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Galil Motion Control Command Reference

1. LOOP JP LOOP Loop to keep thread zero active EN End Program ININT Interrupt subroutine STA MG INTERRUPT AMA Stop A print message wait for motion to complete All Check for interrupt clear BGA Begin motion RIO Return to main program don t re enable trippoints file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 195 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Burn burnable with BN lock Ethernet ports Full Description A Galil Ethernet controller simultaneusly operates as a server listening for Ethernet connections from a client and a client able to create connections to a server The IK command blocks clients from connecting to the controller on incoming ports lower than 1000 except for ports 0 23 68 and 502 Arguments IKn where n 0 allows controller to receive Ethernet packets on any port n 1 blocks controller from receiving Ethernet packets on all ports lower than 1000 except those mentioned in the Full Description above n queries controller for value of IK Operand Usage _IK can not be used as an operand Usage Usage and Default Details Related Commands TH Tell Handles IH Open new Ethernet handle Examples IK1 Blocks undesirable port communication LIKO Allows all Ethernet ports to be used file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 19
2. Examples Te BLOCK 0 8 1 dedicated as input value 255 1111_1111 BLOCK 0 8 1 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 10 88 81 dedicated as input value 255 1111_1111 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 332 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Bun not burnable User Interrupt Full Description UI pushes a user defined status byte into the EI queue UI can generate 16 different status bytes FO to FF 240 255 corresponding to UIO to UI15 When the UI command e g UIS is executed the status byte value e g F5 or 245 is queued up for transmission to the host along with any other interrupts The UDP interrupt packet dispatch may be delayed If immediate packet dispatch is required use the message command MG to send a unique message to the host software EI h must be set to a valid UDP port set by the host not the DMC code is recommended before any interrupt packet will be dispatched Arguments UI n where nis an integer between 0 and 15 corresponding to status bytes FO to
3. CFA Messages configured to go out Ethernet handle A MG EB var Override CF and send the value of variable var to B handle printing to the LCD screen LUO ct 1 rpm 1432 G L1 CT SPD L2 F1 0 ct F4 0 rpm N ti file C Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 233 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Axis Mask MO ac burnable with BN Motor Moto Off O OSE Full 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 nnonnnnnnn 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 Operand Usage N A Usage Usage and Default Details Controller Usage Default Value fo Default Format While Moving No Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS _MOn contains the state of the motor for the specified axis Related Commands SH 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 B
4. file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 12 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference e TA Tell Amplifier error status e TB Tell Status Byte e TC Tell Error Code e TD Tell Dual Encoder e TE Tell Error e TH Tell Ethernet Handle e TI Tell Inputs e TIME Time Operand e TK Peak Torque Limit e TL Torque Limit e TM Update Time e TN Tangent e TP Tell Position e TR Trace e TS Tell Switches e TT Tell Torque e TV Tell Velocity e TW Timeout for IN Position MC e TZ Tell I O Configuration e UI User Interrupt e UL Upload e VA Vector Acceleration e VD Vector Deceleration e VE Vector Sequence End e VF Variable Format e VM Vector Mode e VP Vector Position e VR Vector Speed Ratio e VS Vector Speed e VV Vector Speed Variable e WH Which Handle e WT Wait e XQ Execute Program e YA Step Drive Resolution e YB Step Motor Resolution e YC Encoder Resolution e YR Error Correction e YS Stepper Position Maintenance Mode Enable Status e ZA User Data Record Variables e ZS Zero Subroutine Stack file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 13 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Burn not burnable Label subroutine Full Description
5. 1 to define and initialize a variable x 0 before it is used 2 to assign a new value to a variable x 5 3 to print a variable or array element x which is equivalent to MG x MG is the preferred method of printing Arguments mmmmmmmm n where mmmmmmmm is a variable name and n is a signed number in the range 2147483648 to 2147483647 Operand Usage N A Usage Usage and Default Details Ya Controller Usage Default Value N A Default Format N A Related Commands MG Print Message Examples 2x 5 X 5 0000 MG Xx 5 0000 define and initialize x to 5 print x two different ways file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 65 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Bun not burnable Full Description AB Abort stops a motion instantly without a controlled deceleration If there is a program operating AB also aborts the program unless a 1 argument is specified The command AB will shut off the motors for any axis in which the off on error function is enabled see command OE 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 The controller aborts motion only No argument will cause the controller to abort the motion and program Operand Usage _AB gives state of Abort Input 1 inactive and 0 a
6. TM 1000 2 Deceleration Feedforward Bias FA DC 1 5 10 7 TM 1000 2 Arguments FA n n n n n n n yn 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 Operand Usage _FAn contains the value of the feedforward acceleration coefficient for the specified axis Usage Usage and Default Details envane J Related Commands FV Velocity feedforward Examples Set feedforward coefficient to 10 for the A axis and 15 for the B axis The effective bias will be 0 75V for A and 2 25V for B AC 500000 1000000 FA 10 15 FA 2 Return A and B values 10 15 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 170 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Accepts Axis Mask Bun not burnable Find Edge Full Description The FE command moves a motor until a transition is seen on the homing input for that axis The direction of motion depends on the initial state of the homing input use the CN command to configure the polarity of the home input Once the transition is detected the motor decelerates to a stop This command is useful for creating your own homing sequences 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 s
7. a o0 4 T oO D A ga 5 3 c a ot oO z gf Q Qa e et a ie D oO a i Q a P 5 e D Q fo e gt an O 4 a gt T g oO O no a 5 la o 5 F S a n S S o S 5 o 54 aR vn 5 oc gt fe 5 g fa m nd encoder Position ommanded Position _SHn also valid Input States Output State n witches only 0 4 bits valid Dn Q 5 top code lt 5 al Bes ES g oO jami I lt ow E 2 amp R Z 2 r Q oO oO lt g AEE u ee g on S n ony z S 5 a Mls ag co O S kz oO c ton oO g 5 z 4 5 lt I O oO AES 5 da oO B aF S Ww N nN ad kal y oO 5 oO wn ie eS i os 3 Q c oO us N De O m n an lt e Q 5 z i Qa e ao 2 Qa w N I lon N a oO lt 0 tepper Position Arguments RD m1 m2 m3 m4 m5 m6 m7 m8 where the arguments are the data sources to be captured using the record array feature The order is important Each data type corresponds with the array specified in the RA command Operand Usage _RD contains the address for the next array element for recording Usage Usage and Default Details While Moving No RIO Ye file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 276 of 358 5 24 2011 8 38 17 AM Galil
8. file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 346 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit Notation Only Bun not burnable Vector Speed Variable Full Description The VV command sets the speed of the vector variable in a coordinated motion sequence in either the LM or VM modes VV may be changed during motion The VV command is used to set the lt vector speed variable argument for segments that exist in the vector buffer By defining a vector segment begin speed as a negative i e lt 1 the controller will utilize the current vector variable speed as the segment is profiled from the buffer This is useful when vector segments exist in the buffer that use the lt and gt speed indicators for specific segment and corner speed control and the host needs to be able to dynamically change the nominal return operating speed The vector variable is supported for VP CR and LI segments Arguments VVS n or VVT n where n specifies the speed as an unsigned even number in the range 2 to 22 000 000 for servo motors and 2 to 6 000 000 for stepper motors VVS is the speed to apply to the S coordinate system and VVT is the speed to apply to the T coordinate system The units are in counts per second VVS Returns the value of the vector speed variable for the S coordinate plane VVT Returns the value of the vector speed variable for the T coordin
9. 1 Enable the mode YSH 1 2 Query the valu YS 20 0 0 070 0 0 1 Response shows H axis is enabled file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 356 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn not burnable User Data Record Variables Full Description ZA sets the user variables in the data record The eight user variables one per axis are automatically sent as part of the status record from the controller to the host computer These variables provide a method for specific controller information to be passed to the host automatically Arguments ZA n n n n n n n n ZAA n where n is an integer and can be a number controller operand variable mathematical function or string The range for numeric values is 4 bytes of integer 2 147 483 648 to 2 147 483 647 The maximum number of characters for a string is 4 characters Strings are identified by quotations n returns the current value Operand Usage _ZAn contains the current value for the specified axis Usage Usage and Default Details envane Jo Related Commands DR Data Record update rate QR Query Data Record QZ Data Record format Examples Thread ZAX MyVar constantly update ZA JP Thread file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 357 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command
10. 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 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 Usage Usage and Default Details Controller Usage Default Value fo Default Format Related Commands Examples OVE DP 0 0 Label pi Specify the T coordinate system LMAB Linear move for A B LI 1000 2000 Specify distance LI 2000 3000 Specify distance BGT Begin motion in the T coordinate system AV 500 After path distance 500 G Path gt 500 TPAB Print position of A and B axes 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 88 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Explicit Notation Only Amplifier Bandwidth Full Description The AW command accepts the drive voltage volts and motor inductance millihenries and uses the current loop gain setting AU as the default and then reports the calculated bandwidth The user can ch
11. file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 348 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Implicit Notation Only amp Trippoint Operands none um not burnable Full Description The WT command is a trippoint used to time events When this command is executed the controller will wait for the number of miliseconds specified before executing the next command If m 1 for WTn m then the controller will wait for the number of samples specified before executing the next command Arguments WT n m where n is an unsigned integer in the range 0 to 2000000000 2 Billion where n is a unsigned even integer in the range 0 to 2 Billion m 0 or ommitted specifies n to be in ms m specifies n to be in samples Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO Yes In A Program Yes Command Line No Controller Usage ALL Default Value Default Format Related Commands AT At Time TIME Time Operand TM Update Time Examples EM 10 seconds after a move is complete turn on a relay for 2 seconds Program A R 50000 Position relative move GA Begin the move After the move is over Wait 10 seconds B 1 Turn on relay set output 1 T 2000 Wait 2 seconds Bl Turn off relay clear output 1 J jak fo fo jo jo Q2unaz7PW0U DW D file Cl Documents 20and 20Settings
12. All math operators Examples MG ABS 2147483647 2147483647 0000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 38 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syatax e Function ACOS oma om Burn not burnable Inverse cosine Full Description Returns in degrees the arc cosine of the given number Arguments ACOS n where n is a signed number in the range 1 to 1 Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO Yes In a Program es ommand Line es Controller Usage All Default Value A Default Format Related Commands ASIN Arc sine SIN sine ATAN Arc tangent COS Cosine TAN Tangent Examples MG ACOS 1 180 0000 MG ACOS 0 90 0000 MG ACOS 1 0 0001 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 39 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syatax e Function AN ands Jo Burn not burnable Analog Input Query Full Description Returns the value of the given analog input in volts Arguments AN n where n is the input number assigned to a particular analog input pin 1 8 Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO Yes In a Program es ommand Line es Controller Usage All Default Value A Default Format While Moving Yes Default Value In a
13. BZ Brushless Zero Note BB is only effective as part of the BC command or upon reset BC Examples BB 30 60 The offsets for the Y and W axes are 30 and 60 respectively file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 92 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Accepts Axis Mask BC ren ffc Bun not burnable Brushless Calibration Full 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 Operand Usage _BCn contains the state of the Hall sensor inputs This value should be between 1 and 6 0 and 7 are invalid hall states Usage Usage and Default Details Related Commands BA Brushless Axis BB Brushless Phase Begins BD Brushless Degrees BI Brushless Inputs BM Brushless Modulo BO Brushless Offset BS Brushless Setup BZ Brushless Zero Examples REM Example for use with AMP 43650 or AMP 43540 EX B B AA A 2000 BIA 1 use hall sensor inputs on the Galil BCA enable brushless calibration bi _BIA store hall state JGA 500 BGA begin jog hall JP hall _BIA lt gt bi wait f
14. Operand Usage N A Usage Usage and Default Details Related Commands AD Trippoint for Relative Distances AP Trippoint for after Absolute Position MF Forward Motion to Position Trippoint Examples TEST Program Test DPO Define zero JG 1000 Jog mode speed of 1000 counts sec BG A Begin move R 3000 After passing the position 3000 V1 _TPA Assign V1 A position G Position is V1 Print Message ST Stop EN End of Program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 235 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn burnable with BN Motor Type Full 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 nannnnnn or MTA n where n l Specifies Servo motor n l Specifies Servo motor with reversed polarity n 1 5 Specifies PWM Sign servo drive n 1 5 Specifies PWM Sign servo drive with reversed polarity n 2 Specifies Step motor with active high step pulses n 2 Specifies Step motor with active low step pulses n 2 5 Specifies Step motor with reverse
15. a Z1 0 axis ENDIF NDIF a vratl JP loop a lt _BV AIl1 wait for input 1 to go high S R ti H enable all axes F E file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 243 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Bun not burnable Full Description The OB n logical expression command defines output bit n as either 0 or 1 depending on the result from the logical expression Any non zero value of the expression results in a one on the output Arguments OB n expression where n denotes the output bit expression is any valid logical expression variable or array element Operand Usage N A Usage Usage and Default Details Command Line Controller Usage Default Value Default Format N A Related Commands 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 COUNT 1 If the element 1 in the array is zero clear bit 3 COUNT 1 If element 1 in the array is zero clear bit N Ww W Ea G lt file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 244 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit Notation Only Bun not burnable Output Compare Full Description The OC command sets up the
16. e BR Brush Axis e BS Brushless Setup e BT Begin PVT Motion e BV Burn Variables and Array e BW Brake Wait e BX Sine Amp Initialization e BZ Brushless Zero e CA Coordinate Axes e CB Clear Bit e CC Configure Communications Port 2 e CD Contour Data e CE Configure Encoder e CF Configure Unsolicited Messages Handle e CI Configure Communication Interrupt e CM Contour Mode e CN Configure e CO Configure Extended IO e CR Circle e CS Clear Sequence e CW Copyright information Data Adjustment bit on off e DA Deallocate the Variables amp Arrays e DC Deceleration e DE Dual Auxiliary Encoder Position e DF Dual Feedback DV feedback swap e DH DHCP Server Enable e DL Download e DM Dimension e DP Define Position e DR Configures I O Data Record Update Rate e DT Delta Time e DV Dual Velocity Dual Loop e EA Choose ECAM master e EB Enable ECAM e EC ECAM Counter e ED Edit e EG ECAM go engage e EI Event Interrupts file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 10 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference e ELSE Else function for use with IF conditional statement e EM Cam cycles modulus e EN End e ENDIF End of IF conditional statement e EO Echo e EP Cam table master interval an
17. eravan Jo Related Commands EA Choose ECAM master EC Set ECAM table index EG Engage ECAM EM Specify ECAM cycle EP Specify ECAM table intervals amp staring point EQ Disengage ECAM ET ECAM table Examples EBL Starts ECAM mode EBO Stops ECAM mode B _EB Return status of cam mode file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 150 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Bum not burnable ECAM Counter Full Description The EC function sets the index into the ECAM table This command is only useful when entering ECAM table values without index values and is most useful when sending commands in binary See the command ET Arguments ECn where n is an integer between 0 and 256 n Returns the current value of the index into the ECAM table Operand Usage _EC contains the current value of the index into the ECAM table Usage Usage and Default Details Controller Usage Default Value fo Default Format Related Commands EA Choose ECAM master EB Enable ECAM EG Engage ECAM EM Specify ECAM cycle EP Specify ECAM table intervals amp staring point EQ Disengage ECAM ET ECAM table Examples ECO Set ECAM index to 0 ET 200 400 Set first ECAM table entries to 200 400 ET 400 800 Set second ECAM table
18. 1 reverse motion allowed Off Pullup for TTL or insufficient activation current flowing for optos 1 reverse motion allowed 0 reverse motion prohibited Arguments N A Operand Usage _LR is an operand Usage Usage and Default Details Related Commands _LF Forward Limit Switch Operand Examples MG _LRA Display the status of the A axis reverse limit switch See Connecting Hardware in User Manual for active inactive state file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 61 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Operands none Burn not burnable Variable Axis Designator Full Description The is the variable axis designator 8 axis variables are provided a b c d e f g and h Each variable can be assigned an indivudal axis A B C D E F G or H a vector plane or a virtual axis Motion commands on the variable will then apply to the assigned axis Arguments n m n is a lowercase letter a through h m is a positive integer or single character string where 0 or A quotes required X axis 1 or B Y axis 2 or C Z axis 3 or D W axis 4 or E E Axis 5 or F F axis 6 or G G axis 7 or H H axis 8 or S S coordinate system 9 or T T coordinate system 10 or N Virtual N axis 11 or M Virtual M axis Operand Usage n contains the axis number 0 11 Usage Usage and Default Details Related
19. 11 EN oO I OG UF wre oR file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 152 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Hint Remember to quit the Edit Mode prior to executing or listing a program Using _ED4 XQ id 1 XO id 2 XO id 3 XQ id 4 XO id 5 XO id 6 XQ id 7 id G Z10 0 This message is from thread _ED4 EN Returns 3XO This message is from thread 1 This message is from thread 2 This message is from thread 3 This message is from thread 4 This message is from thread 5 This message is from thread 6 This message is from thread 7 This message is from thread 0 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 153 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn not burnable ECAM go engage Full Description The EG command engages an ECAM slave axis at a specified position of the master If a value is specified outside of the master s range the slave will engage immediately Once a slave motor is engaged its position is redefined to fit within the cycle Arguments EG n 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 if specified axis is engaged and 0 if disengaged Operand Usage _EGn contains ECAM status
20. 2nd IF conditional statement executed if lst IF conditional true G INPUT 1 AND INPUT 2 ARE ACTIVE Message to b xecuted if 2nd IF conditional is true ELSE ELSE command for 2nd IF conditional statement G ONLY INPUT 1 IS ACTIVE Message to b xecuted if 2nd IF conditional is false ENDIF End of 2nd conditional statement ELSE ELSE command for 1st IF conditional statement G ONLY INPUT 2 IS ACTIVE Message to b xecuted if lst IF conditional statement is false ENDIF End of 1st conditional statement file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 157 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn burnable with BN am cycles modulus Full 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 position 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 nyn or EMA n where n is 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 Operand Usage _EMnh contains the cycle of the specified axis Usage Usage and Default De
21. Accepts Axis Mask LM Prenas ffov Bun not burnable Linear Interpolation Mode Full Description The LM command specifies the linear interpolation mode and specifies the axes for linear interpolation Any set of 1 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 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 where 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 Operand Usage _LMn contains the number of spaces available in the sequence buffer for the n coordinate system S or T Usage Usage and Default Details Related Commands LE Linear Interpolation End LI Linear Interpolation Distance VA Vector Acceleration VS Vector Speed VD Vector Deceleration AV After Vector Distance CS Clear Sequence Examples LM ABCD Specify linear interpolation mode VS 10000 VA 100000 VD 1000000 Specify vector speed acceleration and
22. IN n where n is an unsigned integer in the range 1 to 96 Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO In a Program ommand Line Controller Usage Default Value Default Format Related Commands ANJ n Read analog input OUT n Read digital output SB Set digital output bit CB Clear digital output bit OF Set analog output offset Examples MG IN 1 21 0000 x IN 1 x 1 000 print digital input 1 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 46 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Function Operands none Burn not burnable nteger part Full Description Returns the integer part of the given number Note that the modulus operator can be implemented with INT see example below Arguments INT n nis a signed number in the range 2147483648 to 2147483647 Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO Yes In a Program es ommand Line es Controller Usage All Default Value A Default Format Related Commands FRAC Fractional part Examples MG INT 1 2 1 0000 MG INT 2 4 2 0000 AUTO modulus example x 10 prepare arguments y 3 JS mod call modulus MG z print return value EN subroutine integer remainder of x y 10 mod 3 1 arguments are x and y Return is in z mod Z x y I
