAMPLES SB 5 Set output line 5 SB 1 Set output line 1 158 SB Binary EA Optima Series Command Reference SC Binary E1 FUNCTION Stop Code DESCRIPTIO
142. notes 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 8 A0 must be specified Radius units are in quadrature counts and A have units of degrees The parameter n is optional and describes the vector speed that is attached to the motion segment where ris an unsigned real number in the range 10 to 6000000 decimal radius a signed number in the range 0 to 32000 decimal starting angle in degrees AO is a signed real number in the range 0 0001 to 32000 decimal angle in degrees n specifies a vector speed to be taken into effect at the execution of the vector segment n is an unsigned even integer between 0 and 12 000 000 for servo motor operation and between 0 and 3 000 000 for stepper motors o specifies a vector speed to be achieved at the end of the vector segment ois an unsigned even integer between 0 and 8 000 000 Note The product r A must be limited to 4 5 108 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS VP Binary B2 on page 189 Vector Position VS Binary B9 on page 192 Vector Speed VD Binary B8 on page 184 Vector Deceleration VA Binary B7 on page 183 Vector Acceleration VM on page 187 Vector Mode VE on page 185 End
143. nt time n gt 0 specifies a wait time of n msec from the reference time n lt 0 specifies a wait time of n msec from the reference time and re sets the reference time when the trippoint is satisfied AT n is equivalent to AT n AT lt old reference n gt USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS EXAMPLES The following commands are sent sequentially ATO Establishes reference time 0 as current time AT 50 Waits 50 msec from reference 0 AT 100 Waits 100 msec from reference 0 AT 150 Waits 150 msec from reference 0 and sets new reference at 150 AT 80 Waits 80 msec from new reference total elapsed time is 230 msec Optima Series Command Reference AT Binary D2 25 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
144. ntour Mode CD Binary BE on page 45 Contour Data DT Binary BF on page 62 Contour Time EXAMPLES CM ABCD Specify contour mode DT4 Specify time increment for contour CD 200 350 150 500 Specify incremental position on A B C and D A axis moves 200 counts B axis moves 300 counts C axis moves 150 counts D axis moves 500 counts WC Wait for contour data to complete CD 100 200 300 400 WC Wait for contour data to complete DTO Stop contour CD 0 0 0 0 Exit mode 194 WC Binary D4 Optima 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 IHH to indicate on which handle the command was executed The command returns RS232 if communicating serially ARGUMENTS None USAGE DEFAULTS While Moving Yes Default Value 8 2 In a Program Yes Default Format _ Command Line Yes Controller Usage DMC 2100 2200 ONLY RELATED COMMANDS Assume that 10 seconds after a move is over a relay must be closed TH Tell Handle OPERAND USAGE _HW contains the numeric representation of the handle in which a command is executed Handles A through H are indicated by the value 0 7 while a 1 indicates the serial port EXAMPLES WH Request handle identification IHC Command executed in handle C WH Request handle identification RS232 Command executed in RS232 port Optima Series Command Reference WH 195
145. ntroller s response to this command will be the return of 4 integers separated by commas The four fields represent the following First field returns the number of axes Second field returns the number of bytes to be transferred for general status Third field returns the number bytes to be transferred for coordinated move status Fourth field returns the number of bytes to be transferred for axis specific information ARGUMENTS QZ USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS DR on page 61 QR on page 144 DEFAULTS Yes Default Value Yes Default Format Yes ALL CONTROLLERS DMA update rate Data Record Optima Series Command Reference RA FUNCTION Record Array DESCRIPTION The RA command selects one through eight arrays for automatic data capture The selected arrays must be dimensioned by the DM command The data to be captured is specified by the RD command and time interval by the RC command ARGUMENTS RA n m Jo p RA nf mf o pU q 1 sU t0 where n m o and p are dimensioned arrays as defined by DM command The contain nothing USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS DM on page 59 RD on page 149 RC on page 148 EXAMPLES Record DM POS 100 RA POS RD _TPA RC 1 PR 1000 BG EN Dimension Array Record Data
146. ogical decisions or trippoints based on events during a running program Such events include the completion of a specific motion waiting for a certain position to be reached or simply waiting for a certain amount of time to elapse When a program is executing on the controller each program line is executed sequentially However when a trippoint command is executed the program halts execution of the next line of code until the status of the trippoint is cleared Note that the trippoint only halts execution of the thread from which it is commanded while all other independent threads are unaffected Additionally if the trippoint is commanded from a subroutine execution of the subroutine as well as the main thread is halted Since trippoint commands are used as program flow instructions during a running program they should not be implemented directly from the command line of the terminal Sending a trippoint command directly from the command line might cause an interruption in communications between the host PC and the controller until the trippoint is cleared As a brief introduction the following table lists the available commands and their basic usages AD after distance AI after input AM after move AP after absolute position AR after relative position AS at speed AT at time relative to a reference time Optima Series Command Reference Overview 7 AV MC MF MR WC WT after vector distance motion complete an