23. INT _IA0 amp SOOOOFFOO 100 d INT _IA0 amp 000000FF IP address a b c d Usage Usage and Default Details Ye file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 186 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Controller Usage Ethernet Controllers Default Value n 0 t 250 Related Commands IH Internet Handle DH DHCP Server Enable Examples IA 151 12 53 89 Assigns the controller with the address 151 12 53 89 IA 2534159705 Assigns the controller with the address 151 12 53 89 IA lt 500 Sets the timeout value to 500msec file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 187 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Two Letter Only none not burnable Full Description DMC 40x0 The ID command is used to query the controller for the accessories that are attached It will respond with the type of communications board followed by the amplifier for axes 1 4 and then axes 5 8 if any are attached The following are example responses to the ID command and a description of each line Example ID This ID response is applicable to the following part number DMC 4060 16bit CO12 1000 1100 D4040 D3020 ID DMC400016 bit adc option rev 0 Connector J3 Communications Board CMB 41012 3 3 volt i o rev 0 Connector J1l Connector J2 42100 Sine rev 1 Connector Pl Stepper Amplifi
24. In a Program No Command Line Yes Can be Interrogated Yes Used as an Operand Yes Related Commands ARAS Master Reset Examples RS Reset the hardware file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 285 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit Notation Only S A Operands S4n0 SAn1 _SAn2 _SAn3 perane s _SAn4 _SAn5 _SAn6 _SAn7 Bum not burnable Send Command Full Description SA sends a command and optionally receives a response from one controller to another via Ethernet Important Notes 1 SA is non blocking A wait e g WT10 must occur between successive calls to SA 2 SA is not valid over a handle configured for Modbus port 502 3 When writing multi threaded DMC code send all traffic from only one thread or use individual handles IH for each individual thread 4 The Galil that establishes the connection and issues the SA command is called the master The Galil that receives the connection and answers the SA is the slave For both controllers in a connection to be both masters and slaves open two Ethernet handles Each of the controllers is a master over one of the handles and a slave on the other Dedicated Handles IH for Controller 2 each direction Arguments SAhz arg SAhezarg arg arg arg arg arg arg arg where h is the handle being used to send commands to the slave controller a
25. N A Usage Usage and Default Details Related Commands P2CH Serial port 2 character P2NM Serial port 2 number P2ST Serial port 2 string CI Configure COMINT CC Configure serial port 2 COMINT Communication interrupt automatic subroutine Examples 2 R V DMC2240 Rev 1 00 ARAS CC 9600 0 0 0 MG TEST P2 send a message to the hand terminal MG P2CD no characters entered on hand terminal 0 0000 MG P2CD the number 6 was pushed on the hand terminal 1 0000 MG P2CD enter key pushed on hand terminal 3 0000 MG P2CD the character B was pushed shift f2 then enter 2 0000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 253 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Operand Only not burnable P2CH Serial port 2 character Full Description P2CH returns the last character sent to the auxiliary serial port port 2 Arguments Operand Usage N A Usage Usage and Default Details Related Commands P2CD Serial port 2 code P2NM Serial port 2 number P2ST Serial port 2 string CI Configure COMINT CC Configure serial port 2 COMINT Communication interrupt automatic subroutine Examples SARAY DMC2240 Rev 1 00 ARAS CC 9600 0 0 0 MG TEST P2 send a message to the hand terminal MG P2CH S1 the 6 button was pushed on the hand terminal 6 file Cl Documents 20and
26. Some examples follow Valid Syntax Description BN Burn parameters By sd Burn Variables eps Burn Programs gt Identify hardware configuration fA List arrays Operator or Comparator Operators and Comparators take two arguments and return one value All comparison and operations occur left to right That is multiplication and addition have the same order of operation priority and operations and comparisons are performed as encountered on a left to right search Parenthesis should be used to indicate order of operation precedence Some examples follow Function At functions take one value or evaluated expression and return a result Some examples follow Valid Syntax var SIN 90 Variable var is assigned value 1 Sine of 90 degrees var ASIN 1 Variable var is assigned value 90 Inverse Sine of 1 var IN 1 Variable var is assigned 1 or 0 based on current state of digital input 1 var RND 1 0 6 Variable var is assigned 2 1 6 round to the nearest integer file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 4 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Embedded Only Embedded commands make sense only in the context of an embedded application These commands include jumps if then else syntax subroutines etc Some examples follow Labels can be called by name in order to jump code to specific lines Jump to line number indicated by go label Automati
27. The operator denotes the name of a program label for example Move Labels can be up to seven characters long and are often used to implement subroutines or loops Labels are divided into a user defined b automatic subroutines User defined labels can be printed with LL and the number of labels left available can be queried with MG _DL The automatic subroutines include CMDERR LIMSWI POSERR ININT AUTO AUTOERR and MCTIME no RIO A label can only be defined at the beginning of a new line There is a maximum of 510 labels available Arguments nnnnnnn where nnnnnnn is a label name up to seven characters Uppercase or lowercase characters are valid Operand Usage N A Usage Usage and Default Details Usage While Moving no RIO Yes In a Program es ommand Line Controller Usage Default Value Default Format Related Commands LL List labels _DL Labels available JP Jump statement JS Jump subroutine Examples A simple example of iteration The loop will run 10 times i 0 Create a counter Loop Label i itl Increment counter JP Loop i lt 10 spin in Loop until i gt 10 EN End the subroutine or thread file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 14 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference AMPERR ee Burn not burnable Amplifier error automatic subroutine Full Description AMPERR is an automa
28. The AU command sets the amplifier current loop gain The current loop is available in one of two settings 0 is default while 1 sets a higher current loop gain AU also sets the switching mode where available Chopper vs Inverter High current loop gain Use the higher current loop gain AU 1 or 1 5 when the phase to phase inductance of the motor is gt 5mH with a 24VDC supply or if the inductance is gt 10mH with a 48VDC supply Chopper Mode AU 0 5 or 1 5 The AMP 430x0 can be set to chopper mode The chopper mode is in contrast to the normal inverter mode in which the amplifier sends PWM power to the motor of Vs In chopper mode the amplifier sends a 0 to VS PWM to the motor when moving in the forward direction and a 0 to VS PWM to the motor when moving in the negative direction Chopper mode should be used in 2 different scenarios 1 The inductance of the motor is 200uH to 500uH 2 The application requires a continuous operation at gt 4 Amps of continuous torque at a duty cycle of gt 50 Chopper mode is recommended for high duty cycle and high current applications AMP 43540 The AU command sets the amplifier current loop gain for the AMP 43540 The optimal current loop gain setting is determined by the bus voltage supplied to the amplifier and the phase to phase inductance of the motor The table in the Arguments section provides ideal AU settings for common bus voltages and phase to phase inductance Argument
29. Vector Position BG Begin Sequence CS Clear Sequence Examples A Program Label 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 AMS Wait for VE to execute in buffer E End program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 339 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Burn burnable with BN Variable Format Full Description The VF command formats the number of digits to be displayed when interrogating the controller or RIO board 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 O0 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 Operand Usage _VF contains the value of the format for variables and arrays Usage Usage and Default Details Usage While Moving No RIO Yes In a Program e
30. X 1000 n EXAMPLE VM XYZ Z axis is tangent VSS 500 Set vector speed m 1000 360 Z axis encoder is 1000 counts per full revolution n 0 When TPZ 0 blade is oriented to cut along X axis TN m n Set these tangent characteristics CR 1000 0 180 Profile a circle with radius 1000 counts starting at 0 degrees and spanning 180 degrees VE End the vector path MG_TN Print the calculated initial tangent entry point 250 PAZ _TN Profile a move to orient the Z axis to begin BGZ ove the blade into place AMZ Wait until the blade motion is done SBl1 Turn on the saw WT1000 Wait for saw to spin up BGS Begin vector motion saw will stay tangent AMS Wait for the cut to complete CBO Turn off the saw MG ALL DONE Print a message EN file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 323 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Axis Mask not burnable Tell Position OOOO OS Position Full Description The TP command returns the current position of the motor s Arguments TP nnnnnnnnnn where n is A B C D E F G or H or any combination to specify the axis or axes Operand Usage _TPx contains the current position value for the specified axis Usage Usage and Default Details Related Commands PF Position Formatting Examples Assume the A axis is at the position 200 decimal the B axis is at the position 10 decimal
31. ommand Line es Controller Usage Default Value M 0 0 0 0 Default Format A Related Commands IH Internet Handle IA IP address Examples SM 255 255 255 255 Ignore all incoming Ethernet packets SM 0 0 0 O Process all incoming Ethernet packets file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 297 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Si Burn burnable with BN Full Description The SP 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 or SPA n where n is an unsigned even number in the range 0 to 22 000 000 for servo motors The units are encoder counts per second OR n is an unsigned number in the range 0 to 6 000 000 for stepper motors n Returns the speed for the specified axis When ordered with the ICM 42100 nis an unsigned even number in the range of 0 to 50 000 000 The units are interpolated encoder counts per second Operand Usage _SPn contains the speed for the specified axis Usage Usage and Default Details Usage Value g Yes In a Program Ye Command Line Yes Default Value 25000 Related Commands AC Acceleration DC Deceleration PA Position Absolute PR Position Relative BG Begin Examples PR 2000 3000 4000 5000 Specify a b c d para
32. the C axis to 300000 counts sec2 and the D axis to 400000 count sec2 AG 23 27 27 2 Request the Acceleration 149504 199680 299008 399360 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 will help minimize the error file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 67 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Explicit amp Implicit amp Trippoint none not burnable Full 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 If in jog JG mode 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 AD can only be used when there s command motion on the axis If the direction of motio
33. the auxiliary encoder used to count stepper pulses will be forced to pulse and direction 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 Configure Encoder Types Main Encoder Type Auxiliary Encoder Type p e Normal quadrature ps Normal quadrature Normal pulse and direction Normal pulse and direction Reversed quadrature 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 Operand Usage _CEn contains the value of encoder type for the axis specified by n Usage Usage and Default Details Related Commands MT Specify motor type Examples CE 0 3 6 2 Configure encoders CE Zor 2p 2 0 3 6 2 Interrogate configuration V _CEB V 3 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 119 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 120 of 358 5 24 2011 8 38 16 AM Galil Motion Control Comman
34. 1 4 TM Hz where TM is the update rate default TM is 1000 n Returns the value of the Notch filter for the specified axis Operand Usage _NFn contains the value of notch filter for the specified axis Usage Usage and Default Details eravan o While Moving Yes Default Value 0 In a Program Yes Default Format 3 1 Command Line Yes Controller Usage ALL CONTROLLERS Related Commands NB Notch bandwidth NZ Notch Zero Examples NF 20 Sets the notch frequency of B axis to 20 Hz file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 239 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Operands NO Burn not burnable No Operation Full 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 NOm where m is any group of letters and numbers up to 77 characters can follow the NO command Operand Usage _NO returns a bit field indicating which threads are running For example 0 means no threads are running 1 means only thread 0 is running 3 means threads 0 and 1 are running and 255 means all 8 threads are running Usage Usage and Default Details Ya Controller Usage Default Value N A Default Format N A Related Commands Examples A Program A NO No Operation NO This Program No Operation NO Does Absolutely No Op
35. 17 AM
36. 2 number P2ST Serial port 2 string CI Configure COMINT CC Configure serial port 2 EN End subroutine Examples A Program Label CC9600 0 1 0 CIZ interrupt on any character LOop MG Loop print a messag very second WT 1000 JP Loop COMINT MG COMINT P2CH S1 print a message and the received character EN1 1 End this subroutine re arming trip points that were running and re enabling the CI mask file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 22 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 23 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Other Operands none Burn not burnable nput interrupt automatic subroutine Full Description ININT is an automatic subroutine that runs upon a state transition of digital inputs 1 to 8 and is configured with I ININT runs in thread 0 Arguments N A Operand Usage N A Usage Usage and Default Details Usage Value While Moving Yes In a Program Yes Command Line No Related Commands Il Input interrupt IN Read digital input RI Return from interrupt Examples TIL arm digital input 1 EN End thread zero Y ININT Automatic sub Runs on input event MG Inputs _TI0 Display status of inputs 1 8 WT100 Debounce input RI Return from interrupt file Cl Doc
37. 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit vi Burn not burnable Gantry mode Full 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 Enables the gantry mode n Returns the state of gantry mode for the specified axis 0 gantry mode disabled 1 gantry mode enabled Operand Usage _GMn contains the state of gantry mode for the specified axis 0 gantry mode disabled 1 gantry mode enabled Usage Usage and Default Details eravan JO Related Commands GR Gear Ratio GA Gear Axes 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 180 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit cr Bun burnable with BN Gear Ratio Full Description GR specifies the Gear Ratios for the
38. 20Settings Andy Desktop Temp 4Kcom index html 254 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Operand Only not burnable P2NM Serial port 2 number Full Description P2NM returns the last number followed by carriage return sent to auxiliary serial port port 2 Converts from ASCII e g 1234 to binary so that a number can be stored into a variable and math can be performed on it Numbers from 2147483648 to 2147483647 can be processed Arguments Operand Usage N A Usage Usage and Default Details Related Commands P2CD Serial port 2 code P2CH Serial port 2 character P2ST Serial port 2 string CI Configure COMINT CC Configure serial port 2 COMINT Communication interrupt automatic subroutine Examples CARAN DMC2240 Rev 1 00 TORS CC 9600 0 0 0 MG TEST P2 send a message to the hand terminal x P2NM the 1 2 3 lt enter gt buttons were pushed MG x 123 0000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 255 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Operand Only not burnable P2ST Serial port 2 string Full Description P2ST returns the last string followed by carriage return sent to auxiliary serial port port 2 NO MORE THAN SIX CHARACTERS CAN BE ACCESSED Arguments Operand Usage N A Usage Usage and Default Details Related Commands
39. 20and 20Settings Andy Desktop Temp 4Kcom index html 301 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Accepts Axis Mask not burnable Full Description The ST command stops motion on the specified axis Motors will come to a decelerated stop If ST is sent from the host without an axis specification program execution will stop in addition to motion Arguments ST nnnnnnnnnn where nis A B C D E F G H M 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 Operand Usage N A Usage Usage and Default Details Related Commands BG Begin Motion AB Abort Motion DC Deceleration rate Examples ST A Stop A axis motion ST S Stop coordinated sequence ST ABCD Stop A B C D motion ST Stop 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 302 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference SY burnable with BN Serial encoder BiSS active level Full Description This command is used to designate the active level of the Error and Warning bits when using the Galil BiSS upgrade The BiSS protocol defines two bits which can be used by the encoder to signal va
40. 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit E Bun burnable with BN Analog Feedback Select Full 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 The position and analog range is set using the AQ command Note AQ must be set prior to setting AF Arguments AF n n n n n n n n or AFA n where n Enables analog feedback n 0 Disables analog feedback and switches to digital feedback n Returns the state of analog feedback for the specified axes 0 disabled 1 enabled For 1 Vp p Sinusoidal Encoder Input with ICM 42100 1100 n 5 12 indicates that the sinusoidal encoder input is to be used with 2 n interpolation counts per encoder cycle n 0 Disables Sinusoidal Interpolation and switches to digital feedback Differential encoder inputs must be used when using digital encoders with the ICM 42100 Consult the factory for single ended use n Returns the state of analog feedback for the specified axes n 1 When not using Analog feedback a 1 provides that the analog hardware still be sampled in the servo interrupt This provides evenly sampled data for both the data record and the RA RD RC function Operand Usage _AFx contains a 1 if analog feedback is enabled and 0 if not enab
41. B C D E F G or H or any combination to specify the axis or sequence No argument specifies all axes Operand Usage N A Usage Usage and Default Details Related Commands FE Find Edge HM Home BG Begin AC Acceleration DC Deceleration JG Jog HV Homing Velocity Examples HOME Home Routine JG 500 Set speed and forward direction FIA Find index BGA Begin motion AMA After motion G FOUND INDEX Print message EN 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 172 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn burnable with BN Forward Software Limit Full 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 one count past the set value The forward limit is disabled at 2147483647 The units are in quadrature counts When the forward software limit is activated the automatic subroutine LIMSWI will be executed if it is included in the program Arguments FL n n n n n n n n or FLA n w
42. Bit2 Executing input interrupt routine Bitl N A BitO Echo on Arguments TB returns the status byte Operand Usage _TB Contains the status byte Usage Usage and Default Details While Moving No RIO Ya eron vae A Related Commands Examples TB 65 Data Record Active and Echo is on 26 20 64 1 65 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 307 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference TC Tell Error Code Full Description The TC command returns a number between 1 and 255 This number is a code that reflects why a command was not accepted by the controller This command is useful when the controller halts execution of a program or when the response to a command is a question mark After TC has been read the error code is set to zero TC1 will return the error code along with a human readable description of the code Tell Code List 6 Nunberotofange id Pp arablecnr Sd file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 308 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference not valid for RIO not valid for RIO ontour data being sent too slowly Gear axis both master and follower Not enough fields 103 Master axis modulus greater than 256 EP value not valid for RIO 04 not valid for RIO 05 EB1 command must be given first not valid for RIO nt RY gt SOY AN Not valid when a
43. Controller Usage Default Details Default Value N A Related Commands Examples LZ 0 Disable the LZ function TPA Interrogate the controller for current position of A axis 0000021645 0000 Value returned by the controller VARI Request value of variable VARI1 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 VARI previously set to 10 10 0000 Value of variable returned by controller file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 225 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit Notation Only Bun not burnable Full 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 Modbus support is for TCP IP 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 letter Note All the formats contain an h parameter This designates the connection handle lette
44. DM command defines a single dimensional array with a name and n total elements The first element of the defined array starts with element number 0 and the last element is at n 1 Arguments DM cjn where c is a array name of up to eight alphanumeric characters starting with an alphabetic character n is the number of array elements DM returns the number of array elements available Operand Usage _DM contains the available array space Usage Usage and Default Details Related Commands DA Deallocate Array Examples DM Pets 5 Dogs 2 Cats 3 Define dimension of arrays pets with 5 elements Dogs with 2 elements Cats with 3 elements DM Tests 1600 Define dimension of array Tests with 1600 elements DM 16000 DM MyArray 1000 DM 15000 DMC 4xxx and 18x6 provide length of array with array 1 MG MyArray contains MyArray 1 elements MyArray contains 1000 0000 elements file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 141 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn not burnable Define Position Full Description The DP command sets the current motor position and current command positions to a user specified value The units are in quadrature counts This command will set both the TP and RP values The DP command sets the commanded reference position for axes configured as steppers The units
45. Description Turns the automatic axes status update on the LCD on or off Arguments LUn where n 0 Turns off the automatic update of the LCD with the axis status n Sets the LCD in an automatic update mode with the axes status shown below The LCD displays the following pattern A B C D E F GH m m m m m m m m where m is the axis status for axes ABCDEFGH and is Axis Status Description Low power Idle Motion Axis Running in independent mode Error Positions Error exceeded TEn gt ERn top Stopped from ST command A lt a o o e z Q Limit Decelerating or stopped by a limit switch C Ranmingin PTmode ECAM Running in ECAM mode Fault Amplifier Fault lt I gt tall Stepper Position Maintenance Mode Stall Detected Operand Usage _LU contains the setting of the LU command Usage Usage and Default Details Default Value ps Default Format Controller Usage DMC 4000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 222 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Related Commands MG Message Lx LB LCD Bias Contrast SC Stop Code Examples LUO Turn the LCD update off MG DMC 40x0 L1 Send DMC 40x0 to line 1 of the LCD screen MG Galil MC L2 Send Galil MC to line 2 of the LCD screen LUL Set the LCD to automatically update the LCD screen with the axis status file Cl Documents 20and 20Settings Andy Desktop Tem
46. FF 240 255 STATUS BYTE CONDITION FO 240 UI or UIO was executed F1 241 UII was executed F2 242 UI2 was executed F3 243 UI3 was executed F4 244 UI4 was executed F5 245 UI5 was executed F6 246 UI6 was executed F7 247 UIT was executed F8 248 UI8 was executed F9 249 UI9 was executed FA 250 UI10 was executed FB 251 UI11 was executed FC 252 UI12 was executed FD 253 UI13 was executed FE 254 UI14 was executed FF 255 UI15 was executed Operand Usage N A Usage Usage and Default Details envane JO Related Commands EI Event interrupts MG Message file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 333 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Examples JG 5000 Jog at 5000 counts s BGA Begin motion ASA Wait for at speed UI 1 Cause an interrupt with status byte F1 241 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 334 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syatax Two Letter Only not burnable Full Description The UL command transfers data from the controller to a host computer Programs are sent without line numbers The Uploaded program will be followed by a lt control gt Z as an end of text marker Arguments None Operand Usage When used as an operand UL gives the number of available variables The number of available variables is 51
47. Handle Examples HSC D Connection for handle C is assigned to handle D Connection for handle D is assigned to handle C HSS E Executing handle connection is assigned to handle E Connection for handle E is assigned to executing handle file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 183 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn burnable with BN Homing Velocity Full Description Sets the slew speed for the FI final move to the index and all but the first stage of HM Arguments HV n n n n n n n n or HVA n where nis an unsigned even number in the range 0 to 22 000 000 for servo motors The units are encoder counts per second OR n is an unsigned number in the range 0 to 6 000 000 for stepper motors n Returns the speed for the specified axis Operand Usage _HVn contains the homing speed for the specified axis Usage Usage and Default Details Related Commands HM Home FI Find index Examples HVX 1000 set homing speed HMX home to home switch then index BGX begin motion AMX wait for motion complete EN end program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 184 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Bun not burnable Halt Execution Full Description The HX com
48. Motion Control Command Reference Related Commands RA Record Array RC Record Interval DM Dimension Array Examples DM ERRORA 50 ERRORB 50 Define arrays RA ERRORA ERRORB Specify arrays to be recorded RD _TEA _TEB Specify data source REA Fr Begin recording period is once every other servo sample JG 1000 BG GalilTools The GalilTools Realtim scop Begin motion can often be used as an alternative to record array file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 277 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Full Description The RE command is used to end the following error automatic subroutines POSERR LIMSWI TCPERR AMPERR if equipped with internal amplifiers SERERR if equipped with SER firmware An RE at the end of these routines causes a return to the main program Care should be taken to ensure the error conditions no longer are present to avoid re entering the subroutines Trippoint states can be preserved or cleared with RE1 or REO respectively A motion trippoint like MF or MR requires the axis to be actively profiling in order to be restored with the RE command To avoid returning to the main program on an interrupt use the ZS command to zero the subroutine stack Arguments REn where n 1_ Restores state of trippoint n 0 Clears the interrupted trippoint no argument clears the interrupted t
49. P2CD Serial port 2 code P2CH Serial port 2 character P2NM Serial port 2 number CI Configure COMINT CC Configure serial port 2 COMINT Communication interrupt automatic subroutine Examples CC 9600 0 1 0 MG TEST P2 send a message to the hand terminal MG P2ST S3 the characters ABC were entered ABC file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 256 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit PA reat i PAn Burn burnable with BN Position Absolute Full Description The PA command sets the end target of the Position Absolute Mode of Motion 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 motion stopped Operand Usage _PAn contains the last commanded position at which motion stopped Usage Usage and Default Details While Moving Default Value N A Related Commands PR Position relative SP Speed AC Acceleration DC Deceleration BG Begin 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 Execute Motion SPA FaR op Returns the current commanded position after motion has comple
50. PNM OR sT aT m file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 212 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Burn burnable with BN LCD Bias Contrast Full Description Sets the Bias contrast on the LCD Arguments LBn where n is an integer between 0 and 15 where 0 is least contrast and 15 is greatest contrast A negative value turns the optional backlight on Operand Usage _LB contains setting of the LB command Usage Usage and Default Details envane Jo Related Commands MG Message Lx LU LCD Update Examples LBO Set the LCD Bias Contrast to minimum LB15 Set the LCD Bias Contrast to maximum LB 8 Set the LCD Bias Contrast to default and turn on backlight backlight is an optional enhancement file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 213 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Burn burnable with BN Low Current Stepper Mode Full Description The LC command causes the amp enable line for the specified axes to toggle disabling the stepper drive when the respective axes stops profiler holding position Each axis is handled individually This will reduce current consumption but there will be no holding torque at rest The MT command must be issued prior to the LC command The user can set a time i
51. Pause the program until the A axis completes the motion EN End of Program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 160 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax _ Embedded Only ENDIF Opeana e Burn not burnable End of IF conditional statement Full 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 N A Usage Usage and Default Details Operand Usage Related Commands IF Command to begin IF conditional statement ELSE Optional command to be used only after IF command JP Jump command JS Jump to subroutine command Examples A IF IN 1 0 IF conditional statement based on 1 input 1 IF IN 2 0 2nd IF conditional statement executed if lst IF conditional true MG INPUT 1 AND INPUT 2 ARE ACTIVE Message to b xecuted if 2nd IF conditional is true ELSE ELSE command for 2nd IF conditional y statement MG ONLY IN
52. Program Yes Default Format Command Line Yes ANJ is an operand not a command It can only be used as an argument to other commands and operators Related Commands AQ Analog Range Examples MG AN 1 print analog input 1 1 7883 x AN 1 assign analog input 1 to a variable file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 40 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syatax e Function ASIN open po Burn not burnable Inverse sine Full Description Returns in degrees the arc sine of the given number Arguments ASIN n where n is a signed number in the range 1 to 1 Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO Yes In a Program es ommand Line es Controller Usage All Default Value A Default Format Related Commands ACOS n Arc cosine SIN n sine ATAN n Arc tangent COS n Cosine TAN n Tangent Examples MG ASIN 1 90 0000 MG ASIN O0 0 0000 MG ASIN 1 90 0000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 41 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syatax e Function ATAN open po Burn not burnable Inverse tangent Full Description Returns in degrees the arc tangent of the given number Arguments ATAN n nis a signed number in the range 2147483647 to 2147483647
53. RE file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 26 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference MCTIME Full Description MCTIME runs when the MC command is used to wait for motion to be complete and the actual position TP does not reach or pass the target within the specified timeout TW Use RE to terminate the subroutine Arguments N A Operand Usage N A Usage Usage and Default Details Related Commands MC Wait for motion complete trip point TW MC timeout Examples BEGIN Begin main program TWX 1000 Set the time out to 1000 ms PRX 10000 Position relative BGX Begin motion CX otion Complete trip point EN End main program CTIME otion Complete Subroutine G X fell short Send out a message EN1 End subroutine file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 27 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference POSERR Burn not burnable Position error automatic subroutine Full Description The factory default behavior of the Galil controller upon a position error _TEn gt _ERn is to do nothing more than drive the error signal low turning on the red error LED If OE is set to 1 the motor whose position error TE equals or exceeds its threshold ER will be turned off MO ROSERR can be used if the programmer wishes to run code upon a position error
54. Response shows D axis step drive resolution file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 352 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax _ Explicit amp Implicit YB pernas Jien Burn burnable with BN tep Motor Resolution Full Description The YB command specifies the resolution of the step motor in full steps per full revolution for Stepper Position Maintenance mode Arguments YB m m m m m m m m YBn m where nis A B C D E F G or H or any combination to specify the axis or axes m is 0 to 9999 which represents the motor resolution in full steps per revolution Operand Usage _YBn contains the stepmotor resolution for the specified axis Usage Usage and Default Details Related Commands QS Error Magnitude YS Stepper Position Maintenance Mode Enable Status YA Step Drive Resolution YC Encoder Resolution YR Error Correction Examples 1 Set the step motor resolution of the A axis for a 1 8 step motor YBA 200 2 Query the A axis value YBA 200 Response shows A axis step motor resolution file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 353 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Bun burnable with BN Encoder Resolution Full Description The YC command specifies the resolution of the encoder in counts per revolution f
55. S T M or N or any combination to specify the axis or sequence Operand Usage _BGn contains a 0 if motion complete on the specified axis or coordinate system otherwise contains a 1 Usage Usage and Default Details envane 0 While Moving Yes Default Value 0 InaProgram Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS Related Commands AM After motion complete ST 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 complete can also file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 95 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference be accomplished by testing for the value of
56. TCP connection on Ethernet handle The command receives its arguments 5 ica THC 192 168 1 101 lt 1070 gt 2 C to a device at IP address 192 168 1 101 on only by assignment with the operator port 1070 Implicit Notation Only ee ato ae IA 192 168 1 102 Set the local IP address to 192 168 1 102 The command receives its arguments either by an explicit assignment using the KPA 64 KPB 32 KPH 128 Assign the proportional constant KP of the symbol or an implicit argument KP 64 32 128 PID filter to three different axes Explicit Notation Only Explicit amp Implicit order Accepts Axis Mask The command receives its arguments as ST ADF Stop ST axes A D and F Leave other axes a string of valid axis names running file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 2 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Two Letter Only The command accepts no arguments erie a yam eee Operators take two arguments and Operator or Comparator _ produce a result Comparators take two values and return a Boolean 1 or 0 lt gt lt gt lt gt Starting with the character these SIN ASIN Trig functions Sine and ArcSine Function functions take one argument and perform AN IN Peder estar ata Siam Part a function returning its result RND FRAC COM ae i Bitwise compliment Not valid from the terminal or from PC IF
57. Temp 4Kcom index html 102 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn burnable with BN Brushless Offset Full 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 0003 n Return the brushless offset for the specified axis Operand Usage _BOn contains the offset voltage on the DAC for the specified axis Usage Usage and Default Details envane JO enoma Jo Related Commands BA Brushless Axis BB Brushless Phase Begins BC Brushless Commutation BD Brushless Degrees BI Brushless Inputs BM Brushless Modulo BS Brushless Setup BZ Brushless Zero Examples BO 2 1 Generates the voltages 2 and 1 on the first DAC A and the second DAC C of a sinusoidally commutated motor HINT To assure that the output voltage equals the BO parameters set the PID and OF parameters to zero file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 103 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Two Letter Only none not burnable urn Program Full Description The BP command saves th
58. burnable ell Torque Full 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 argument will provide the torque for all axes Operand Usage _TTn contains the value of the torque for the specified axis Usage Usage and Default Details Related Commands TL Torque Limit Examples V1 _TTA Assigns value of TTA to variable V1 TTA Report torque on A 0 2843 Torque is 2843 volts file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 329 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Accepts Axis Mask Bum not burnable ell Velocity Full Description The TV command returns the actual velocity of the axes in units of encoder count s The value returned includes the sign The TV command is computed using a special averaging filter over approximately 0 25 sec for TM1000 Therefore TV will return average velocity not instantaneous velocity 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 velocity for all axes Operand Usage _TVn contains the value of the velocity for the specified axis Usage Usage and Default Details Related Commands SP Speed AC Acceleration DC Decelerati
59. command STX stop 2 To compress DMC programs to fit within the program line limit Note use a compression utility to do this Do not program this way because it is hard to read 3 To give higher priority to a thread All commands on a line are executed before the thread scheduler switches to the next thread Arguments n n n n where n is a valid Galil command Operand Usage N A Usage Usage and Default Details Controller Usage Default Value N A Default Format N A Related Commands NO No Op comment comment Examples SB1 WT500 CB1 multiple commands separated by semicolons with a comment High High priority thread executes twice as fast as a at til1 b b 4 1 JP High Low c cHtil da d I JP LOw Low when run in parallel file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 37 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syatax e Function ABS sant poe Burn not burnable Absolute value Full Description Takes the absolute value of the given number Returns the value if positive and returns 1 times the value if negative Arguments ABS n where nis a signed number in the range 2147483647 to 2147483647 Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO Yes In a Program es ommand Line es Controller Usage All Default Value A Default Format Related Commands
60. digital inputs if limit switches are not used or if there is a noise problem which causes limit switch conditions even though no limit switches are connected Arguments LD n n n n n n n n or LDA n where n 0 enabled default n 1 forward limit disabled n 2 reverse limit disabled n 3 both disabled n returns the current setting Operand Usage _LDn contains the current value Usage Usage and Default Details envane Jo Related Commands _LFX State of forward limit _LRX State of reverse limit SC Stop code BL Backward soft limit FL Forward soft limit Examples LDX 1 Disable the forward limit switch on the X axis file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 215 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference LE Linear Interpolation End Full 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 move length in encoder counts for the selected coordinate system S or T To select the coordinate system use the command CAS or CAT Operand Usage _LEn contains the to
61. drive motor backward when Home input is high See HM and FE commands o Latch input is active high 1 Latch input is active low p 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 Will also trigger POSERR automatic subroutine if program is running O0 Inputs 5 6 7 8 13 14 15 16 are configured as general use inputs ji Abort input will not terminate program execution 0 Abort input will terminate program execution 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 _CN4 Contains whether the abort input will terminate the program Usage Usage and Default Details While Moving Related Commands AL Arm latch LD Limit Switch Disable file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 126 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Examples CN 1 1 Sets limit and home switches to active high CN 1 Sets input latch active low file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 127 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only CO Operands Burn burnable with BN Configure Extended I O Full Description The CO command configures which banks are inputs and
62. entries to 400 800 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 151 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only EDIE Bun not burnable Full Description Using Telnet style interface not Galil 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 EDn where n specifies the line number to begin editing The default line number is the last line of program space with commands 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 _ED4 when evaluated in an embedded code thread this operand will contain the thread id of the calling thread This is useful for DMC code to determine which thread it is running in See example below Usage Usage and Default Details Related Commands DL Download UL Upload Examples iw START PR 2000 BGA SLKJ Bad line EN CMDERR Routine which occurs upon a command error V _ED MG An error has occurred n G In line V F3 0 9 ST 10 ZSO
63. for example to notify a host computer The POSERR label causes the statements following to be automatically executed if error on any axis exceeds the error limit specified by ER The error routine must be closed with the RE command The RE command returns from the error subroutine to the main program Use RE to end the routine POSERR will also run when OE1 is set for an axes and that axis is also setup for encoder failure detection see OA OT OV commands The automatic subroutine runs in thread 0 If thread 0 is running it will jump to POSERR when an error occurs If thread 0 is not running POSERR will be started in thread 0 Arguments N A Operand Usage N A Usage Usage and Default Details Related Commands OE Off on error TE Tell error ER Error limit RE Return from error routine Examples main main program JP main REM simple example of POSERR POSERR G POSERR RE file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 28 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference REM example of POSERR that checks for position error on each axis POSERR a 0 axis designator IF _TE a gt _ER a amp _OE a MG Position Error occured on a F1 0 axis ENDIF a vratl JP POSERR a lt _BV loop until axes have been checked ALS hy wait until input 1 goes high ex safety
64. for specified axis 0 axis is not engaged 1 axis is engaged Usage Usage and Default Details Controller Usage Default Value fo Default Format Related Commands EA Choose ECAM master EB Enable ECAM EC Set ECAM table index EM Specify ECAM cycle EP Specify ECAM table intervals amp staring point EQ Disengage ECAM ET 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 154 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Bun not burnable Event Interrupts Full Description EI enables interrupts for the predefined event conditions in the table below When a condition e g Axis A profiled motion complete occurs after EI is armed a particular status byte value e g DO or 208 is delivered to the host PC along with the interrupt Interrupts are issued as automatically dispatched UDP packets GalilTools version 1 2 1 0 or newer required for software support The UDP packet can contain up to 16 individual status bytes and is framed as follows Pa
65. from the host Note that for serial and Ethernet controllers the standalone controller can still actively work with other controllers in a network without host intervention PCI and other PC bus based controllers support this approach although still require the PCI bus for power GalilTools GT is provided as a programming environment for developing embedded applications Host centric Programming If a GUI or other frontend is desired to be run on a host all development can be conducted on the host PC with the architecture operating system and programming language of choice In this approach the controller receives every command from the host PC nothing is running embedded Many Galil firmware features are available to facilitate host centric programming including mode of motion buffers data logging buffers asynchronous data record updates from the controller PCI and UDP interrupt events and more GalilTools GT is bundled with a programming library API for programming applications from a host Many popular operating systems and languages are supported Hybrid Programming Perhaps the most versatile approach to Galil system design the Hybrid approach allows for both embedded code and host side code to work in tandem Typically an application is developed for embedded use in DMC code The code incorporates all of the detail of an application but relies on the host to provide it data Through variables arrays and other commands th
66. 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 master 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 When the geared motors must be coupled strongly to the master use the gantry mode GM Arguments GR n n n n n n n n or GRA n where n is a signed numbers in the range 127 with a fractional resolution of 1 65536 n 0 Disables gearing n Returns the value of the gear ratio for the specified axis Operand Usage _GRn contains the value of the gear ratio for the specified axis Usage Usage and Default Details envane Jo Related Commands GA Master Axis for Gearing GM Gantry Mode Examples REM setup gearing where B axis is master for A and C axes GEAR MOB Turn off servo to B motor GAB B Specify master axis as B GR 25 5 Specify A and C gear ratios SHB Enable B axis PRB 1000 BGB Move B axis 1000 counts A axis will be commanded to move 250 counts positive C axis will be commanded to move 5000 counts negative 5000 EN End program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 181 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Axis Mask not burnable Home Full Description The HM command perfor