147. ommand Line Yes Controller Usage DMC 2100 2200 ONLY OPERAND USAGE _IAO contains the IP address representing a 32 bit signed number Two s complement _IA1 contains the value for t retry time _IA2 contains the number of available handles _IA3 contains the number of the handle using this operand where the number is 0 to 5 0 represents handle A 1 handle B etc _IA4 contains the number of the handle that lost communication last contains A 1 on reset to indicate no handles lost _IA5 returns Ethernet speed of 10 for 10 Base T and 100 for 100 Base T Valid on DMC 2200 only RELATED COMMANDS IH Internet Handle EXAMPLES JA 151 12 53 89 Assigns the controller with the address 151 12 53 89 TA 2534159705 Assigns the controller with the address 151 12 53 89 IA lt 500 Sets the timeout value to 500msec Optima Series Command Reference IA 93 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 and each condition must be enclosed with parenthesis 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 Condition
148. ommand Reference DR FUNCTION Configures Secondary Communication channel and the data update rate DESCRIPTION DR specifies the secondary communication channel as DMA if positive and Polling FIFO if negative n specifies the data update rate as 2 samples between updates The controller creates a record and places it in the FIFO or PC DMA location at this rate ARGUMENTS DR n or DR n DMA DMC 1700 only Polling FIFO where n is an integer in the range 0 to 8 0 turns off the secondary communication channel n 1 through 8 specifies data update rate of 2 sample periods The sample period is specified by the TM command and has a default value of 1000 1msec Note If a small sample period and a small update rate is used the controller s processor may become noticeably slower as a result of maintaining a high update rate USAGE DEFAULTS While Moving Yes Default Value 0 In a Program No Default Format Command Line Yes Controller Usage EXCEPT FOR DMC 1200 2000 2100 2200 RELATED COMMANDS QZQZ on page 146 Sets format of data Optima Series Command Reference DR 61 DT Binary BF FUNCTION Delta Time DESCRIPTION The DT command sets the time interval for Contour Mode Sending the DT command once will set the time interval for all contour data until a new DT command is sent 2 milliseconds is the time interval Followed by CDO command ARGUMENTS DT n where n is an integer in the range 0 to 8 n 0 t
149. on rate may be changed during motion The DC command is used to specify the deceleration rate ARGUMENTS AC n n n n n n n n or ACA n where nis an unsigned numbers in the range 1024 to 67107840 The parameters input will be rounded down to the nearest factor of 1024 The units of the parameters are counts per second squared n Returns the acceleration value for the specified axes USAGE DEFAULTS While Moving Yes Default Value 25600 In a Program Yes Default Format 8 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _ACx contains the value of acceleration for the specified axis RELATED COMMANDS DC Binary 91 on page 56 Specifies deceleration rate FA Binary 94 on page 82 Feedforward Acceleration IT Binary 93 on page 102 Smoothing constant S curve EXAMPLES AC 150000 200000 300000 400000 Set A axis acceleration to 150000 B axis to 200000 counts sec2 the C axis to 300000 counts sec2 and the D axis to 400000 count sec2 AC Request the Acceleration 0149504 0199680 0299008 0399360 Return Acceleration resolution 1024 V _ACB Assigns the B acceleration to the variable V Hint Specify realistic acceleration rates based on your physical system such as motor torque rating loads and amplifier current rating Specifying an excessive acceleration will cause large following error during acceleration and the motor will not follow the commanded profile The acceleration feedforward command FA wi
150. on trajectory with any of the axes The CD command specified the position increment and the DT command specifies the time interval The command CM can be used to check the status of the Contour Buffer A value of 1 returned from the command CM indicates that the Contour Buffer is full A value of 0 indicates that the Contour Buffer is empty ARGUMENTS CM nnnnnnnnnn where nis A B C D E F G or any combination to specify the axis axes for contour mode n Returns a 1 if the contour buffer is full and 0 if the contour buffer is empty USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 2 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _CM contains a 0 if the contour buffer is empty otherwise contains a 1 RELATED COMMANDS CD Binary BE on page 45 Contour Data WC Binary D4 on page 194 Wait for Contour DT Binary BF on page 62 Time Increment EXAMPLES V _CM V Return contour buffer status CM Return contour buffer status CM AC Specify A C axes for Contour Mode Optima Series Command Reference CM Binary BD 49 CN Binary E6 FUNCTION Configure DESCRIPTION The CN command configures the polarity of the limit switches home switches latch inputs and the selective abort function ARGUMENTS CN m n 0 p where m n o are integers with values 1 or 1 p is an integer 0 or 1 n 1 Home switch configured to drive motor in forward direction when input is h
151. or is driven independently by an external device Optima Series Command Reference MF Binary CB 125 126 MG 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 m n V Fm n or m n N Pn where m is a text message including letters numbers symbols or lt ctrl gt G up to 72 characters n is an ASCII character specified by the value n U for USB port Ex for ethernet and x specifies the ethernet handle A B C D E F or H V is a variable name or array element where the following formats can be used 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 through 6 N Suppress carriage return line feed Pn Directs output to main serial port P1 or auxiliary serial port P2 where nis a0 or 1 Note Multiple text variables and ASCII characters may be used each must be separated by acomma Note The order of arguments is not important USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Variable Format Command Line Yes Controller Usage ALL CONTROLLERS EXAMPLES Case 1 Message command displays ASCII strings MG Good Morning Displays the str
152. ord DM Torque 1000 Define Array RA Torque Specify Record Mode RD_TTA Specify Data Type RC2 Begin recording and set 4 msec between records JG 1000 BG Begin motion A JP A RC 1 Loop until done MG DONE RECORDING Print message EN End program Optima 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 to those which correspond to an axis on the controller o o fowo SS Tell torque Note the values recorded for torque are in the range of 32767 where 0 is 0 torque 32767 is 10 volt command output and 32767 is 10 volt where n is the axis specifier A H ARGUMENTS RD m m m3 my Ms Mg M7 Mg where the arguments are data types to be captured using the record Array feature The order is important Each data type corresponds with the array specified in the RA command USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _RD contains the address for the next array element for recording RELATED COMMANDS QZ on page 146 Record Array RC on page 148 Record Interval DM on page 59 Dimension Array EXAMPLES DM ERRORAJ S50 ERRORB 50 Define array RA ERRORA ERRORB Specify record mode RD _TEA _TEBS Specify data type RCI Begin record JG 1000 BG Begin motion Optima Series Command
153. os n Returns the state of the LZ function 0 does not remove and 1 removes Zeros USAGE DEFAULTS While Moving Yes Default Value 1 In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _LZ contains the state of the LZ function 0 is disabled and 1 is enabled EXAMPLES LZ 0 Disable the LZ function TPA Interrogate the controller for current position of A axis 000002 1645 0000 Value returned by the controller VARI Request value of variable VAR1 previously set to 10 0000000010 0000 Value of variable returned by controller LZ1 Enable LZ function TPA Interrogate the controller for current position of A axis 21645 0000 Value returned by the controller VARI Request value of variable VAR1 previously set to 10 10 0000 Value of variable returned by controller Optima Series Command Reference LZ Binary E7 121 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 2100 supports for Read Coit status Read Bits O OO O foo Read input Status Read Bits O o Read Holding Registers Read Wo
154. osition at the end of the cycle the change is zero If the change is negative specify the absolute value ARGUMENTS EM n n n n n n n n or EMA n where nis a positive integer in the range between 1 and 8 388 607 for the master axis and between 1 and 2 147 483 647 for a slave axis USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _EMn contains the cycle of the specified axis RELATED COMMANDS EA on page 64 Choose ECAM master EB Binary C4 on page 65 Enable ECAM EC Binary C6 on page 66 Set ECAM table index EG Binary C3 on page 68 Engage ECAM EP Binary C2 on page 77 Specify ECAM table intervals amp staring point EQ Binary C5 on page 78 Disengage ECAM ET Binary CO on page 81 ECAM table EXAMPLES EAC Select C axis as master for ECAM EM 0 3000 2000 Define the changes in A and B to be 0 and 3000 respectively Define master cycle as 2000 V _EMA Return cycle of A 72 EM Binary C1 Optima Series Command Reference EN FUNCTION End DESCRIPTION The EN command is used to designate the end of a program or subroutine If a subroutine was called by the JS command the EN command ends the subroutine and returns program flow to the point just after the JS command The EN command is used to end the automatic subroutines MCTIME CMDERR and COMINT When the EN command is used to terminate the COMINT commun
155. otion 185 86 192 Circular 189 Contour Mode 47 51 Ecam 73 74 Electronic Cam 66 Vector Mode 44 191 Copyright Information 56 Cycle Time Clock 172 174 Data Adjustment Bit 56 Data Capture 149 Data Output Set Bit 160 Debugging Trace Function 177 Deceleration 58 84 Default Setting Master Reset 4 157 Delta Time 64 Digital Output Clear Bit 45 Dimension Array 61 DMA 146 148 Configure 63 Download 60 145 Dual Encoder Define Position 59 INDEX 199 Dual Loop 65 Dual Loop 65 Ecam 73 ECAM Quit 80 Specify Table 79 ECAM 74 Choose Master 66 Counter 68 Enable 67 Engage 70 Specify Cycles 74 Specify Table 83 Echo 78 165 Edit Use On Board Editor 69 Edit Mode 69 EEPROM Erasing 157 Ellipse Scale 82 ELSE Function 73 Encoder Auxiliary Encoder 50 168 Define Position 62 Quadrature 155 176 Set Auxiliary Encoder Position 59 Error Codes 166 167 Error Code 1 Error Limit 81 Off On Error 15 Off On Error 138 Error Subroutine End 152 Execute Program 199 Feedforward Acceleration 84 Filter Parameter Integrator Limit 101 Find Edge 85 Find Index 86 Formatting 123 Variables 188 Frequency Sample Time 174 Gearing Set Gear Master 89 Set Gear Ratio 91 Halt 94 Abort 15 Off On Error 15 Off On Error 138 Stop Motion 164 Hardware 35 Set Bit 160 Torque Limit 173 Home Input 85 Home Switch Configure 52 200 INDEX Homing Find Edge 85 Find I
156. page 64 Choose ECAM master EB Binary C4 on page 65 Enable ECAM EC Binary C6 on page 66 Set ECAM table index EM Binary C1 on page 72 Specify ECAM cycle EP Binary C2 on page 77 Specify ECAM table intervals amp staring point EQ Binary C5 on page 78 Disengage ECAM ET Binary CO on page 81 ECAM table EXAMPLES EG 700 1300 Engages the A and B axes at the master position 700 and 1300 respectively B _EGB Return the status of B 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 68 EG Binary C3 Optima Series Command Reference EI Binary ED FUNCTION Enable Interrupts DESCRIPTION The EI command enables interrupt conditions such as motion complete or excess error The conditions are selected by the parameter m where m is the bit mask for the selected conditions as shown below Prior to using interrupts interrupts must first be configured and an interrupt service routine must first be incorporated in the program on the controller ARGUMENTS EI mn where EI 0 clears the interrupt que m is an integer between and 65535 m is used to select the interrupt s to be used nis an integer between and 255 n is used to select the specific input if the value for m indicates that inputs are to be used for interrupting m and n are integer values whic
157. parameters have no effect This command is useful when synchronizing 2 axes in which one of the axis speed is indeterminate due to a variable diameter pulley Warning When the mode is in jog mode an IP will create an instantaneous position error In this mode the IP should only be used to make small incremental position movements ARGUMENTS IP n n n n n n n n or IPA n where nis a signed numbers in the range 2147483648 to 2147483647 decimal n USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS PEF on page 140 EXAMPLES IP 50 CORRECT AC 100000 JG 10000 BGA WT 1000 IP 10 STA Optima Series Command Reference Returns the current position of the specified axis DEFAULTS Yes Default Value Yes Default Format 7 0 Yes ALL CONTROLLERS Position Formatting 50 counts with set acceleration and speed Label Set acceleration Jog at 10000 counts sec rate Wait 1000 msec Move the motor 10 counts instantaneously Stop Motion IP 101 IT Binary 93 FUNCTION Independent Time Constant Smoothing Function DESCRIPTION The IT command filters the acceleration and deceleration functions of independent moves such as JG PR PA to produce a smooth velocity profile The resulting profile known as smoothing 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