67. gt Z as an end of text marker The GalilTools array upload functions can be used to upload array data in csv format Arguments QU array start end delim where array is a valid array name start is the first element of the array default 0 end is the last element of the array default last element delim specifies the character used to delimit the array elements If delim is 1 then the array elements will be separated by a comma Otherwise the elements will be separated by a carriage return Operand Usage N A Usage Usage and Default Details Controller Usage Default Format Related Commands QD Download array Examples DM array 5 Dimension Array QU array 0 4 1 Upload Array 0 0000 0 0000 0 0000 0 0000 0 0000 array 0 array 1 QU array 29 0000 array 0 9 0000 9 Set value 1 l 14 1 0000 0 0000 0 0000 0 0000 Alternative method to return just one array value 0 0 I Re I file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 271 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Return Data Record information Full Description The QZ command is an interrogation command that returns information regarding data record transfers The controller s response to this command will be the return of 4 integers separated by commas The four fields represent the following First field returns the number of axes Second field returns
68. 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 Operand Usage N A Usage Usage and Default Details Usage Value Yes Yes Command Line Yes Related Commands ININT Interrupt Subroutine AI Trippoint for input RI Return from Interrupt Examples A Program A It 1 Specify interrupt on input 1 JG 5000 BGA Specify jog and begin motion on A axis file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 194 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Ecnono 21x3 18x2 only necesary on
69. of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Om Burn burnable with BN Off on encoder failure time Full Description Sets the time in samples milliseconds for TM1000 that the controller will wait for motion after the OV threshold has been exceeded The controller can detect a failure on either or both channels of the encoder This is accomplished by checking on whether motion of at least 4 counts is detected whenever the torque exceeds a preset level OV for a specified time OT Note that for this function to work properly it is necessary to have a non zero value for KI Arguments OT n n n n n n n n where nis the number of samples between 2 and 32000 returns the last value set Operand Usage _OTn contains the OT value for the specified axis Usage Usage and Default Details Related Commands OA Off on encoder failure OV Off on encoder failure voltage Examples setup OTX 10 Set time to 10 milliseconds OVX 5 Set voltage to 5 OAX 1 Enabl ncoder detection feature EN file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 251 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Ova Burn burnable with BN Off on encoder failure voltage Full Description Sets the threshold voltage for detecting an encoder failure The controller can
70. of the digital input and is affected by the command CN Values of _LFn Digital Input activation _LF value for CN 1 _LF value for CN1 On Grounded for TTL or sufficient activation current flowing for optos 0 forward motion prohibited 1 forward motion allowed Off Pullup for TTL or insufficient activation current flowing for optos 1 forward motion allowed 0 forward motion prohibited Arguments N A Operand Usage _LF is an operand Usage Usage and Default Details Related Commands _LR Reverse Limit Switch Operand Examples MG _LFA Display the status of the A axis forward limit switch See Connecting Hardware in User Manual for active inactive state file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 60 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Full Description The _LR operand contains the state of the forward limit for the specified axis The operand is specified as _LRn where n is the specified axis _LRn 1 when the limit switch state will allow motion in the reverse direction _LRn 0 when the limit switch state will not allow motion in the reverse direction Note This operand is not a direct readout of the digital input and is affected by the command CN Values of _LRn Digital input activation _LR value for CN 1 _LR value for CN1 On Grounded for TTL or sufficient activation current flowing for optos 0 reverse motion prohibited
71. off if high Bit4 Undefined Bit3 Forward Limit Switch Status inactive if high Bit2 Reverse Limit Switch Status inactive if high Bit1 Home A Switch Status Bit0 Latched Note For active high or active low configuration CN command the limit switch 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 Operand Usage _TSn contains the current status of the switches Usage Usage and Default Details Related Commands Examples V1 _TSB Assigns value of TSB to the variable V1 Vl Interrogate value of variable V1 215 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 327 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Y axis latch is not armed bit O has a value of 1 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 328 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Accepts Axis Mask Bun not
72. on 21x3 Default Format Related Commands MB Modbus Examples MW1 Enables Modbus Wait SB1001 Set Bit 1 on Modbus Handle A CB1001 Clear Bit 1 on Modbus Handle A file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 237 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn burnable with BN Notch Bandwidth Full 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 nis ranges from 0 Hz to Operand Usage _NBn contains the value of the notch bandwidth for the specified axis Usage Usage and Default Details While Moving Yes Default Value 0 5 InaProgram Yes Default Format 3 1 Command Line Yes Controller Usage ALL CONTROLLERS Related Commands NF Notch Filter NZ 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 A axis file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 238 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn burnable with BN Notch Frequency Full 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
73. operand is valid in the linear mode LM and in the Vector mode VM example _VPA for the the A axis Usage Usage and Default Details Controller Usage Default Value Default Format Related Commands VM Vector Mode VE Vector End BG Begin Sequence IT Vector smoothing Examples A Program Label VM AB Specify motion plane VP 1000 2000 Specify vector position 1000 2000 VP 2000 4000 Specify vector position 2000 4000 CR 1000 0 360 Specify arc file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 343 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference VE Vector end BGS Begin motion sequence AMS Wait for vector motion to complete EN End Program REM VP n m lt o gt p REM o and p are in counts sample rather than counts second as the VS command REM this means that when TM lt gt 1000 commanded speed for VS will be different than REM values for o and p REM To get counts second for o and p divide them by a ratio of 1000 _TM RE REM vs and vsop result in the same profile VS TM 250 VMXY VS 100000 VA 2560000 VD 2560000 VP 20000 20000 VE BGS AMS 1 vsop T 250 VMXY n 1000 _TM VS 100000 VA 2560000 VD 2560000 VP 20000 20000 lt 100000 n VE BGS AMS 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 e
74. per axis PR2000 4000 Independent Move on A and B axis BG AB Start the B axis C AB After the move is complete on T coordinate system G DONE Print message EN End of Program bf Y MCTIME Motion Complete timeout Subroutine MG Motion Timeout Print failure message file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 229 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference J Print stop codes End subroutine Aw ee Ne oN file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 230 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Explicit amp Implicit amp Trippoint none not burnable Full Description The MF command is a trippoint used to control the timing of events This command will hold up the execution of the following command until the specified motor moves forward and crosses the position specified The units of the command are in quadrature counts 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 Hint The accuracy of the MF command is the number of counts that occur in 2 TM
75. perform commutation In this case 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 In this configuration each axis requires 2 motor command signals The second motor command signals will always be associated with the highest axis on the controller For example a 3 axis controller with A and C configured for sinusoidal commutation will require 5 command outputs a 5 axis 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 H or any combination to specify the axis axes for this mode Galil Sine Drive Use BAN removes all axes configured for use with the sine drive Sine drives will be disabled Third Party Sine Drives Requiring Dual Analog Inputs Rare BA removes all axes configured for sinusoidal commutation Operand Usage Galil Sine Drive Use _BAn will contain a 1 if the BA command has been issued for that axis or a 0 if it has not Third Party Sine Drives Requiring Dual Analog Inputs Rare _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 Usage Usage and Default Details file Cl Documents 20and 20Settings Andy Desktop Temp 4
76. sec Multiply the speed by 2 TM sec to obtain the maximum error MF tests for absolute position The MF command can also be used when the specified motor is driven independently by an external device Arguments MF n n n n n n n n or MFA n where n is a signed integer in the range 2147483648 to 2147483647 decimal Operand Usage N A Usage Usage and Default Details Related Commands AR Trippoint for after Relative Distances AP Trippoint for after Absolute Position MR Reverse Motion to Position Trippoint Examples TEST Program Test DPO Define zero JG 1000 Jog mode speed of 1000 counts sec BG A Begin move F 2000 After passing the position 2000 V1 _TPA Assign V1 A position G Position is Vl Print Message ST Stop EN End of Program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 231 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Bun not burnable Full Description The MG command can be used in two ways 1 From a host PC MG val will return the value where val is an operand string variable or number including mathematical expressions This is known as a solicited command because the host sends the command and expects a response MG TIME 261928200 0000 variable 10 MG variable 5 15 0000 MG _TIO 255 0000 G Foo Foo 2 From embedded DMC code the MG command will
77. send an unsolicited asynchronous message from the controller to the host This can be used to alert an operator send instructions or return a variable value This is known as an unsolicited command because the host is not expecting it the DMC code sends the data when the MG command is executed in embedded code The CW command controls the ASCII format of all unsolicited messages POSERR G Warning position error exceeded RE Messages sent from within embedded code can go to any of the Ethernet handles or serial ports See CF to set the routing of the message Arguments MG m n V where m is a text string including alphanumeric characters up to 76 characters n is an ASCII character specified by the value n V is a value variable name operand array element or mathematical expression Multiple strings variables and ASCII characters may be used each must be separated by a comma Formatters Fm n Display variable in decimal format with m digits to left of decimal and n to the right Zm n Same as Fm n but suppresses leading zeros m n Display variable in hexadecimal format with m digits to left of decimal and n to the right Sn Display variable as a string of length n where n is 1 through 6 N Suppress carriage return line feed r n at the end of the message Formatters can be placed before or after each argument in MG Message Routing Messages are routed based upon the CF setting MG can o
78. the C axis is at position 0 and the D axis is at 110 decimal The returned parameter units are in quadrature counts TP Return A B C D positions 200 10 0 110 TPA Return the A motor position 200 TPB Return the B motor position 10 PF 6 0 Change to hex format TP Return A B C D in hex 0000C8 SFFFFF6 5000000 SFFFF93 Position _TPA Assign the variable Position the value of TPA file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 324 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Burn burnable with BN Full Description The TR command causes each instruction in a program to be sent out the communications port prior to execution TR1 enables this function and TRO disables it The trace command is useful in debugging programs Arguments TRn m where n 0 Disables the trace function n 1 Enables the trace function m is an integer between 0 and 255 and designates which threads to trace A bit is set per thread Thread 0 1 Thread 1 2 Thread 2 4 Thread 7 128 The default is 255 all threads The least significant bit represents thread 0 and the most significant bit represents thread 7 The decimal value can be calculated by the following formula n n0 2 nl 4 n2 8 n3 16 n4 32 n5 64 n6 128 n7 where nx represents the thread To turn tracing on for a thread substitute a one into that nx in the formula If the nx value is a
79. the ECAM table The parameter m is the interval and n is the starting point Up to 257 points may be specified The offset parameter n can also be used to instantaneously phase shift the graph of the slave position verses the master position This can be used to make on the fly corrections to the slaves See application note 2502 for more details http www galilmc com support application notes php Arguments EP m n where m is the master interval and is a positive integer in the range between 1 and 32 767 master counts m cannot be changed while ECAM is running m Returns the value of the interval m n is the phase shift and is an integer between 2 147 483 648 and 2 147 483 647 master counts n can be changed while ECAM is running Usage Usage and Default Details Operand Usage _EP contains the value of the interval m Related Commands EA Choose ECAM master EB Enable ECAM EC Set ECAM table index EG Engage ECAM EM Specify ECAM cycle EQ Disengage ECAM ET ECAM table Examples EP 20 Sets the cam master points to 0 20 40 D _EP Set the variable D equal to the ECAM internal master interval EP 100 Phase shift all slaves by 100 master counts file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 163 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn not burnable ECAM quit disengage Full D
80. 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 Operand Usage N A Usage Usage and Default Details ommand Line Controller Usage Default Value Related Commands DR Ethernet data record update rate RA Examples file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 272 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Implicit Notation Only om Burn J ot burnable Record Array 00 OS Record Array 00 OS Full 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 nf m o JPL 1 40 11 s tE where n m 0 p q r s and t are dimensioned arrays as defined by DM command The square brackets are empty Operand Usage N A Usage Usage and Default Details Controller Usage All Default Value N A Default Format N A Related Commands DM Dimension Array RD Record Data RC Record Interval Examples Record Label DM POS 100 Define array RA POS Specify Record Mode RD _TPA Specify data type for record RG lz Begin recording at 2 msec intervals
81. the uploaded program is less readable with REM 4 NO or comments take up program line space and REM lines don t 5 REM comments must be the first and only thing on a line whereas NO or can be used to place comments to the right of code after a semicolon on the same line NO or should be used instead of REM unless speed or program space is an issue Arguments REM n where nis a text string comment Operand Usage N A Usage Usage and Default Details Controller Usage All Default Value N A Default Format N A Related Commands NO apostrophe also accepted No operation comment Examples file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 280 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Return from Interrupt Routine Full 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 RII restores the trippoint on the return to the program A motion trippoint such as MF or MR requires the axis to be actively profiling in order to be restored with RI1 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 ju
82. to form an IF conditional statement The arguments consist of 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 Each condition must be placed in parenthesis for proper evaluation by the controller Example IF var0 1 amp varl 2 valid IF statement G GOOD ENDIF IF var0 l varl 2 invalid IF statement G BAD ENDIF IF var0 l varl 2 invalid IF statement G BAD ENDIF Arguments IF condition where Conditions are tested with the following logical operators lt less than or equal to gt greater than equal to lt less than or equal to gt greater than or equal to lt gt not equal Note 1 Bit wise operators and amp can be used to evaluate multiple conditions Note 2 A true condition 1 and an false condition 0 Usage Usage and Default Details Operand Usage Related Commands ELSE Optional command to be used only after IF command file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 190 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference ENDIF End of IF conditional Statement JS Jump to subroutin
83. tracking PAA target Track to current value of target WT500 Wait 500 ms JP track Continue to track file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 20 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference CMDERR runs if an error occurs JP done _TC lt gt 6 check that an out of range occured See TC G Value target is out of range for Position Tracking target _PAA reset target done EN1 return to tracking logic file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 21 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference COMINT C Communication interrupt automatic subroutine Full Description COMINT is an automatic subroutine which can be configured by the CI command to run either when any character is received or when a carriage return is received over the com port The auxiliary port is used if equipped COMINT runs in thread 0 and an application must be running in thread 0 in order for COMINT to be enabled Code running in thread zero will be interrupted by the COMINT subroutine Use EN to end the routine NOTE An application program must be executing for the automatic subroutine to function which runs in thread 0 Use EN to end the routine Arguments N A Operand Usage N A Usage Usage and Default Details Related Commands P2CD Serial port 2 code P2CH Serial port 2 character P2NM Serial port
84. where v is areal number between 0 and 10 v represents the voltage level to be applied to each phase nis a positive integer between 100 or 1000 n represents the duration in milliseconds that voltage should be applied to the motor phases Operand Usage N A Usage Usage and Default Details envane JO Related Commands BA Brushless Axis BB Brushless Phase Begins BC Brushless Commutation BD Brushless Degrees BI Brushless Inputs BM Brushless Modulo BO Brushless Offset BZ Brushless Zero Examples BSC 2 900 Apply set up test to C axis with 2 volts for 900 millisecond on each step 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 106 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 107 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Accepts Axis Mask BT rem fen Begin PVT Motion Full Description The BT command begins PVT motion on the specified axes All axes will begin at the same time For more details on PVT mode see the user manual Arguments BTnnnnnnnn where n is A B C D E F G H or any combination of axes Operand Us
85. which are outputs on the extended I O The CO command configures which points are inputs and which are outputs on the extended I O The 32 extended I O points of the controller can be configured in banks of 8 The extended I O is denoted as bits 17 48 and banks 2 5 Arguments COn where n is a decimal value which represents a binary number Each bit of the binary number represents one bank of extended I O When set to 1 the corresponding bank is configured as an output The least significant bit represents bank 2 and the most significant bit represents bank 5 The decimal value can be calculated by the following formula n n2 2 n3 4 n4 8 n5 where nx represents the bank To configure a bank as outputs substitute a one into that nx in the formula If the nx value is a zero then the bank of 8 I O points will be configured as inputs For example if banks 3 and 4 are to be configured as outputs CO 6 is issued Operand Usage _CO returns the extended I O configuration value Usage Usage and Default Details Usage Value While Moving Yes In a Program Yes Command Line Yes Default Value Related Commands CB Clear Output Bit SB Set Output Bit OP Set Output Port TI Tell Inputs Examples co 15 Configure all points as outputs co 0 Configure all points as inputs co 1 Configures bank 2 as outputs on extended I O file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 128 of 358 5 24 2011
86. 0 RELATED COMMAND DL Download Usage Usage and Default Details Ya Controller Usage Default Value oo Default Format N A Related Commands Examples UL Begin upload A Line 0 O This is an Example Line 1 O Program Line 2 EN Line 3 lt cntrl gt z Terminator file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 335 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Burn burnable with BN Vector Acceleration Full Description The VA 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 1073740800 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 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 Operand Usage _VAx contains the value of the vector acceleration for the specified axis Usage Usage and Default Details Controller Usage Default Value 256000 10 0 for 18x6 amp 40x0 Related Commands VS Vector Speed VP Vector Position VE End Vector CR Circle VM Vector Mode BG Be
87. 0 000 for steppers Operand Usage N A Usage Usage and Default Details Related Commands LE Linear end BG BGS Begin sequence LM Linear Interpolation Mode CS Clear Sequence file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 217 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference VS Vector Speed VA Vector Acceleration VD Vector Deceleration Examples LM ABC Specify linear interpolation mode LI 1000 2000 3000 Specify distance iE Last segment BGS Begin sequenc file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 218 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Two Letter Only none not burnable Full Description The LL command returns a listing of all of the program labels in memory and their associated line numbers The listing will be in alphabetical order Arguments None Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO Yes In a Program es ommand Line es Controller Usage All Default Value A Default Format Related Commands LA List Arrays LS List Program LV List Variables Examples LL FIVE 5 FOUR 4 ONE 1 Se SE E FE oe TWO 2 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 219 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax
88. 0 baud no handshake echo off Typical setting with TERM P or TERM H file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 116 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax fExplicit amp Implicit CD reas Jon Burn not burnable Contour Data Full Description The CD command specifies the incremental position on contour 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 The operator can be used to override the global DT time by transmitting the time in a CD with the position data Arguments CD n n n n n n n n m or CDA n where n is an integer in the range of 32767 m optional is an integer in the range 0 to 8 and overrides the global DT time for this interval n m 0 terminates the Contour Mode m through 8 specifies the time interval DT of 2 m samples By default the sample period is 1 msec set by the TM command with m 1 the time interval would be 2 msec Note 1 The command CD 0 0 0 would follow the last CD command in a sequence CD 0 0 0 is similar to VE amp LE Once reached in the buffer CD 0 0 0 will terminate the contour mode Note 2 The command CDO 0 will assign a variable CDO the value of 0 In this case the user must have a space after CD in o
89. 000 Note For additional examples s the JS Subroutine Stack Variables a b c d e fy g h section in the DMC 40x0 User Manual file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 54 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Operands none Burn not burnable ock program Full Description lt control gt L lt control gt K locks user access to the application program When locked the ED UL LS and TR commands will give privilege error 106 The application program will still run when locked The locked or unlocked state can be saved with a BN command Upon master reset the controller is unlocked Once the program is unlocked it will remain accessible until a lock command or a reset with the locked condition burned in occurs Arguments lt control gt L lt control gt K password n where When n is 1 this command will lock the application program When n is 0 the program will be unlocked Operand Usage N A Usage Usage and Default Details ommand Line e Controller Usage DMC 4xxx DMC 18x6 RIO 47xxx Default Value A A Related Commands PW Password ED Edit program UL Upload program LS List program TR Trace program Examples PWtest test Set password to test L K test 1 Lock the program LS Attempt to list the program 2 TE1 106 Privilege violation file Cl Documents 20and
90. 1 to x MG 40 6 integer remainder of 40 divided by 6 4 0000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 63 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Operator or Comparator Comparison Operators Full Description The comparison operators are as follows lt less than gt greater than equals lt less than or equal gt greater than or equal lt gt not equals These are used in conjunction with IF JP JS amp and to perform conditional jumps The result of a comparison expression can also be printed with MG or assigned to a variable Arguments n lt m or n gt m or n m or n lt m or n gt m or n lt gt m where n and m are signed numbers in the range 2147483648 to 2147483647 Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO In a Program ommand Line Controller Usage Default Value Default Format Related Commands Parentheses IF If statement JP Jump JS Jump subroutine Examples IF x gt 2 amp y 4 MG true ENDIF x must be greater than 2 and y equal to 4 for the message to print file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 64 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference quals Assignment Operator Full Description The assignment operator is used for three reasons
91. 17 AM Galil Motion Control Command Reference file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 143 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Configures I O Data Record Update Rate Full Description The controller creates a QR record and sends it periodically to a UDP Ethernet Handle Arguments DR n m n specifies the data update rate in samples between updates When TM is set to the default of 1000 n specifies the data update rate in milliseconds n 0 to turn it off or n must be an integer in the range of 2 to 30 000 m specifies the Ethernet handle on which to periodically send the Data Record 0 is handle A 1 is B 7 is H The handle must be UDP not TCP Operand Usage _DR contains the data record update rate Usage Usage Default Details While Moving Yes a Program i s fina Poem Command Line Ye Controller Usage Default Value Default Format Related Commands QZ Sets format of data QR Query a single data record Examples DR8 0 Gize ee ere ws P es eeees eeeP _sHeeeee wee P ar pRa DRO Note The data record is in a binary non printable format the output above is normal when printing to the terminal file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 144 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Notation Only a Burn J ot burnable Full De
92. 20Settings Andy Desktop Temp 4Kcom index html 55 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Two Letter Only ARAS none not burnable Full Description The Master Reset command resets the controller to factory default settings and erases EEPROM A master reset can also be performed by installing a jumper at the location labeled MRST and resetting the board power cycle or pressing the reset button Remove the jumper after this procedure Note Sending a R S over an Ethernet connection will cause the IP address to be cleared from the controller and will result in a timeout Arguments Operand Usage N A Usage Usage and Defalut Details Usage While Moving No RIO Yes In a Program ommand Line Controller Usage Default Value Default Formula Related Commands RS Reset Examples Example burns in a non default value for KP does a standard reset with the RS command then performs a master reset with R S 00 P10 Zz DWRADON n P 0 00 2 R S 6 00 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 56 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Two Letter Only AR V none not burnable Full Description The Revision Information command causes the controller to return the firmware revision information Arguments N A Operand Usage N A Usage Usage and Default Details R
93. 4 Command Line Yes Default Value Related Commands QS Error Magnitude YA Step Drive Resolution YB Step Motor Resolution YR Error Correction YS Stepper Position Maintenance Mode Enable Status Examples 1 Query the error of the B axis QSB 2253 This shows 253 step counts of error Correct for the error YRB _QSB The motor moves _QS step counts to correct for the error and YS is set back to 1 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 355 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit YS od burnable with BN tepper Position Maintenance Mode Enable Status Full Description The YS command enables and disables the Stepper Position Maintenance Mode function YS also reacts to excessive position error condition as defined by the QS command Arguments YS m m m m m m m m YSn m where nis A B C D E F G or H or any combination to specify the axis or axes m 0 SPM Mode Disable m 1 Enable SPM Mode Clear trippoint and QS error m 2_ Error condition occurred Operand Usage _YSn contains the status of the mode for the specified axis Usage Usage and Default Details Usage Value While Moving Yes Yes Command Line Yes Default Format 1 4 Related Commands QS Error Magnitude YA Step Drive Resolution YB Step Motor Resolution YC Encoder Resolution YR Error Correction Examples
94. 6 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn burnable with BN ntegrator Limit Full 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 n is 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 Operand Usage _ILn contains the value of the integrator limit for the specified axis Usage Usage and Default Details Related Commands KI Integrator Examples KI 273578 Integrator constants TL 3 2 7 2 Integrator limits IL Returns the A axis limit 3 0000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 197 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Implicit Notation Only om Burn J ot burnable Input Variable OOO OS Input Variable OOO OS Full Description The IN command allows a variable to be i
95. 7 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn burnable with BN eak Torque Limit Full Description The TK command sets the peak torque limit on the motor command output and TL sets the continuous torque limit When the average torque is below TL the motor command signal can go up to the TK Peak Torque for a short amount of time appx 1000 samples from OV to TK value If TK is set lower than TL then TL is the maximum command output under all circumstances Arguments TK n n n n n n n n TKA n where nis an unsigned number in the range of 0 to 9 99 volts n 0 disables the peak torque limit n returns the value of the peak torque limit for the specified axis Operand Usage _TKn contains the value of the peak torque limit for the specified axis Usage Usage and Default Details envane Jo Related Commands TL Torque Limit Examples TLA 7 Limit A axis to a 7 volt average torque output TKA 9 99 Limit A axis to a 9 99 volt peak torque output file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 318 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax fExplicit amp Implicit Burn burnable with BN orque Limit Full Description The TL command sets the limit on the motor command output For example TL of 5 limits the motor command output to 5 volts Maximum output of the moto
96. 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Bun not burnable Full Description When using the vector mode VM the CR command specifies a 2 dimensional arc segment of radius r starting at angle theta and traversing over angle deltaTheta A positive deltaTheta denotes counterclockwise traverse negative deltaTheta denotes clockwise The VE command must be used to denote the end of the motion sequence after all CR and VP segments are specified The BG Begin Sequence command is used to start the motion sequence Parameters r theta and deltaTheta must be specified in each CR Radius units are in quadrature counts Theta and deltaTheta have units of degrees The parameters n and o are optional and describe the vector speeds that are attached to the motion segment A starting position of zero degrees denotes that the radius lies along a vector following the positive X axis on a 2D Cartesian space XY R 1000 0 270 GS Haso lt start X end Arguments CR r theta deltaTheta lt n gt o where r is the circle radius and is an unsigned real number in the range 10 to 6000000 theta is the circle starting angle in degress and is a signed real number in the range 0 to 32000 deltaTheta is the angle to traverse and is a signed real number in the range 0 0001 to 32000 Note The product r deltaTheta must be limited to 4 5x10 8 n specifies a vector speed to be take
97. AM tests for profile completion The actual motor may still be moving To halt program sequence until the actual physical motion has completed use the MC command Another method for testing motion complete is to check for the internal variable _BGn being equal to zero see BG command 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 No argument specifies to wait for after motion on all axes and or sequences Usage Usage and Default Details Operand Usage _BGn contains a 0 if motion complete Related Commands BG Begin Motion MC Motion Complete Examples MOVE Program MOVE PR 5000 5000 5000 5000 Position relative moves BG A Start the A axis AM A After the move is complete on A BG B Start the B axis AM B After the move is complete on B BG C Start the C axis AM C After the move is complete on C BG D Start the D axis AM D After the move is complete on D EN End of Program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 76 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Bun not burnable Analog Output Full Description The AO command sets the analog output voltage of Modbus Devices connected via Ethernet Arguments AO m n where m is the I O number calculated using the following equations m Handl
98. Andy Desktop Temp 4Kcom index html 349 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference ira zZ Ap End Program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 350 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only X Q XQ0 _XQ1 _XQ2 _XQ3 _XQ4 XQ5 _XQ6 _XQ7 not burnable xecute Program Full 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 n is 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 optional If no arguments are given the first program in memory will be executed as thread 0 Operand Usage _XQn contains the current line number of execution for thread n and 1 if thread n is not running Usage Usage and Default Details Ye Controller Usage All Default Value p gt Default Format N A Related Commands HX Halt execution Examples XQ APPLE 0 Start execution at label APPLE thread zero XQ DATA 2 Start execution at label DATA thread two XQ 0 Start execution at line 0 Hint For DOS users don t forget to quit the ed
99. Burn burnable with BN Proportional Constant Full Description KP designates the proportional constant in the controller filter The filter transfer function is D z KP KD z 1 z KI z 2 z 1 For further details see the section Theory of Operation in the User s Manual 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 Operand Usage _KPn contains the value of the proportional constant for the specified axis Usage Usage and Default Details Deautevane Js Related Commands KD Derivative Constant KI Integrator Constant IL Integrator Limit Examples KP 12 14 16 20 Specify a b c d axis proportional KP 7 Specify a axis only KP 8 Specify c axis only KDA 2p 2p 2 Return A B C D cte Iy Bf 20 KP values file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 210 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn burnable with BN tep Motor Smoothing Full 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 out
100. C command is executed n Incremental distance between pulses Integer between 65535 and 65535 0 one shot when moving in the forward direction 65536 one shot when moving in the reverse direction OCA 0 will disable the Circular Compare function on axes A D OCE 0 will disable the Circular Compare function on axes E H The sign of the second parameter n will designate the expected direction of motion for the output compare function When moving in the opposite direction output compare pulses will occur at the incremental distance of 65536 InI where Inl is the absolute value of n Operand Usage _OC contains the state of the OC function _OC 0 OC function has been enabled but not generated any pulses _OC 1 OC function not enabled or has generated the first output pulse on a 5 8 axis controller OC is a logical AND of axes A D and E H Usage Usage and Default Details While Moving Yes Related Commands file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 245 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference AL Arm Latch RL Report Latched Position CE Configure Encoder Examples OCA 300 100 Select A encoder as position sensor First pulse at 300 1 Following pulses at 400 500 600 Output compare can be used to create raster scans By using cicular compare on one axis followed by an index move on a perpindicular axis raster patterns are easily made The foll
101. Commands Examples a 2 b 6 Sets a to 2 Z axis Sets b to 6 G axis PR a 1000 Relative position move 1000 counts on a variable set as Z axis JG b 9000 Set jog speed of b variable set as G axis to 9000 cts sec BG a b Begin motion on a and b variables Z and G file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 62 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Operator or Comparator Math Operators Full Description The addition subtraction multiplication division and modulus Accelera only operators are binary operators they take two arguments and return one value used to perform mathematical operations on variables constants and operands Mathmatical operations are calculated left to right rather than multiplication and division calculations performed prior to addition and subraction Example 1 2 3 9 not 7 It is recommended that parenthesis be used when more than one mathmatical operation is combined in one command Example var 10 30 60 30 evaluates as 302 var 10 30 60 30 evalutes as 12 Arguments n m or n m or n m or n m or n m where n and m are signed numbers in the range 2147483648 to 2147483647 Operand Usage N A Usage Usage and Default Details Controller Usage Default Value N A Default Format N A Related Commands Parenthesis Examples x 1 2 3 7 2 assign
102. Conditionals Embedded Only side code these commands are used in Jump commands embedded DMC code only End program Return from Error Operands hold values and are not valid Current position of axis A encoder on their own They can be used as Hp Operand Forward limit state on C axis arguments to commands operators or Current Error code comparators ee a Wait 1000 ms Trippoint JAMA Wait until axis A completes profiled motion These are a special case of Embedded Only type commands All Wait for input one to go high oa There are three types of comments REM Comments are used to document code and NO yP DMC code is case sensitive All Galil commands are uppercase User variables and arrays can be upper case or lower case Galil recommends that array and variable names contain at least one lower case character to help distinguish them from commands Explicit Notation These commands specify data 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 Syntax Description PRB 1000 ets B axis data at 1000 PR 1000 ets all axes to 1000 Implicit Notation These commands require numerical arguments to be specified following the instruction Values may be specified for any axis separately or any combination of axes The comma delimiter indicates argument location For commands that affect axes the order of arguments is a
103. DMC language the Galil4 2 format Galil4 2 is a signed fixed point decimal number with 4 bytes of integer and 2 bytes of fraction Bit encoding of Galil4 2 is 2 s compliment Integer values range from 2 147 483 648 to 2 147 483 647 Fractional values range from 0 999985 to 000015 in increments of 000015 one part in 65535 When working with very small fractional values use the formatter to display the number in hex v 1 0 0001 subtract the smallest fractional value v 1 0000 v 1 4 hex display has higher resolution SO FFFF v v S0 0001 v 1 0000 v 1 4 1 0000 Strings Galil strings are still variables in 4 2 format with each byte printed as the ASCII representation of the number Galil strings are max 6 characters The left most character of a string is the most significant byte in the Galil4 2 number Boolean A Boolean is represented in the Galil language as a Galil4 2 value 0 0 is false All other values are true ee ik 1 2 a b a b returns a Galil Boolean LV a 1 0000 b 2 0000 c 0 0000 7 LV a 2 0000 b 2 0000 c 1 0000 Units of Distance The units of distance in a Galil controller are either in counts or steps A count is a single unit of feedback such as a quadrature count an SSI or BiSS bit or an Analog to Digital converter bit Counts are typical with servos Steps are used for stepper type motors Steps are open loop units and refer to a single level transitio
104. Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 268 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Accepts Axis Mask Bun not burnable I O Data Record Full 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 Operand Usage N A Usage Usage and Default Details ommand Line Controller Usage Default Value Related Commands QZ Return DMA Data Record information Note The Galil windows terminal will not display the results of the QR command since the results are in binary format Examples file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 269 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Accepts Axis Mask o not burnable Error Magnitude eee Error Magnitude eee Full Description The QS command reports the magnitude of error in step counts for axes in Stepper Position Maintenance mode A step count is directly
105. E Time Operand TM Update Time WT Wait Examples jog propotional to analog input example with AT in ms AT n mainO ATO set time reference for AT command JG0O BGX start Jog mode gain 1 fatloop jgspd gain AN 1 JG jgspd AT 100 wait 100 ms from last time reference last AT n or ATO file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 84 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference REM same functionality would be REM AT 100 0 REM or RI J EM AT 100 0 ATO P atloop jog propotional to analog input example with AT in samples VAT npl mainl ATO set time reference for AT command JG0O BGX start Jog mode gain 1 at loop jgspd gain AN 1 JG jgspd AT 100 1 wait 100 samples from last time reference ATO JP atloop The following commands are sent sequentially AT 0 Establishes reference time 0 as current time AT 50 Waits 50 msec from reference 0 AT 100 Waits 100 msec from reference 0 AT 150 Waits 150 msec from reference 0 and sets new reference at 150 AT 80 Waits 80 msec from new reference total elapsed time is 230 msec file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 85 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit AU Operands AU Burn burnable with BN et amplifier current loop Full Description AMP 43040
106. EAR MOB Turn off servo to B motor GAB B Specify master axis as B GR 225 5 3 Specify A and C gear ratios SHB Enable B axis PRB 1000 BGB Move B axis 1000 counts A axis will be commanded to move 250 counts positive file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 176 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference C axis will be commanded to move 5000 counts negative 5000 f End program ti REM imaginary axis example imag GAC N set the imaginary N axis as the master of the C axis GRC 2 5 set the gear ratio for the C axis as 1 PRN 1000 BGN Move N axis 1000 counts C axis will be commanded to move 2500 counts positive End Program ti x file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 177 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Implicit Notation Only Gdn TEE Burn burnable with BN Gear Distance O0 OS Distance Full Description The GD command sets the distance of the master axis over which the specified slave will be engaged disengaged or changed to a new gear setting The distance is entered as an absolute value the motion of the master may be in either direction If the distance is set to 0 then the gearing will engage instantly Arguments GD n n n n n n n n where N is an integer in the range 0 to 32767 the units are in encoder counts n 0 _ will result in t
107. Galil Motion Control Command Reference Galil Motion Control 270 Technology Way Rocklin California 95765 Phone 916 626 0101 Fax 916 626 0102 Email support galilmc com Web www galilmc com new cont GALIL Hardware Command Reference Edition 5 24 2011 8 37 49 AM svn 395 e Including commands that apply to o All o DMC40x0 o SINEAMP e Including command details that apply to o All o DMC40x0 Overview This command reference is a supplement to the Galil User Manual Resources on www galilmc com H Printable version Product Manuals Application Notes Newest Firmware Sample DMC code E fa z 5 Q fe T Learning Center Support and Downloads What is DMC code DMC Digital Motion Controller code is the programming language used for all Galil hardware It is a high level interpreted language which is simple to learn and use yet is surprisingly powerful Actively developed and refined since 1983 DMC code provides functionality that is particularly well suited to motion control and PLC applications DMC code can be used manually from a terminal programmatically from an external device or customer application and can be fully embedded into a Galil controller s memory to leverage powerful embedded only features and for stand alone applications DMC code of course provides symbolic variables arrays and math support The elegance of DMC coding is particularly evident when wr
108. Kcom index html 90 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Related Commands BB Brushless Phase Begins BC Brushless Commutation BD Brushless Degrees BI Brushless Inputs BM Brushless Modulo BO Brushless Offset BS Brushless Setup BZ Brushless Zero BX Sine Amp Initialization Examples BAA Configure axis A file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 91 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit BB Prerna Esn Burn burnable with BN Brushless Phase Begins Full Description The BB function describes the position offset between the Hall transition point and 0 for a 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 n or BBA n where n is a signed integer which represent the phase offset of the selected axes in degrees of the magnetic cycle The range is 359 98 The resolution is 1 32 of a degree n returns the hall offset for the specified axis Operand Usage _BBn contains the position offset between the Hall transition and 0 for the specified axis Usage Usage and Default Details Related Commands BA Brushless Axis BC Brushless Commutation BD Brushless Degrees BI Brushless Inputs BM Brushless Modulo BO Brushless Offset BS Brushless Setup