158. pecified by the destination parameter which can be either a line number or label The line number of the JS command is saved and after the next EN command is encountered End of subroutine program execution will continue with the instruction following the JS command There can be a JS command within a subroutine Multiple conditions can be used in a single jump statement The conditional statements are combined in pairs using the operands amp and i g The amp operand between any two conditions requires that both statements must be true for the combined statement to be true The I 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 may be nested 16 deep in the controller A jump is taken if the specified condition is true Conditions are tested with logical operators The logical operators are lt less than or equal to gt greater than equal to lt less than or equal to gt greater than or equal to lt gt not equal ARGUMENTS JS destination condition where destination is a line number or label condition is a conditional statement using a logical operator USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS EN on page 73 EXAMPLES JS SQUARE V1 lt 5 JS LOOP V1 lt gt 0
159. rds o Read input Registers Read Words os Force single Coil Write One BD O 06 Preset Single Register Write One Word o Read Exeption Status Read Error Cod as Foree Multiple Coils Write Multiple Bits ie o Preset Multiple Registers Write Words ly 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 01 02 03 05 07 15 16 17 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 nis 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 nis the number of bits array of which the first element will hold result 122 MB Optima Series Command Reference MBh addr 3 m n array where m is the starting register number nis the number of registers array will hold the response MBh addr 4 m n array where m is the starting register number nis the number of registers array will hold the response MBh addr 5 m n where m is the starting bit number nis Oor 1 and represents the coil set to off or on MBh addr 6 m n where m is the register numb
160. red ARGUMENTS DC n n n n n n n n or DCA n where nis an unsigned numbers in the range 1024 to 67107840 n Returns the deceleration value for the specified axes USAGE DEFAULTS While Moving Yes Default Value 256000 In a Program Yes Default Format 8 0 Command Line Yes Controller Usage ALL CONTROLLERS When moving the DC command can only be specified while in the jog mode OPERAND USAGE _DCn contains the deceleration rate for the specified axis RELATED COMMANDS AC Binary 90 on page 14 PR Binary A7 on page 142 PA Binary A6 on page 139 Acceleration Position Relative Position Absolute SP Binary 92 on page 161 Speed JG Binary A8 on page 103 Jog EXAMPLES PR 10000 Specify position AC 2000000 Specify acceleration rate DC 1000000 Specify deceleration rate SP 5000 Specify slew speed BG Begin motion Note The DC command may be changed during the move in JG move but not in PR or PA move 56 DC Binary 91 Optima Series Command Reference DE Binary 98 FUNCTION Dual Auxiliary Encoder Position DESCRIPTION The DE command defines the position of the auxiliary encoders The DE command defines the encoder position when used with stepper motors Note The auxiliary encoders are not available for the stepper axis or for any axis where output compare is active ARGUMENTS DE n n n n n n n n or DEA n where nis a Signed integers in the range 2147483647 to 2147483648 decimal n
161. rence RI FUNCTION Return from Interrupt Routine DESCRIPTION The RI command is used to end the interrupt subroutine beginning with the label ININT An RI at the end of this routine causes a return to the main program The RI command also re enables input interrupts If the program sequencer was interrupted while waiting for a trippoint such as WT RI restores the trippoint on the return to the program RIO clears the trippoint To avoid returning to the main program on an interrupt use the command ZS to zero the subroutine stack This turns the jump subroutine into a jump only ARGUMENTS RIn where n 0 Clears the interrupted trippoint n 1 Restores state of trippoint no argument clears the interrupted trippoint USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS ININT II Binary EC on page 97 EXAMPLES A II1 JP A EN ININT MG INPUT INTERRUPT SB 1 RI1 Hint An applications program must be executing for the ININT subroutine to function Optima Series Command Reference DEFAULTS No Default Value Yes Default Format No ALL CONTROLLERS Input interrupt subroutine Enable input interrupts Program label Begin interrupt subroutine Print Message Set output line 1 Return to the main program and restore trippoint RI 151 RL Binary DD FUNCTION Report Latched Position DESCRIPTION The RL command will return the last position captured by the latch T
162. rgument 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 DEFAULTS While Moving Yes In a Program Yes Command Line No Controller Usage ALL CONTROLLERS RELATED COMMANDS Default Value Default Format ENDIF on page 75 End of IF conditional Statement EXAMPLES IF IN 1 0 IF IN 2 0 MG INPUT 1 AND INPUT 2 ARE ACTIVE ELSE MG ONLY INPUT 1 IS ACTIVE ENDIF ELSE MG ONLY INPUT 2 IS ACTIVE ENDIF IF conditional statement based on input 1 2 TF conditional statement executed if 1 IF conditional true Message to be executed if 2 IF conditional is true ELSE command for 2 IF conditional statement Message to be executed if 2 IF conditional is false End of 2 conditional statement ELSE command for 1 IF conditional statement Message to be executed if 1 IF conditional statement End of 1 conditional statement ELSE 71 Optima Series Command Reference EM Binary C1 FUNCTION Cam cycles DESCRIPTION The EM command is part of the ECAM mode It is used to define the change in position over one complete cycle of the master The field for the master axis is the cycle of the master position For the slaves the field defines the net change in one cycle If a slave will return to its original p
163. rgument description these commands are followed by lower case n n n n n n n n where the letter n represents the value Values may be specified for any axis separately or any combination of axes The argument for each axis is separated by commas Examples of valid syntaxare listed below Valid syntax ACn Specify argument for a axis only AC n n Specify argument for a and b only AC n n Specify argument for a and c only AC n n n n Specify arguments for a b c d axes AC n n n n Specify arguments for a b c d AC n n Specify arguments for b and e axis only AC n n Specify arguments for e and f Where n is replaced by actual values Direct Command Arguments An alternative method for specifying data is to set data for individual axes using an axis designator followed by an equals sign The symbol can be used in place of the axis designator The defines data for all axes to be the same For example PRB 1000 Sets B axis data at 1000 PR 1000 Sets all axes to 1000 2 Overview Optima Series Command Reference Interrogation Most commands accept a question mark as an argument This argument causes the controller to return parameter information listed in the command description Type the command followed by a for each axis requested The syntax format is the same as the parameter arguments described above except replaces the values PR The controller will return the PR value for the A axis PR The controller will re
164. rn is complete PARAMETERS SAVED DURING BURN While Moving In a Program Command Line Controller Usage OPERAND USAGE DEFAULTS Yes Default Value Yes Default Format Yes ALL CONTROLLERS _BN contains the serial number of the controller RELATED COMMANDS BP on page 37 BV on page 40 EXAMPLES KD 100 KP 10 KI 1 AC 200000 DC 150000 SP 10000 MT 1 MO BN Optima Series Command Reference Burn Program Burn Variables Set damping term for A axis Set proportional gain term for A axis Set integral gain term for A axis Set acceleration Set deceleration rate Set speed Set motor type for A axis to be type 1 reversed polarity servo motor Turn motor off Burn parameters may take up to 15 seconds BN 35 BO Binary 9F FUNCTION Brushless Offset DESCRIPTION The BO command sets a fixed offset on command signal outputs for sinusoidally commutated motors This may be used to offset any bias in the amplifier or can be used for phase initialization ARGUMENTS BO n n n n n n n or BOA n where n specifies the voltage n is a signed number in the range 9 998 to 9 998 with a resolution of 0 003 n Return the brushless offset for the specified axis USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _BOn contains the offset voltage on the DAC for the specified axis EXAMPLES BO 2 1 Genera
165. rogram and ABCD motion ST SCD Stop coordinated AB sequence and C and D motion Hint Use the after motion complete command AM to wait for motion to be stopped 162 ST Binary A1 Optima Series Command Reference 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 J Bit 6 DMC 1200 1600 and 1700 BILS DMC2000 nly Bit 1 DMC 1200 1600 and 1700 BOME on ARGUMENTS TB returns the status byte USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TB Contains the status byte EXAMPLES 65 Executing program and Echo is on 2 2 64 1 65 Optima Series Command Reference TB 163 164 TC TC FUNCTION Tell Error Code DESCRIPTION The TC command returns a number between 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 The TC command will provide the user with a diagnostic tool After TC has been read the error code is set to zero ARGUMENTS TC n where n 0 Returns code only n 1 Returns code and message n Returns the error code No argument will provide the error
166. roller Usage All Controllers RELATED COMMANDS RI on page 151 Return from Interrupt ININT Interrupt Subroutine AI Binary D1 on page 18 Trippoint for input EXAMPLES A Program A Il Specify interrupt on input 1 JG 5000 BGA Specify jog and begin motion on A axis LOOP JP LOOP Loop Optima Series Command Reference II Binary EC 97 98 II Binary EC EN ININT STA MG INTERRUPT AMA CLEAR JP CLEAR IN 1 0 BGA RIO End Program Interrupt subroutine Stop A print message wait for motion to complete Check for interrupt clear Begin motion Return to main program don t re enable trippoints Optima Series Command Reference IL Binary 89 FUNCTION Integrator Limit DESCRIPTION The IL command limits the effect of the integrator function in the filter to a certain voltage For example IL 2 limits the output of the integrator of the A axis to the 2 Volt range A negative parameter also freezes the effect of the integrator during the move For example IL 3 limits the integrator output to 3V If at the start of the motion the integrator output is 1 6 Volts that level will be maintained through the move Note however that the KD and KP terms remain active in any case ARGUMENTS IL n n n n n n n n or ILA n where nis a number in the range 10 to 10 Volts with a resolution of 0 0003 n Returns the value of the integrator limit for the specified axis USAGE DEFAULTS While Moving Yes Default Valu
167. rs by hand Turn them back on with the SH command Optima Series Command Reference MO Binary A9 127 MR Binary CC FUNCTION Reverse Motion to Position DESCRIPTION The MR command is a trippoint used to control the timing of events This command will hold up the execution of the following command until the specified motor moves backward and crosses the position specified The units of the command are in quadrature counts Only one axis may be specified at a time The MR command only requires an encoder and does not require that the axis be under servo control When using a stepper motor this condition is satisfied when the stepper position as determined by the output buffer has crossed the specified Reverse Motion Position For further information see Chapter 6 of the User Manual Stepper Motor Operation ARGUMENTS MR 1 n n n n n n n or MRA n where n is a signed integers in the range 2147483648 to 2147483647 decimal USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS AD Binary CD on page 15 Trippoint for Relative Distances AP Binary CE on page 21 Trippoint for after Absolute Position EXAMPLES TEST Program B DPO Define zero JG 1000 Jog mode speed of 1000 counts sec BGA Begin move MR 3000 After passing the position 3000 Vi _TPA Assign V1 A position MG Position is V1 ST Print Message Stop EN E