109. MSB set on unsolicited characters Note The CW command can cause garbled non ASCII characters to be returned by the controller when using third party software Use CW2 Cw2 Set CW to third party device mode normal ASCII on unsoliticed characters file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 132 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Implicit Notation Only Deallocate the Variables amp Arrays Full 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 Arguments DA c d etc where c Defined array name d Defined variable name Deallocates all the variables Deallocates all the arrays DA Returns the number of arrays available Operand Usage _DA contains the total number of arrays available Usage Related Commands DM Dimension Array Examples Cars and Salesmen are arrays and Total is a variable DM Cars 40 Salesmen 50 Dimension 2 arrays Total 70 Assign 70 to the variable Total DA Cars 0 Salesmen 0 Total Deallocate the 2 arrays amp variable DA 0 Deallocate all arrays DA 0 Deallocate all variables and all arrays NOTE Since this c
110. N a notes do not use spaces when working with If using global variables they MUST be created before the subroutine is run Executed program from program2 dmc 36 0000 36 0000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 35 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Parentheses order of operations Full Description The parentheses denote the order of math and logical operations Note that the controller DOES NOT OBEY STANDARD MATHEMATICAL OPERATOR PRECEDENCE For example multiplication is NOT evaluated before addition Instead the controller follows left to right precedence Therefore it is required to use parentheticals to ensure intended precedence Arguments n where nis a math or logical amp expression Operand Usage N A Usage Usage and Default Details Command Line Controller Usage Default Value N A Default Format N A Related Commands Math Operators amp Logical Operators Examples MG 1 2 3 9 0000 MG 1 2 3 7 0000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 36 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Semicolon Command Delimiter Full Description The semicolon operator allows multiple Galil commands to exist on a single line It is used for the following three reasons 1 To put comments on the same line as the
111. NT Integer part OUT Read digital output RND Round SIN Sine SQR Square Root L Square Brackets Array Index Operator a b c d e f g h JS subroutine stack variable ALAK Lock program ARAS Master Reset ARAV Revision Information GP Gearing Phase Differential Operand LF Forward Limit Switch Operand LR Reverse Limit Switch Operand Variable Axis Designator Math Operators lt gt lt gt lt gt Comparison Operators Equals Assignment Operator AB Abort AC Acceleration AD After Distance AF Analog Feedback Select AG Amplifier Gain AI After Input AL Arm Latch AM After Move AO Analog Output AP After Absolute Position file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 9 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference e AQ Analog Input Configuration e AR After Relative Distance e AS At Speed e AT At Time e AU Set amplifier current loop e AV After Vector Distance e AW Amplifier Bandwidth e BA Brushless Axis e BB Brushless Phase Begins e BC Brushless Calibration e BD Brushless Degrees e BG Begin e BI Brushless Inputs e BK Breakpoint e BL Reverse Software Limit e BM Brushless Modulo e BN Burn e BO Brushless Offset e BP Burn Program
112. NT x y EN file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 47 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syatax e Function OUT ands Jo Burn not burnable Read digital output Full Description Returns the value of the given digital output either 0 or 1 Arguments OUT n where nis an unsigned integer in the range to 80 Operand Usage N A Usage Usage and Default Details While Moving No RIO Related Commands ANJ n Read analog input IN n Read digital input SB Set digital output bit CB Clear digital output bit OF Set analog output offset Examples MG OUT 1 print digital output 1 21 0000 x OUT 1 assign digital output 1 to a variable file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 48 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Function Operands none Burn not burnable Full Description Rounds the given number to the nearest integer Arguments RND n nis a signed number in the range 2147483648 to 2147483647 Operand Usage N A Usage Usage and Default Details Related Commands INT n Truncates to the nearest integer Examples G RND 1 2 1 0000 G RND 5 7 6 0000 G RND 1 2 1 0000 G RND 5 7 6 0000 G RND 5 5 6 0000 MG RND 5 5 5 0000 file Cl Documents 20and 20Settings A
113. Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO Yes In a Program es ommand Line es Controller Usage All Default Value A Default Format Related Commands ASIN Arc sine SIN Sine ACOS Arc cosine COS Cosine TAN Tangent Examples MG ATAN 10 84 2894 MG ATAN 0 0 0000 MG ATAN 10 84 2894 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 42 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syatax e Function COM oma om Burn not burnable Bitwise complement Full Description Performs the bitwise complement NOT operation to the given number Arguments COM n where n is a signed integer in the range 2147483647 to 2147483647 The integer is interpreted as a 32 bit field Operand Usage N A Usage Usage and Default Details While Moving No RIO Related Commands amp Logical operators AND and OR Examples MG 8 0 COM 0 SFFFFFFFF MG 8 0 COM SFFFFFFFF 00000000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 43 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syatax e Function Burn not burnable Full Description Returns the cosine of the given angle in degrees Arguments COS n where n is a signed number in degrees in the range of 32768 to 32767 with a fractional resolution of 16 bi
114. Output Compare feature also known as Pulse on Position Each set of 4 axes ABCD and EFGH has one digital output which can be configured to pulse on a specified axis absolute encoder position and optionally on a delta encoder change after that These operations are known as one shot and circular compare respectively One Shot Compare The output compare signal will go low and stay low at a specified absolute encoder position Circular Compare After the one shot the cicular compare can be configured to pulse low at a relative delta thereafter 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 this function 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 OC only requires an encoder and is independent of axis tuning and motion profiling For circular compare the output is a low going pulse with a duration of approximately 250 nanoseconds Arguments OCx m n where x A B C D E F G H specifies which main encoder input to be used For 5 8 axis controllers two OC functions can work simultaneously one on axes A B C or D and the other on E F G or H m Absolute position for first pulse Integer between 2 147 483 648 and 2 147 483 647 The beginning pulse position must be within 65535 counts of the current axis positions when the O
115. PR 1000 BG Start motion EN End Hint The record array mode is useful for recording the real time motor position during motion The data is automatically captured in the background and does not interrupt the program sequencer The record mode can also be used for a teach or learn of a motion path GalilTools The GalilTools Realtime scope can often be used as an alternative to record array file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 273 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Bun not burnable Full Description The RC command begins recording for the Automatic Record Array Mode RA RC 0 stops recording Firmware Note Do not allocate or deallocate arrays DM DA while the Automatic Record Array Mode is running GalilTools Note Do not download arrays from GalilTools or call the arrayDownload or arrayDownloadFile functions while automatic record array mode is running Arguments RC n m where nis an integer 1 thru 8 and specifies 2 n samples between records RC 0 stops recording m is optional and specifies the number of records to be recorded If m is not specified the array bounds will be used A negative number for m causes circular recording over array addresses 0 to m 1 n Returns status of recording 1 if recording 0 if not recording Note The address for the array element for the next recording
116. PUT 1 IS ACTIVE ssage to b xecuted if 2nd IF conditional is false ENDIF End of 2nd conditional statement ELSE ELSE command for 1st IF conditional i statement G ONLY INPUT 2 IS ACTIVE ssage to b xecuted if 1st IF 1 conditional statement is false ENDIF End of 1st conditional statement file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 161 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Notation Only a Burn J ot burnable Full 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 Serial only no Ethernet Arguments EOn where n 0 0 turns echo off n 1 1 turns echo on Usage Usage and Default Details e E Operand Usage _EO contains the state of the echo 0 is off 1 is on Related Commands Examples EO 0 Turns echo off EO 1 Turns echo on file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 162 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only EP fd burnable with BN am table master interval and phase shift Full 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
117. R 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 165 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Burn burnable with BN Ellipse Scale Full 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 multiplied by the ratio m n When m lt n the resolution of the second axis y will be multiplied by n m The resolution change applies for the purpose of generating the VP and CR commands effectively changing the axis with the lower resolution to match the higher 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 and 65 535 Operand Usage N A Usage Usage and Default Details Default Format N A Related Commands VM Vector Mo
118. ROM file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 72 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Implicit Notation Only amp Trippoint Operands none urn not burnable After Input Full 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 Hint The AI command actually halts execution until specified input is at desired logic level Use the conditional Jump command JP or input interrupt II if you do not want the program sequence to halt 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 Usage and Default Details Operand Usage Related Commands IN n Read Digital Input II Input interrupt ININT Label for input interrupt TI Tell Inputs Examples A Begin Program AI 8 Wait until input 8 is high SP 10000 Speed is 10000 counts sec AC 20000 Acceleration is 20000 counts sec2 PR 400 Specify position BGA Begin motion EN End Program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 73 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Referenc
119. Reference Syntax Explicit amp Implicit Burn not burnable Zero Subroutine Stack Full Description The ZS command is only valid in an application program and is used to avoid returning from an interrupt either input or error ZS alone returns the stack to its original condition ZS1 adjusts the stack to eliminate one return This turns the jump to subroutine into a jump Do not use RI Return from Interrupt when using ZS To re enable interrupts you must use IT command again The status of the stack can be interrogated with the operand _ZSn see operand usage below Arguments ZSn where n 0 Returns stack to original condition n 1 Eliminates one return on stack Operand Usage _ZSn contains the stack level for the specified thread where n 0 to 7 The response an integer between zero and sixteen indicates zero for beginning condition and sixteen for the deepest value Usage Usage and Default Details Usage While Moving No RIO In a Program ommand Line Controller Usage Default Value Default Format Related Commands Examples A Main Program IIL Input Interrupt on 1 B JP B EN Loop ININT Input Interrupt MG INTERRUPT Print message S _ZS Interrogate stack S Print stack ZS Zero stack S _Z2S Interrogate stack S Print stack EN End file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 358 of 358 5 24 2011 8 38
120. SDM 44040 D4040 Valid for AMP 43040 D3040 amp Valid for AMP 43140 D3140 amp Valid for SDM 44140 D4140 amp Valid for SDM 44040 D4040 Hint If your Brushed type servo motor is disabling and TA1 shows a hall error try using the BR command to set that axis as a Brushed axis causing the controller to ignore invalid Hall states Arguments TAn returns the amplifier error status where n is 0 1 2 or 3 Operand Usage _TAm Contains the Amplifier error status m 0 1 2 or 3 Usage Usage and Default Details Controller Usage DMC 40x0 with D30x0 D4040 D4140 DMC 21x3 with AMP 204x0 AMP 205x0 or SDM 206x0 Related Commands AMPERR Amplifier Error Automatic Subroutine BR Brush Axis Configuration file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 305 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference QH Hall State Examples TAL 25 Hall Error for Axis A and C file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 306 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Full Description The TB command returns status information from the controller as a decimal number Each bit of the status byte denotes the following condition when the bit is set high BIT STATUS Bit7 Executing application program Bit6 N A Bit5 Contouring Bit4 Executing error or limit switch routine Bit 3 Input interrupt enabled
121. Syntax Operator or Comparator itwise Logical Operators AND and OR Full Description The operators amp and are typically used with IF JP and JS to perform conditional jumps however they can also be used to perform bitwise logical operations Arguments n amp m orn m where n and m are signed numbers in the range 2147483648 to 2147483647 For IF JP and JS n and m are typically the results of logical expressions such as x gt 2 amp y 8 amp is also used to pass a variable by reference in a JS call See JS Operand Usage N A Usage Usage and Default Details l Related Commands COM n Bitwise complement IF If statement JP Jump statement JS Jump subroutine While Moving No RIO n a Program ormat Examples IF x gt 2 amp y 4 x must be greater than 2 and y equal to 4 for the message to print MG true ENDIF MG 1 2 3 0000 Bitwise operation 01 OR 10 is 11 3 Pass By Reference Example main value 5 a value to be passed by reference global 8 a global variable file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 34 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference JS SUM amp value 1 2 3 4 5 6 7 note first arg passed by reference G value message out value after subroutine G _JS message out returned value EN SUM Sar bD C sdi Gy WE g a b c d e f g h global E
122. TED COMMAND TP Tell Position Note The relationship between RP TP and TE TEA equals the difference between the reference position RPA and the actual position TPA Usage Usage and Default Details envane Jo Related Commands 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 284 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Two Letter Only not burnable Full Description The RS command resets the state of the processor to its power on condition The previously saved state of the hardware along with parameter values and saved program are restored RS 1 Soft master reset Restores factory defaults without erasing EEPROM To restore saved EEPROM settings use RS with no arguments Arguments N A Operand Usage _RS returns the state of the processor on its last power up condition The value returned is the decimal equivalent of the 4 bit binary value shown below Bit 3 For master reset error Bit 2 For program checksum error Bit 1 For parameter checksum error Bit 0 For variable checksum error At startup the controller operating system verifies the firmware sector If there is a checksum error in firmware it is not loaded and the controller will boot to monitor mode Usage Usage and Default Details
123. V3 and V4 from the host PC or another thread operating on the controller PA V1 V2 V3 V4 Command XYZW axes to move to absolute positions Motion begins when the command is processed BG is not used file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 262 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference 1 to begin motion in this mode In this example it is assumed that the user is updating the variables at a specified rate The controller will update the new i target position every 10 milliseconds WT10 WT10 Wait 10 milliseconds JP LOOP Repeat by jumping back to label LOOP file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 263 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit Notation Only PV Prerana v Bun not burnable PVT Data Full Description The PV command is used to enter PVT data into the PVT buffer by specifying the target position velocity and delta time For more details on PVT mode of motion see the user manual Arguments PVa p v t where a specifies the axis p is the relative target position specified in counts 44 000 000 lt p lt 44 000 000 v is the target velocity specified in counts per second 22 000 000 lt v lt 22 000 000 Integer values only for p and v t is the time to achieve target position and velocity t is in even samples 2 lt t lt 2048 If t 0 t
124. While Moving No RIO Yes lt Command Line Yes lt Controller Usage fun Related Commands lt control gt L lt control gt K Lock Unlock ED Edit program UL Upload program LS List program TR Trace program Examples PWtest test Set password to test LK test 1 Lock the program ED Attempt to edit program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 266 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Bun not burnable Download Array Full 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 index of the first element of the array and the index of the 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 It is recommended to use the array download functions available through the GalilTools software and drivers rather than directly using the QD command Arguments QD array start end where array is valid array name start is index of first element of array default 0 end is index of last element of array default size 1 Operand Usage N A Usage Usage and Default Details Ye Controller Usage All Default Value Default Format N A Position Format for 18x2 Related Command
125. age _BTn contains the number of PV segments that have executed Usage Usage and Default Details Related Commands PV PVT Data MF Forward Motion to Position Trippoint MR Reverse Motion to Position Trippoint Examples G_BTX Query number of PVT segments executed 0000 PVX 100 200 100 Command X axis to move 100 counts reaching an ending speed of 200c s in 100 samples Oe PVX 100 0 100 Command X axis to move another 100 counts reaching an ending speed of Oc s in 100 samples PVX 0 Command X axis to exit PVT mode BIX Begin PVT mode G_BTX Query number of PVT segments executed 3 0000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 108 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Two Letter Only not burnable BV Burn Variables and Array Full 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 Operand Usage _BV returns the number of controller axes Usage Usage and Default Details Usage While Moving No RIO Yes In a Program es ommand Line es Controller Usage All Default Value A Default Format Related Commands BP Burn Program BN Burn Parameters Burn Program Note 1 This command will store t
126. age _OFn contains the offset for the specified axis Usage Usage and Default Details Usage While Moving No RIO Yes In a Program Yes Command Line Controller Usage Default Format 1 4 1 0 for 18x2 Related Commands Examples OF 1 2 35 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 7 2 2 Return offsets 3 0000 0 0000 3 0000 5 0000 OF Return A offset 3 0000 OF Return B offset 20 0000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 248 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only OP0 _OP1 _OP2 _OP3 _OP4 burnable with BN Output Port Full Description The OP command sends data to the output ports of the controller Arguments to the OP command are bit patterns decimal or hex to set entire banks bytes of digital outputs Use SB CB or OB to set bits individually 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 where av
127. ailable in consecutive groups of 16 bits values from 0 to 65535 Bit patterns for I O banks which are configured as inputs have no affect on the bank m a b c or d returns the current value of the applicable argument The following table describes the arguments used to set the state of outputs OP output bank mapping Set all OP255 OP FF ffs General Outputs 1 4 axes controllers Set all OP65535 OP FFFF General Outputs 5 8 axes controllers fear opnorso00 ips A tenting ono OPBOORORSAAAA fs _ p48 Ifexendeavo d f___ Sstowsye omssormnrr A E The DMC 40x0 comes equipped with 32 bits of extended I O standard banks 2 5 Operand Usage _OPO0 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 Usage Usage and Default Details ommand Line Controller Usage Default Value file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 249 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Related Commands SB Set output bit CB Clear output bit OB 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 250
128. ails Value Ye Usage While Moving IE In a Program Yes Command Line Yes file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 303 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Related Commands SS Configure the special Galil BiSS feature SERERR Serial Encoder Error Automatic Subroutine Examples configure SY for Renishaw Resolut ncoder SYA 0 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 304 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only T A TAO TAI _TA2 TA3 Burn not burnable ell Amplifier error status Full Description The command returns the amplifier error status The value is decimal and represents an 8 bit value Bit 7 is most significant bit 0 is least Tell Amplifier Error Bit Definition __ UnderVotage EH Aen Jal ErorH avs JPeakCurentaws T T Over Temperature EH Ane BalBrorGAvs T 5 JoverVotage EH Anes Jal ErorF Axis JPeakCurenFaxs T fF _JoverCunent E Hanes Jal ErorE Avs a T E Votage AD Axes allEorD Axis a T P_JOver Temperature A D Axes Jal ErorCAns JPeakCuren Caus E 0 over Curent A D Aves Jal Er A Axis Peak Caren A Axis BLO Aaive AD Aves J Valid for AMP 43040 D3040 Valid for AMP 43040 D3040 amp SDM 44140 D4140 Valid for AMP 43040 D3040 amp Valid for SDM 44140 D4140 amp Valid for
129. al distance from last AR or AD command Use AR if multiple position trippoints are needed in a single motion sequence Aq I file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 81 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 82 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Accepts Axis Mask amp Trippoint none not burnable Full Description The AS command is a trippoint that occurs when the generated motion profile has reached the specified speed This command will hold up execution of the following command until the 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 speed begins diverging from the AS value 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 Operand Usage N A Usage Usage and Default Details While Moving Yes Default Value InaProgram Yes Default Format Command Line No Controller Usage ALL CONTROLLERS Related Commands Examples SPEED Program A PR 100000 Specify position SP 10000 Specify speed BGA Begin A ASA After speed is reached G At Speed Print Message EN End of Program WARNING The AS command applies to a trapezo