168. s Default Value 16385 In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _JGn contains the absolute value of the jog speed for the specified axis RELATED COMMANDS BG Binary AO on page 31 Begin ST Binary Al on page 162 Stop AC Binary 90 on page 14 Acceleration DC Binary 91 on page 56 Deceleration IP on page 101 Increment Position TV Binary DC on page 178 Tell Velocity EXAMPLES JG 100 500 2000 5000 Set for jog mode with a slew speed of 100 counts sec for the A axis 500 counts sec for the B axis 2000 counts sec for the C axis and 5000 counts sec for D axis BG Begin Motion JG 2000 Change the C axis to slew in the negative direction at 2000 counts sec Optima Series Command Reference JG Binary A8 103 JP FUNCTION Jump to Program Location DESCRIPTION The JP command causes a jump to a program location on a specified condition The program location may be any program line number or label The condition is a conditional statement which uses a logical operator such as equal to or less than A jump is taken if the specified condition is true Multiple conditions can be used in a single jump statement The conditional statements are combined in pairs using the operands amp and I The amp operand between any two conditions requires that both statements must be true for the combined statement to be true
169. s are tested with the following logical operators lt less than or equal to gt greater than equal to lt less than or equal to gt greater than or equal to lt gt not equal Note Bit wise operators and amp can be used to evaluate multiple conditions USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Controller Usage ALL CONTROLLERS RELATED COMMANDS ELSE on page 71 Optional command to be used only after IF command ENDIF on page 75 End of IF conditional Statement EXAMPLES IF _TEA lt 1000 IF conditional statement based on A motor position MG Motor is within 1000 counts of zero Message to be executed if IF conditional statement ENDIF End of IF conditional statement 94 IF Optima Series Command Reference IH FUNCTION Open Internet Handle DESCRIPTION The IH command is used when the DMC 2100 is operated as a master also known as a client This command opens a DMC 2100 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 l
170. s in longer motion time ARGUMENTS VT s t where s and t are unsigned numbers in the range between 0 004 and 1 0 with a resolution of 1 256 The value s applies to the S coordinate system and t applies to the T coordinate system s Returns the value of the vector time constant for the S coordinate plane t Returns the value of the vector time constant for the T coordinate plane USAGE DEFAULTS While Moving Yes Default Value 1 0 In a Program Yes Default Format 1 4 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _VTn contains the vector time constant for the specified coordinate plane RELATED COMMANDS IT Binary 93 on page 102 Independent Time Constant for smoothing independent moves EXAMPLES VT 0 8 Set vector time constant for S coordinate system VT Return vector time constant for S coordinate system 0 8 Optima Series Command Reference VT Binary B6 193 WC Binary D4 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 DEFAULTS While Moving Yes Default Value 1 0 In a Program Yes Default Format 1 4 Command Line Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS CM Binary BD on page 49 Co
171. s the running status of thread n with 0 Thread not running 1 Thread is running 2 Thread has stopped at trippoint RELATED COMMANDS XQ on page 197 Execute program ST Binary A1 on page 162 Stop all threads of motion EXAMPLES XQ A Execute program A thread zero XQ B 3 Execute program B thread three HX0 Halt thread zero HX3 Halt thread three Optima 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 IAn or IA lt 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 lt t specifies the time in update samples between TCP retries TCP IP connection only gt 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 DEFAULTS While Moving No Default Value n 0 t 250 In a Program No Default Format C
172. specified with the VM n m p command where p is the tangent axis The tangent function is useful for cutting applications where a cutting tool must remain tangent to the part ARGUMENTS TN m n where m is the scale factor in counts degree in the range between 127 and 127 with a fractional resolution of 0 004 m Returns the first position value for the tangent axis When operating with stepper motors m is the scale factor in steps degree nis the absolute position at which the tangent angle is zero in the range between 2 10 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TN contains the first position value for the tangent axis This allows the user to correctly position the tangent axis before the motion begins RELATED COMMANDS VM on page 187 Vector mode CR Binary B3 on page 52 Circular Command EXAMPLES VM A B C Specify coordinated mode for A and B axis C axis is tangent to the motion path TN 100 50 Specify scale factor as 100 counts degree and 50 counts at which tangent angle is zero VP 1000 2000 Specify vector position A B VE End Vector BGS Begin coordinated motion with tangent axis Optima Series Command Reference TN Binary B4 173 TP Binary D9 FUNCTION Tell Position DESCRIPTION This command returns the current position of the motor s ARGUMENTS TP nnnnnnnnnn where nis A B C D
173. t MR Binary CC on page 128 Motion Reverse trip point EXAMPLES A DP0 0 0 0 Begin Program PR 10000 20000 30000 40000 Specify positions BG Begin motion AD 5000 After A reaches 5000 MG Halfway to A TPA Send message AD 10000 After B reaches 10000 MG Halfway to B TPB Send message AD 15000 After C reaches 15000 AD 20000 ee After D reaches 20000 MG Halfway to D TPD Send message EN End Program Optima Series Command Reference AD Binary CD 15 Hint The AD command is accurate to the number of counts that occur in 2 msec Multiply your speed by 2 msec to obtain the maximum position error in counts Remember AD measures incremental distance from start of move on one axis 16 AD Binary CD Optima Series Command Reference AF Binary 85 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 The analog feedback is decoded by a 12 bit A D converter An option is available for 16 bits where an input voltage of 10 volts is decoded for both cases as a position of 32 768 counts and a voltage of 10 volts corresponds to a position of 32 767 counts ARGUMENTS AF n n n n n n n n or AFA n where n 1 Enables analog feedback n 0 Disables analog feedback and switches to digital feedback n Returns the state of analog feedback for the specified axes O disabled 1 enabled USAGE DEFAULTS While Moving No Default Value
174. t p gt q or IHh n lt p gt q or IHh gt r where h is the handle specified as A B C D E or F ip0 ip1 ip2 ip3 are integers between 0 and 255 and represent the individual fields of the IP address These values must be separated by commas n is a signed integer between 2147483648 and 2147483648 This value is the 32 bit IP address and can be used instead of specifying the 4 address fields IHS gt r closes the handle that sent the command where r 1 for UDP IP or r 2 for TCP IP IHT gt r closes all handles except for the one sending the command where r 1 UDP or r 2 TCP lt p specifies the port number of the slave where p is an integer between 0 and 65535 This value is not required for opening a handle gt q specifies the connection type where q is 0 for no connection 1 for UDP and 2 for TCP gt r specifies that the connection be terminated and the handle be freed where r is 1 for UDP and 2 for TCP IP 2 returns the IP address as 4 1 byte numbers OPERAND USAGE _THhO contains the IP address as a 32 bit number _IHh1 contains the slave port number _THh2 contains a 0 if the handle is free contains a if itis fora UDP slave contains a 2 if it is for a TCP slave contains a 1 if itis for a UDP master contains a 2 if itis fora TCP master contains a 5 while attempting to establish a UDP handle contains a 6 while attempting to establish a TCP IP handle Optima Series Command Reference TH 95 _THh3 contains a
175. tal number of digits If PF is minus the format will be hexadecimal and a dollar sign will precede the characters Hex numbers are displayed as 2 s complement with the first bit used to signify the sign If a number exceeds the format the number will be displayed as the maximum possible positive or negative number i e 999 99 999 8000 or 7FF The PF command can be used to format values returned from the following commands BL LE DE PA DP PR EM TN FL VE IP TE TP ARGUMENTS PF m n where m is an integer between 8 and 10 which represents the number of places preceding the decimal point A negative sign for m specifies hexadecimal representation n is an integer between 0 and 4 which represent the number of places after the decimal point n Returns the value of m USAGE DEFAULTS While Moving Yes Default Value 10 0 In a Program Yes Default Format 10 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _PF contains the value of m position format parameter EXAMPLES TPX Tell position of X 0000000000 Default format PF 5 2 Change format to 5 digits of integers and 2 of fractions TPX Tell Position 00021 00 PF 5 2 New format Change format to hexadecimal TPX Tell Position 00015 00 Report in hex Optima Series Command Reference PL Binary 87 FUNCTION Pole DESCRIPTION The PL command adds a low pass filter in series with the PID compensation The digital transfer function of the filt
176. tes the voltages 2 and 1 on the first DAC A and the second DAC C of a sinusoidally commutated motor RELATED COMMANDS BA on page 27 Brushless Axis BB Binary 9E on page 28 Brushless Phase Begins BC on page 29 Brushless Commutation BD Binary 9D on page 30 Brushless Degrees BI on page 32 Brushless Inputs BM Binary 9B on page 34 Brushless Modulo BS on page 38 Brushless Setup BZ on page 41 Brushless Zero HINT To assure that the output voltage equals the BO parameters set the PID and OF parameters to zero 36 BO Binary 9F Optima Series Command Reference BP FUNCTION Burn Program DESCRIPTION The BP command saves the application program in non volatile EEPROM memory This command typically takes up to 10 seconds to execute and must not be interrupted The controller returns a when the Burn is complete ARGUMENTS None USAGE DEFAULTS While Moving No Default Value In a Program No Not in a Program Yes Controller Usage ALL CONTROLLERS RELATED COMMANDS BN on page 35 Burn Parameters BV on page 40 Burn Variable Note This command may cause the Galil software to issue the following warning A time out occurred while waiting for a response from the controller This warning is normal and is designed to warn the user when the controller does not respond to a command within the timeout period This occurs because this command takes more time than the default timeout of 5 sec The timeout can be chang
177. to stop on a vector motion The third byte for the equivalent binary command would be 01 Byte 4 specifies the axis or data field as follows Optima Series Command Reference Bit 7 H axis or 8 data field Bit 6 G axis or 7 data field Bit 5 F axis or 6 data field Bit 4 E axis or 5 data field Bit 3 D axis or 4 data field Bit 2 C axis or 3 data field Bit 1 B axis or 2 data field Bit 0 A axis or 1 data field Datafields Format Datafields must be consis tent with the format byte and the axes byte For example the command PR 1000 500 would be A7 02 00 05 03 E8 FE 0C where A7 is the command number for PR 02 specifies 2 bytes for each data field 00 S is not active for PR 05 specifies bit 0 is active for A axis and bit 2 is active for C axis Oo 2 5 03 E8 represents 1000 FE OC represents 500 Example The command ST ABC would be A100 01 07 where AJ is the command number for ST 00 specifies 0 data fields 01 specifies stop the coordinated axes S 07 specifies stop A bit 0 B bit 1 and C bit 2 2 2 2 7 Binary command table COMMAND NO COMMAND 81 reserved ac reserved 82 reserved O 81 82 83 84 85 8 8 COMMAND reserved a8 a9 da db o R y y jdd a3 de e0 EE a moo e je _ e Kwo af RL TT TS TI MT CE Oo T e PTS a Optima Series Command Reference Overview 5 7 e x LZ SB ae ec anal cM reserved 3