130. alil Motion Control Command Reference Syntax Explicit amp Implicit BZ reat laze Burn not burnable Brushless Zero Full 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 0 or BZA n or BZ lt t where n is a real number between 4 998 and 4 998 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 sec to update sufficient samples sampling rate 1000 sec by default to settle the motor at the zero magnetic phase The t 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 Operand Usage _BZn contains the distance in encoder counts
131. and can be useful when the position of a motor has been manually adjusted following a motor off MO command Arguments SH nnnnnnnnnn where n is A B C D E F G or H or any combination to specify the axis or axes Operand Usage N A Usage Usage and Default Details Related Commands MO 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 293 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit Notation Only SI burnable with BN Configure the special Galil SSI feature Full Description Synchronous Serial Interface SSI allows for serial transmission of absolute position data either binary or Gray code from the encoder based on a timed clock pulse train from the controller Connection between the controller and encoder is based on two signal lines clock and data which are usually differential for increased noise immunity For each sequential clock pulse of the controller the encoder
132. ands OE Off On Error TA Tell Amplifier QH Hall State Examples BR 1 0 0 Sets X axis to brush type Y and Z to brushless file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 105 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Explicit Notation Only BS Operands Bun not burnable Brushless Setup Full 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
133. ands 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 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 Usage Usage and Default Details Related Commands CR Circular Interpolation Segment LI Linear Interpolation Segment LM Linear Interpolation Mode VM Vector Mode VP Vector Position Examples CLEAR Label CAT Specify the T coordinate system vector points P 1000 2000 Vector position P 4000 8000 Vector position T Clear vectors specified in T coordinate system Specify the T coordinate system vector points P 1000 5000 New vector P 8000 9000 New vector Clear vectors specified in S coordinate system End program n wHadg lt saqacs n D cp 0p file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 131 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Implicit Notation Only CW rerna Jc not burnable Copyright information Data Adjustment bit on off Full Description The CW command will return the copyrigh
134. 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 n is a signed integer in the range 2147483648 to 2147483647 decimal n Returns the current position of the motor for the specified axes Usage Usage and Default Details Controller Usage Default Value 0 0 0 0 0 0 0 0 Default Format Position Format PF Operand Usage _DPn contains the current position of the specified axis Related Commands DE Define Aux Encoder FI Find Index FE Find Edge HM Home PF Position Format RP Reference Position TP Tell Encoder Position 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 0 0050000 200 400 Returns all the motor positions DP Interrogate the position of A axis 20 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 142 of 358 5 24 2011 8 38
135. ate plane Operand Usage _VVn contains the vector speed variable of the specified coordinate system n S or T Usage Usage and Default Details Default Value fo Related Commands VA Vector Acceleration VD Vector Deceleration VP Vector Position Segment CR Circular Interpolation Segment LI Linear Interpolation Segment VM Vector Mode LM Linear Interpolation Mode Examples VVS 20000 Define vector speed variable to 20000 for the S coordinate system VP1000 2000 lt 1 gt 100 Define vector speed variable for specific segment VVS 20000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 347 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Full Description The WH command is used to identify the handle from which the command was received The command returns IHA through IHH to indicate on which handle the command was executed The command returns RS232 if using serial communication Arguments None Operand Usage _WH contains the numeric representation of the handle from which the command was received Handles A through H are indicated by the value 0 7 while a 1 indicates the serial port Usage Usage and Default Details While Moving No RIO Command Line Related Commands HS Handle Swap IA IP address IH Internet Handle TH Tell Handles Examples WH Request incoming handle identification THC Command received from handle C
136. ay be non negligible In the event that clocking in data may have a negative effect on servo performance e g using multiple encoders with a lowered TM sample rate the controller will respond with an error mode See AUTOERR for more information This error mode is very rare and is expected to occur only in development Arguments SSn ss0 ss1 ss2 ss3 lt p where n The axis designator XYZ or W or ABCDEFG or H Each axis must be set individually ss0 0 is for NO BiSS 1 is for BiSS to replace MAIN encoder data TP 2 is for BiSS to replace AUX encoder data TD ssl number of single turn bits A positive number designates true absolute single turn decoding A negative number will cause the controller to internally simulate a multi turn encoder by counting past the single turn max min This is typically used for a rotary single turn encoder to prevent an instantaneous change in position error when the single turn bits roll over When the controller loses power the internal multi turn state is lost ss2 number of bits before E error bit This includes multi turn bits single turn bits zero padding bits See Table 1 ss3 number of zero padding bits after single turn data and before error bit See Table 1 p clock frequency argument See Table 2 SSn Returns the configuration parameters Table 1 SS Example for Hengstler 12 bit MT 10 bit ST Data Description Idle a Start Bit paraa ia ao Error Bit Warning Bit CRC Mul
137. be skipped during program download When program speed and code length are at a premium use REM comments NO NOstands for No Operation Lines beginning with NO are downloaded to the controller and incur a non zero processing overhead as a result If the developer desires the comments to stay in code so that uploaded code will still be notated use NO or NO comments are not stripped when code is compressed by software The single quote character is similar to NO Lines beginning with are downloaded to the controller and incur a non zero processing overhead as a result If the developer desires the comments to stay in code so that uploaded code will still be notated use NO or comments ARE stripped when code is compressed by software When commenting inline NO and are valid when preceded by a character REM is only valid as the start of a line Some examples follow BG This is a comment semicolon and precede followed by spaces and then the comment ST NO Same as above except on compression this data will remain less spaces REM This is a remark It will not be downloaded to the controller by Galil software NO This is an NO comment starting a line NOTE This is also an NO comment This is a single quote comment starting a line PRX 1000 BGX This line of code has been disabled with a leading Special characters and The semicolon is used to separate individual commands on a single line of embedde
138. ble 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 Y JA 374 C where V is the vector speed A B and C 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 to compute the speed 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 integer in the range 8 388 607 to 8 388 607 and represents the incremental move distance at least one n must be non zero o specifies a vector speed to be taken into effect at the execution of the linear segment o is an unsigned even integer between 0 and 22 000 000 for servo motor operation and between 0 and 6 000 000 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 p is an unsigned even integer between 0 and 22 000 000 for servos and between 0 and 6 00
139. c subroutine AUTO is the entry point for execution on bootup See entries starting with for other automatic subroutines Return from interrupt This is the termination for certain automatic subroutines event handlers IF a 5 MG Five ELSE MG Not Five ENDIF _ jIf statement can be replaced by carriage return for better readability Automatic subroutines operate very similarly to event handlers in event driven languages When an event occurs execution of code jumps to the automatic subroutine Once the end of the automatic subroutine is reached code execution continues where it left off Operand Many commands have corresponding operands that can be used for interrogation or for use within mathematical or other expressions Operands are not valid alone and must be used inside a valid DMC code expression For example to print the value of the TIME operand the following command is issued MG TIME 13779546 0000 To assign TIME to a variable and then print it the following is used var TIME MG var 13909046 0000 All DMC codes starting with the underscore _ character are operands The servo loop counter TIME is an operand without an underscore Variables and array elements act similarly to operands Whereas operands are read only variables and array elements are read write Operands variables and array elements can be arguments to commands are valid in mathematical expressions and can be used in assignments to oth
140. can be interrogated with _RD Operand Usage _RC contains status of recording 1 if recording 0 if not recording Usage Usage and Default Details While Moving No RIO ommand Line Controller Usage Default Value Related Commands DM Dimension Array RD Record Data RA Record Array Mode Examples RECORD Record label DM Torgque 1000 Define Array RA Torque Specify Array to record data RD _TTA Specify Data Type RE Ap Begin recording and set 4 msec between records JG 1000 BG Begin motion A JP A _RC 1 Loop until done G DONE RECORDING Print message EN End program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 274 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 275 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Burn not burnable Record Data Full Description The RD command specifies the data type to be captured for the Record Array RA mode The command type includes Data sources for automatic record mode Source name where n is the axis specifier A H Description a fo pass n oO lt n D 3 gz oO w z oO D Q on Z a oO 4 m Q B Q gt D A va i sc Ft lt 2 c oO w N lon N pF WwW N
141. cation will be re enabled Arguments EN m n r where m 0 Return from subroutine without restoring trippoint m 1 Return from subroutine and restore trippoint n 0 Return from COMINT without restoring CI interrupt trigger n 1 Return from COMINT and restore CI interrupt trigger r anyvalue Return a value from a subroutine accessible to the calling stack in _JS Note 1 The default value for the argument is 0 Note 2 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 Note 3 Use the RE command to return from the interrupt handling subroutines LIMSWI and POSERR Use the RI command to return from the ININT subroutine Usage Usage and Default Details Operand Usage N A Related Commands RE Return from error subroutine RI Return from interrupt subroutine Examples file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 159 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference A Program A PR 500 Move A axis forward 500 counts BGA Begin motion AMA
142. ctive Usage Usage and Default Details ommand Line Controller Usage Default Value Related Commands SH Re enables motor OE 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 66 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit ACh Burn burnable with BN Acceleration Full Description The Acceleration AC command sets the linear acceleration rate of the motors for independent moves such as PR PA and JG moves The acceleration 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 number in the range 1024 to 1073740800 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 Operand Usage _ACm contains the value of acceleration for the specified axis where m is the axis ex MG _ACA Usage Usage and Default Details Related Commands DC Specifies deceleration rate FA Feedforward Accelleration IT Smoothing constant S curve Examples AC 150000 200000 300000 400000 Set A axis acceleration to 150000 B axis to 200000 counts sec2
143. d Reference Syntax Accepts Axis Mask CF Operands _ CFn Configure Unsolicited Messages Handle Full Description Sets the port for unsolicited messages By default the controller will send unsolicited data to the main RS 232 or USB serial port The CF command directs the controller to send unsolicited responses to the Main or Aux Serial Port If equipped or to an Ethernet handle An unsolicited message is data generated by the controller which is not in response to a command sent by the host Examples of commands that will generate unsolicited messages follow These commands are unsolicited only when in embedded code NOT when sent from a host MG Hello A message MG TCL A command that returns a response TP 1 RPA var A variable interogation var m thisIsAnError A dmc error will generate an error message Arguments CFn where n is A through H for Ethernet handles through 8 S for Main serial port T for Aux serial port or I is to set to the port that issues the CF command The axis designator n can also be used Operands _CF contains the decimal value of the ASCII letter where unsolicited messages are currently routed Usage Usage and Default Details Related Commands CW Configures MSB of unsolicited messages WH What Handle TH Tell Handles Examples CFI Send to me Sent from external hardware only CFI directs unsolicited traffic to the port that sent the co
144. d code or in a single interrogation from the host When running multi threaded embedded code all commands on a single line will be executed before the program counter switches to the next thread Using multiple commands on a single line therefore allows for increased thread priority Certain commands such as trippoints will cause the program counter to continue to the next thread before a line has completed On the RIO series of PLCs the backtick ascii 96 is a line continuation character If a line of code passes the RIO s 40 character length limit the character can be used to continue the line of code on the next line Interrogation Most commands accept a question mark as an argument This argument causes the controller to return parameter information 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 The controller will return the PR value for the A axis PR The controller will return the PR value for the D axis file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 6 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference 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 PR The controller will return the PR value for all axes Data Types Galil4 2 There is only one native data type in
145. d 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 Operand Usage _MThn contains the value of the motor type for the specified axis Usage Usage and Default Details Controller Usage Default Value 1 1 1 1 Default Format 1 18x2 amp 21x3 1 1 18x6 amp 4xxx Related Commands CE Configure encoder type Examples MT 1 1 2 2 Configure a as servo b as reverse servo c and das steppers MT Interrogate motor type V _MTA Assign motor type to variable file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 236 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only prena n M1 Bun not burnable Modbus Wait Full Description Enabling the MW command causes the controller to hold up execution of the program after sending a Modbus command until a response from the Modbus device has been received If the response is never received then the TCPERR subroutine will be triggered and an error code of 123 will occur on _TC Arguments MWn where n 0 Disables the Modbus Wait function n 1 Enables the Modbus Wait function Operand Usage MW contains the state of the Modbus Wait _MW contains returned function code _MW1 contains returned error code Usage Usage and Default Details Controller Usage Default Value 1 0
146. d phase shift e EQ ECAM quit disengage e ER Error Limit e ES Ellipse Scale e ET Electronic cam table e EW ECAM Widen Segment e EY ECAM Cycle Count e FA Acceleration Feedforward e FE Find Edge e FI Find Index e FL Forward Software Limit e FV Velocity Feedforward e GA Master Axis for Gearing e GD Gear Distance e GM Gantry mode e GR Gear Ratio e HM Home e HS Handle Assignment Switch e HV Homing Velocity e HX Halt Execution e IA IP Address e ID Identify e IF IF conditional statement e IH Open IP Handle e II Input Interrupt e IK Block Ethernet ports e IL Integrator Limit e IN Input Variable e IP Increment Position o IT Independent Time Constant Smoothing Function e JG Jog e JP Jump to Program Location e JS Jump to Subroutine e KD Derivative Constant o KI Integrator e KP Proportional Constant e KS Step Motor Smoothing e LA List Arrays e LB LCD Bias Contrast e LC Low Current Stepper Mode e LD Limit Disable e LE Linear Interpolation End e LI Linear Interpolation Distance e LL List Labels e LM Linear Interpolation Mode e LS List e LU LCD Update e LV List Variables e LZ Inhibit leading zeros e MB Modbus e MC Motion Complete file Cl Documents 20and 20Settings Andy Desktop Temp 4Kco
147. d 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 H Module is the position of the module in the rack from 1 to 16 BitNum is the I O point in the module from 1 to 4 Operand Usage N A Usage Usage and Default Details While Moving No RIO Ya Controller Usage Related Commands SB Set Bit OB Ouput Bit OP Output Port Examples CB 77 Clear output bit 7 CB 15 Clear ouput bit 15 RIO and 5 8 axis controllers only file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 115 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference CC Configure Communications Port 2 Full 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 or CI commands with Port 2 Arguments CC m n r p where m Baudrate 9600 19200 38400 or 115200 n Handshake 0 for handshake off 1 for handshake on r Enabled 0 disabled lenabled p Echo 0 for echo off 1 for echo on Operand Usage N A Usage Usage and Default Details Usage Value While Moving Yes In a Program Yes Command Line Yes Related Commands CI Configure Communication Interrupt Examples CC 9600 0 0 0 960
148. de VP 1000 2000 Vector Position CR 1000 0 360 Specify Arc VE End Sequence VS 2000 Vector Speed BGS Begin Sequenc AMS After Motion JP A Repeat Move file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 345 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Burn burnable with BN Vector Speed Full 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 22 000 000 for servo motors and 2 to 6 000 000 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 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 Operand Usage _VSn contains the vector speed of the specified coordinate system S or T Usage Usage and Default Details Related Commands VA Vector Acceleration VP Vector Position CR Circle LM Linear Interpolation VM Vector Mode BG Begin Sequence VE Vector End Examples
149. de CR Circle move VP Vector position Examples VMAB ES3 4 Scale B resolution by 4 3 VMCA ES2 3 Scale A resolution by 3 2 VMAC ES3 2 Scale A Resolution by 3 2 Note ES must be issued after VM file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 166 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Burn not burnable lectronic cam table Full 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 m i o where i is the interval and o is the offset as determined by the EP command Arguments ET m n n n n n n n n where m is an integer between 0 and 256 n is an integer in the range between 2 147 438 648 and 2 147 438 647 n Returns the slave position for the specified point The value m 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 Operand Usage Usage Usage and Default Details Yes Yes ommand Line Controller Usage All Default Value N A Default Format N A Related Commands EA Choose ECAM master EB Enable ECAM EC Set ECAM table index EG Engage ECAM EM Specify ECAM cycle EP Specify ECAM table intervals amp staring point EQ Disengage ECAM Exam
150. deceleration LI 100 200 300 400 Specify linear distance LI 200 300 400 500 Specify linear distance E BGS Last vector then begin motion file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 220 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Bun not burnable Full 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 1999 or labels n is the first line to be listed m is the last n is an integer in the range of 0 to 1999 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 1 to 1999 or a label on the program memory m is used to specify the last line to be listed Operand Usage N A Usage Usage and Default Details Command Line Controller Usage Default Value Last Line for DMC Related Commands LA List Arrays LL List Labels LV List Variables Examples LS A 6 List program starting at A through line 6 A PR 500 BGA AM WT 200 Hint Remember to quit the Edit Mode lt cntrl gt Q prior to giving the LS command DOS Noe WN file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 221 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Burn not burnable LCD Update Full
151. detect a failure on either or both channels of the encoder This is accomplished by checking on whether motion of at least 4 counts is detected whenever the torque exceeds a preset level OV for a specified time OT Note that for this function to work properly it is necessary to have a non zero value for KI The default value for OV is approximately 95 volts The value should be high enough to guarantee that the motor would overcome any static friction If it is too low there will be false triggering of the error condition The OV value may not be higher than the TL value Arguments OV n n n n n n n n where where n is a positive voltage between 0 001 and 9 9 volts returns the last value set Operand Usage _OVn contains the OV value for the specified axis Usage Usage and Default Details Usage Value Yes Yes Command Line Yes Default Value 0 9438 Default Format 1 4 Related Commands OA Off on encoder failure OT Off on encoder failure time Examples setup OTX 10 Set time to 10 milliseconds OVX 5 Set voltage to 5 OAX 1 Enabl ncoder detection feature EN file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 252 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Operand Only P2CD P2CD Burn not burnable Serial port 2 code Full Description P2CD returns the status of the auxiliary serial port port 2 Arguments Operand Usage
152. dr is the unit ID 17 is the function code 17 Report Slave ID array is where the returned data is stored not supported on RIO Raw Modbus Packet Send MBhz 1 len array where h is the handle letter len is the number of bytes in the array array is the array containing the outgoing data with a dimension of at least len Note each element of array may contain only one byte and array must contain the entire modbus packet including transaction identifiers protocol identifiers length field modbus function code and data specific to that function code Operand Usage file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 227 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference N A Usage Usage and Default Details ommand Line Controller Usage Default Value Default Format Related Commands IA IP Address MW Modbus Wait Examples file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 228 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Seatac Accepts Axis Mask amp Trippoint M C Operands none Bun not burnable Motion Complete Full 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