178. turn the PR value for the D axis PR The controller will return the PR value for the A B C and D axes PRs The controller will return the PR value for the H axis Operand Usage Most commands have a corresponding operand that can be used for interrogation The Operand Usage description provides proper syntax and the value returned by the operand Operands must be used inside of valid DMC expressions For example to display the value of an operand the user could use the command MG operand All of the command operands begin with the underscore character _ For example the value of the current position on the A axis can be assigned to the variable V with the command V _TPA Usage Description The Usage description specifies the restrictions on proper command usage The following provides an explanation of the command information provided While Moving Describes whether the command is valid while the controller is performing a motion In a program Describes whether the command may be used as part of a user defined program Command Line Describes whether the command may be used as a direct command Controller Usage Identifies the controller models that can accept the command Default Description In the command description the DEFAULT section provides the default values for controller setup parameters These parameters can be changed and the new values can be saved in the controller s non vol
179. ult Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _PRn contains the current incremental distance for the specified axis RELATED COMMANDS PA Binary A6 on page 139 Position Absolute BG Binary AO on page 31 Begin AC Binary 90 on page 14 Acceleration DC Binary 91 on page 56 Deceleration SP Binary 92 on page 161 Speed IP on page 101 Increment Position PEF on page 140 Position Formatting EXAMPLES PR 100 200 300 400 On the next move the A axis will go 100 counts BG the B axis will go to 200 counts forward C axis will go 300 counts and the D axis will go 400 counts PR Return relative distances 0000000 100 0000000200 0000000300 PR 500 Set the relative distance for the A axis to 500 BG The A axis will go 500 counts on the next move while the B axis will go its previously set relative distance 142 PR Binary A7 Optima Series Command Reference QD FUNCTION Download Array DESCRIPTION The QD command transfers array data from the host computer to the controller QD array start end requires that the array name be specified along with the first element of the array and last element of the array The array elements can be separated by a comma or by lt CR gt lt LF gt The downloaded array is terminated by a lt control gt Z lt control gt Q lt control gt D or ARGUMENTS QD array start end where array is valid array name start is first e
180. utputs Arguments Blocks Bits Description m 0 1 8 General Outputs 1 4 axes controllers 0 1 1 16 General Outputs 5 8 axes controllers a 2 3 17 32 Extended I O b 4 5 33 48 Extended I O c 6 7 49 64 Extended I O d 8 9 65 80 Extended I O n returns the value of the argument where n is any of the above arguments USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 3 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _OPO contains the value of the first argument m _OP1 contains the value of the first argument a _OP2 contains the value of the first argument b _OP3 contains the value of the first argument c _OP4 contains the value of the first argument d RELATED COMMANDS SB Binary EA on page 158 Set output bit CB Binary EB on page 43 Clear output bit OB Binary E9 on page 134 Output Byte EXAMPLES OP 0 Clear Output Port all bits OP 85 Set outputs 1 3 8 clear the others MG _OPO Returns the first parameter m MG _OP1 Returns the second parameter a 138 OP Binary E8 Optima Series Command Reference PA Binary A6 FUNCTION Position Absolute DESCRIPTION The PA command will set the final destination of each axis The position is referenced to the absolute zero ARGUMENTS PA n n n n n n n n or PAA n where n is a signed integers in the range 2147483647 to 2147483648 decimal Units are in encoder counts n Returns the commanded position at which
181. ve been output by the controller ARGUMENTS TD nnonnnnnnnn where nis A B C D E F G or H or any combination to specify the axis or axes No argument will provide the dual encoder position for all axes USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Not in a Program Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TDn contains value of dual encoder register RELATED COMMANDS DE Binary 98 on page 57 Dual Encoder EXAMPLES PF 7 Position format of 7 TD Return A B C D Dual encoders 0000200 0000010 0000000 0000110 TDA Return the A motor Dual encoder 0000200 DUAL _TDA Assign the variable DUAL the value of TDA 166 TD Binary DB Optima Series Command Reference TE Binary DA FUNCTION Tell Error DESCRIPTION This command returns the current position error of the motor s The range of possible error is 2147483647 The Tell Error command is not valid for step motors since they operate open loop ARGUMENTS TE nnnnnnnnnn where nis A B C D E F G or H or any combination to specify the axis or axes No argument will provide the position error for all axes USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Not in a Program Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _TEn contains the current position error value for the specified axis RELATED COMMANDS OE Binary 8D on page 136 Off On Error ER Binary 88
182. ves the number of available variables The number of available variables is 254 RELATED COMMAND DL on page 58 Download EXAMPLES UL Begin upload A Line 0 NO This isan Example Line 1 NO Program Line 2 EN Line 3 lt cntrl gt Z Terminator 182 UL Optima Series Command Reference VA Binary B7 FUNCTION Vector Acceleration DESCRIPTION This command sets the acceleration rate of the vector in a coordinated motion sequence ARGUMENTS VA s t where s and t are unsigned integers in the range 1024 to 68 431 360 s represents the vector acceleration for the S coordinate system and t represents the vector acceleration for the T coordinate system The parameter input will be rounded down to the nearest factor of 1024 The units of the parameter is counts per second squared s Returns the value of the vector acceleration for the S coordinate plane t Returns the value of the vector acceleration for the T coordinate plane USAGE DEFAULTS While Moving Yes Default Value 256000 In a Program Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _VAx contains the value of the vector acceleration for the specified axis RELATED COMMANDS VS Binary B9 on page 192 VP Binary B2 on page 189 Vector Speed Vector Position VE on page 185 End Vector CR Binary B3 on page 52 Circle VM on page 187 Vector Mode BG Binary AO on page 31 VD Binary B8 on p

Optima Series COMMAND REFERENCE

Contents

Download Pdf Manuals

Related Search

Related Contents