153. dy Desktop Temp 4Kcom index html 123 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Accepts Axis Mask Ov not burnable Contour Mode O OS Mode Full Description The Contour Mode is initiated by the instruction CM This mode allows the generation of an arbitrary motion trajectory with any of the axes The CD command specified a position increment and the DT command specifies the time interval between subsequent increments Issuing the CM command will clear the controur buffer when contour mode is not running Arguments CM nnnnnnnnnn where n is A B C D E F G H or any combination to specify the axes for contour mode n Returns a 0 if the contour buffer is full and 511 if the contour buffer is empty Operand Usage _CM contains a 0 if the contour buffer is full otherwise it contains the number of available contour segments Usage Usage and Default Details Controller Usage Default Value Disabled Default Format Related Commands CD Contour Data DT Time Increment Examples Cont0 Define label Cont0O CM ABCD Specify Contour Mode Axes ABCD DT 4 Specify time increment for contour 2 4 servo loops 16ms at TM1000 CD 200 350 150 500 Specify incremental positions on A B C and D axes i A axis moves 200 counts B axis moves 350 counts C axis moves 150 counts D axis moves 500 counts CD 100 200 300 400 Next position data CD 0 0 0 0 0 Special syntax to terminate Contour mod
154. e Syntax Explicit amp Implicit ET Burn not burnable Arm Latch Full Description The AL command enables the latch 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 1 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 The latch function is available on incremental quadrature encoder inputs only For other position capture methods contact Galil Arguments AL nnnnnnnn or AL n n n n n n n n where n can be A B C D E F G or H specifying the main encoder for the axis to be latched n can be SA SB SC SD SE SF SG or SH specifying the auxiliary encoder n can be TA TB TC TD TE TF TG or TH specifying the main encoder is latched from the index pulse instead of a digital input Operand Usage _ALn contains the state of the specified latch 0 not armed 1 armed Usage Usage and Default Details Related Command
155. e JP Jump to label Examples A IF _TEA lt 1000 IF conditional statement based on a motor position G Motor is within 1000 counts of zero Message to b xecuted for true ENDIF End of IF conditional statement EN End Program input IF IN 1 0 IF conditional statement based on input 1 G Input 1 is Low ssage to b xecuted if IF statement is true ENDIF End of IF conditional statement var v1l AN 1 5 some calculation for variable vl IF v1 gt 25 amp IN 4 1 Conditions based on V1 variable and input 4 status G Conditions met ssage to b xecuted if IF statement is true ENDIF End of IF statement REM The conditions of an if statement can be simplied with the fact that REM a true condition 1 and a false condition 0 true v1l 1 IF v1 G True vl vl ENDIF false v1 0 IF vl if statement evaluates false ELSE G False v1 0 ENDIF EN file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 191 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit Notation Only THn0 _THn1 _THn2 IH3 TH4 Bun not burnable Open IP Handle Full Description The IH command is used when the controller is operated as a master also known as a client This command opens a handle and connects to a slave server To open a handle the user must specify 1 The IP address of the slave 2 The ty
156. e SIn Returns the configuration parameters where n is the axis See Application Note 2438 for more information and a Clock frequency table Usage Usage and Default Details Usage Value No In a Program Yes Command Line Yes Default Value SIn 0 SSI Hardware Upgrade Required Related Commands file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 294 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference TP Tell Position TD Tell Dual Encoder SS Configure the special Galil BiSS feature AUTOERR EEPROM checksum error and Serial Encoder timeout error Automatic Subroutine DF Dual Feedback DV feedback swap Examples STA 1 25 25 0 lt 10 gt 1 Encoder on axis A replaces main encoder TP 25 bits total all single turn no status SIA 0 Disable SSI on axis A file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 295 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Implicit Notation Only amp Trippoint S L Operands none um not burnable Single Step Full Description The SL command is for debugging purposes Single Step through the program after execution has paused at a breakpoint BK Optional argument allows user to specify the number of lines to execute before pausing again The BK command resumes normal program execution Arguments SLn where n is an integer representing the number of lines to execute befo
157. e Wait JP Wait _CM lt gt 511 Spin on Wait label until buffer is empty End of Contour Buffer Sequence EN End program Contl Define label Cont1 CM ABC Specify Contour Mode DT 8 Specify time increment for contour 2 8 servo loops 256ms at TM1000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 124 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference CD CD CD CD CD CD ti End of Contou 100 100 100 100 100 100 0 0 0 1 100 100 100 100 100 100 0 0 0 0 0 Wait2 JP Wait2 _CM lt gt 511 Spin on r Buffer Sequence New position data New position data Pause countour buffer set DT to resume New positi New positi Special syntax to terminate Contour mode Lon data lon data Wait2 label until buffer is empty file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 125 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Implicit Notation Only CN CNO _CN1 _CN2 _CN3 _CN4 burnable with BN onfigure Full Description The CN command configures the polarity of the limit switches home switches latch inputs the selective abort function and the program termination behaviour of the abort input Arguments CN m n 0 p q where m 1 Limit switches active high 1 Limit switches active low n 1 HM will drive motor forward when Home input is high See HM and FE commands 1 HM will
158. e n is a signed integer in the range 2147483648 to 2147483647 decimal Operand Usage N A Usage Usage and Default Details While Moving Yes Default Value InaProgram Yes Default Format Command Line No Controller Usage ALL CONTROLLERS Related Commands AR Trippoint for relative distances MF Trippoint for forward motion Examples TEST Program B DPO Define zero JG 1000 Jog mode speed of 1000 counts sec BG A Begin move AP 2000 After passing the position 2000 V1 _TPA Assign V1 A position G Position is V1 Print Message ST Stop EN 7 End of Program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 78 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Hint The accuracy of the AP command is the number of counts that occur in 2 TM sec Multiply the speed by 2 TM sec to obtain the maximum error AP tests for absolute position Use the AD command to measure incremental distances file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 79 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Implicit Notation Only AQ1 _AQ2 _AQ3 _AQ4 _AQ5 AQ6 _AQ7 _AQ8 urnable with BN Full Description The Analog Configuration AQ command is used to set the range of the analog inputs There are 4 different ranges that each analog input may be assigned Setting a negative range for inputs 1 3 5 o
159. e 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 Operand Usage N A Usage Usage and Default Details Related Commands BN Burn Parameters BV Burn Variable BR Examples file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 104 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Burn burnable with BN rush Axis Full Description The BR command is used with internal Galil amplifiers to enable which axes will be set as brush type servos or to configure the firmware to use external drives instead of the internal channel The hall error bits cannot cause AMPERR events if an axis is configured as brush type With BR1 the hall inputs are available for general use via the QH command Trap Amps If an axis has Off On Error OE set to 1 an amplifier error will occur on an axis if there are no halls and BR is set to 0 Set BR to 1 to avoid an amplifier error state Arguments BR n n n n n n n n n where n O Brushless servo axis n 1 Brush type servo axis n Returns the value of the axis n l_ External drive when equipped with an internal Galil sine drive Operand Usage N A Usage Usage and Default Details No Yes Command Line Yes 0 0 0 0 0 0 0 0 Related Comm
160. e host is able to define the bounds of the embedded algorithms The host plays a supervisory role interrogating status receiving asynchronous updates from the controller starting and stopping threads and so on The controller takes care of the motion and I O responsibilities based on its embedded program and the controller s real time operating system RTOS ensures that the application won t suffer from indeterminacy which is common on general purpose PC operating systems e g Microsoft Windows Because the controller takes care of the details the host is able to use its resources on other tasks such as complicated number crunching or user interface It is noteworthy that Galil Standalone controllers e g DMC 40x0 DMC 41x3 DMC 21x3 RIO 47xxx can leverage the Ethernet to provide powerful modularity Using any of the above three system approaches multiple controllers can work in concert to achieve an application s requirements Networked controllers also provide easy scalability Need some more digital or analog I O Add an RIO Need another axis of control Add another DMC to the network Both the Galil firmware and the Galil software libraries provide features which allow easy use of multiple controllers on an Ethernet network RS232 422 485 networks are also possible Bottom Up Anatomy of DMC code Classification DMC language can be broken up into the following general classifications Classification Example Comments PEPEE Create a
161. e on bank 1 28 Bit 3 is high others low LLO 0 All inputs on bank 0 low Input _TI1 Sets the variable Input with the TI1 value Input gt 8 0000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 315 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 316 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Operand Only TIME Full 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 976 microseconds Thus the value returned by the TIME operand will be off by 2 4 of the actual time The clock is reset to 0 with a standard reset or a master reset The keyword TIME does not require an underscore _ as does the other operands Arguments N A Operand Usage N A Usage Usage and Default Details Command Line Controller Usage Default Value Related Commands Examples MG TIME Display the value of the internal clock file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 31
162. eNum 1000 Module 1 4 Bitnum 1 HandleNum is the handle specifier from A to H Module is the position of the module in the rack from 1 to 16 BitNum is the I O point in the module from 1 to 4 n the voltage which ranges from 9 99 to 9 99 Usage Usage and Default Details Operand Usage Related Commands SB Set Bit CB Clear Bit MB Modbus Examples file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 77 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Explicit amp Implicit amp Trippoint none not burnable Full 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 AP can only be used when there s commanded motion on the axis Arguments AP n n n n n n n n or APA n wher
163. earch for both the Home input and the Index Remember to specify BG after each of these commands Arguments FE nnnnnnnn where n is A B C D E F G or H or any combination to specify the axis or axes No argument specifies all axes Operand Usage N A Usage Usage and Default Details Related Commands FI Find Index HM Home BG Begin AC Acceleration Rate DC Deceleration Rate SP 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 171 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Accepts Axis Mask Bun not burnable Find Index Full 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 There are 2 stages to the FI command The first stage jogs the motor at the speed and direction of the JG command until a transition is detected on the index line When the transition is detected the position is latched and the motor will decelerate to a stop In the second stage the motor will reverse direction and move to the latched position of the index pulse at the speed set by the HV command At the conclusion of FI the position is defined as zero Arguments FI nnnnnnnn where n is A
164. eck how the amplifier bandwidth is affected by changing the n parameter The AU command uses the transfer function for the AMP 430x0 for the calculation of the bandwidth Arguments AWx vy l n where x Axis designator v Drive voltage in Volts 1 Motor inductance in millihenries n optional current loop gain setting 1 or 0 Operand Usage N A Usage Usage and Default Details Controller Usage DMC 40x0 DMC 21x3 with AMP 430x0 AMP 205x0 or AMP 20440 Default Format Related Commands TA Tell Amplifier AG Amplifier Gain BS Brushless Setup Examples AWY 60 5 0 Sets a 60 volt drive motor with 5 millihenries inductance and normal current loop gain 4525 732 Is the bandwidth in hertz file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 89 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Accepts Axis Mask BA Operands_JLBAn Bun not burnable Brushless Axis Full Description Galil Sine Drive Use For axes equipped with a Galil sine drive BA is used to configure the axis for sinusoidal operation In addition to BA BM and BX or BZ must be used to initialize the drive commutation When using a Galil sine drive one axis of control is required for one axis of drive This is in contrast to the paired behavior below Third Party Sine Drives Requiring Dual Analog Inputs Rare In rare cases some third party sinusoidal drives require two analog signals to
165. elated Commands Examples N A file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 57 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Operand Only Bun not burnable Gearing Phase Differential Operand Full Description The _GP operand contains the value of the phase differential accumulated on the most current change in the gearing ratio between the master and the slave axes The value does not update if the distance over which the slave will engage is set to 0 with the GD command The operand is specified as _GPn where n is the specified slave axis Phase Differential is a term that is used to describe the lead or lag between the master axis and the slave axis due to gradual gear shift PA GR Cm Cs where Pd is the phase differential GR is the gear ratio Cm is the number of encoder counts the master axis moved and Cs is the number of encoder counts the slave moved Arguments N A Operand Usage N A Usage Usage and Default Details Related Commands GR Gear Ratio GA Gear Axis Examples A GAY Sets the Y axis as the gearing master for the X axis r This axis does not have to be under servo control In this example the axis is connected to a conveyor operating open loop GD1000 Set the distance that the master will travel to 1000 counts before the gearing is fully engaged for the X axis slave AI 1 Wait for input 1 to go low In this example th
166. en program execution will continue at the line specified by the destination parameter which can be either a line number or label The line number of the JS command is saved and after the next EN command is encountered End of subroutine program execution will continue with the instruction following the JS command There can be a JS command within a subroutine up to 16 deep 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 The operand between any two conditions requires that only one statement be true for the combined statement to be true Note Each condition must be placed in parenthesis for proper evaluation by the controller A jump is taken if the specified condition is true Each condition must be placed in parenthesis for proper evaluation by the controller Example JS a var0 1 amp varl 2 valid conditional jump JS a var0 l amp varl 2 invalid conditional jump Passing Values on the Stack Up to 8 parameters can be passed on the subroutine stack One value can be returned from a subroutine More return values are possible with pass by reference and array passing Using subroutine stacks and passing parameters in a subroutine has many advantages including 1 Code flexibility reuse A single subrou
167. ence Implicit Notation Only CI Configure Communication Interrupt Full Description The CI command configures a program interrupt based on characters received on communications port 2 the AUX serial port port 1 on DMC 21x2 3 amp RIO An interrupt causes program flow to jump to the COMINT subroutine If multiple program threads are used the COMINT subroutine runs in thread 0 and the remaining threads continue to run without interruption The characters received can be accessed via the operands P2CH P2ST P2NM P2CD P1 on DMC 21x2 3 amp RIO For more see Operator Data Entry Mode in the user manual Arguments CI n m m on DMC 21x2 3 and RIO only n 0 Do not interrupt n 1 Interrupt on carriage return n 2 Interrupt on any character n 1 Clear interrupt data buffer RIO And DMC 21x2 3 m 0 Default received serial port data is interpreted as Galil command returning data to the port as a standard interpreted port m 1 Enable serial port for CI execution Data received will not be interpreted as a command Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO Yes In a Program es Command Line es Default Value Related Commands CC Configure communications IN Communication input MG Message output Examples CI 1 Interrupt when the lt enter gt key is received on port 2 CI 2 Interrupt on a single character received on Port 2 file Cl Documents 20and 20Settings An
168. ence IT 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 Sequenc AMS Wait for Vector sequence to complete file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 337 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference ti N End Program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 338 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Bun not burnable Vector Sequence End Full 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 Operand Usage _VEn contains the length of the vector in counts for the specified coordinate system S or T Usage Usage and Defualt Details Related Commands VM Vector Mode VS Vector Speed VA Vector Acceleration VD Vector Deceleration CR Circle VP
169. er Board AMP 44040 rev 0 Connector P2 Servo Amplifier Board AMP 43020 500 watt rev 1 Example ID This ID response is applicable to the following part number DMC 4020 C012 1000 SST ID DMC4000 rev 0 Connector J3 Communications Board CMB 41012 3 3 volt i o rev 0 Connector Jl 42000 SSI rev 0 Description of response DMC4000 bits rev 0 where bits 16 bit adc option if 16bit option ordered No string returned here indicates standard 12 bit analog input Connector J3 Communications Board CMB 41012 IO type rev 0 where IO type 3 3 volt i o for standard 3 3V extended IO 5 volt i o for 5V option ordered Connector J1 J2 icm type encoder rev 0 where J1 A D axes J2 E H axes No string is output for J2 on a 1 4 axis controller icm type specifies the ICM model number used 42000 is the I000 option 42100 is the I100 option 42200 is the I200 option encoder specifies the encoder option available on this ICM Sine indicates sin cos encoder support SST indicates SSI encoder support file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 188 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Biss option indicates BiSS encoder support An empty string after the sign indicates that it is a standard ICM with no additional encoder option Connector P1 P2 drive type Amplifier Board model rev 0 where P1 A D axes P2 E H axes No strin
170. er variables and array elements Trippoints The controller provides several commands that can be used to pause execution of code until certain conditions are met Commands of this type are called trippoints Such trippoints may wait for an elapsed time wait for a particular input or in motion controllers wait for particular motion event to occur 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 its calling thread is halted Trippoints are intended for use only within embedded DMC code and should not be sent from a terminal or a host application program executing from a PC Popular Trippoints file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 5 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Comments Comments are used to document code and to disable lines of code while debugging There are three ways to comment REM REM stands for Remark When a line begins with the REM command the entire line is stripped by Galil software before downloading to the controller REM is NOT a recognized Galil command it is a keyword recognized by Galil software as data that is to
171. eration NO Nothing No Operation N End of Program ti file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 240 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Bun burnable with BN Notch Zero Full 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 nis ranges from 1 Hz to 1 16 update period update period TM 10 6 n Returns the value of the Notch filter zero for the specified axis Usage Usage and Default Details Operand Usage _NZn contains the value of the Notch filter zero for the specified axis Related Commands NB Notch Bandwidth NF Notch Filter Examples NZA 10 Sets the real part of the notch pole to 10 2 Hz file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 241 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Oa Burn burnable with BN Off on encoder failure Full Description Turns on or off encoder failure detection The controller can detect a failure on either or both channels of the encoder This is accomplished by checking on whether motion of at least 4 counts is detected whenever the torque exceeds a preset level OV for a specified time OT Note that for this function to work properly it is necessary to have a non zero val
172. ers m is the address of the first Register n is the quantity of registers array is the name of the array that will store the resulting register data 2 byte per element MBh addr 5 m n where h is the handle letter addr is the unit ID 5 is the function code 5 Force Single Coil m is the address of the coil n is a value of 0 or 1 to turn the coil off or on MBh addr 6 m n where h is the handle letter addr is the unit ID 6 is the function code 6 Preset Single Register m is register address nis a 16 bit value MBhz addr 7 m n array where h is the handle letter addr is the unit ID 7 is the function code 7 Read Exception Status m is the address of the first Register n is the quantity of registers array is the name of the array where the response will be stored in the first element MBhz addr 15 m n array where h is the handle letter addr is the unit ID 15 is the function code 15 Write Multiple Coils m is the address of the first register n is the quantity of registers array is the name of the array that will store the desired register data 2 byte per element MBhz addr 16 m n array where h is the handle letter addr is the unit ID 16 is the function code 16 Write Multiple Registers m is the address of the first Register n is the quantity of registers array is the name of the array that will store the desired register data 2 byte per element MBh addr 17 array where h is the handle letter ad
173. erver if present To manually set an IP address over the serial connection send DHO to disable DHCP prior to setting the new IP address with IA Arguments IA ip0 ip1 ip2 ip3 or IA n or lAct where ipO 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 1 lt t lt 2 147 483 647 up to 5 retries occur 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 Operand Usage _IAO contains the IP address representing a 32 bit signed number Two s complement _IA1 contains the value for t retry time _JA2 contains the number of available handles _IA3 contains the number of the handle using this operand where the number is 0 to 7 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 _IAS returns autonegotiation Ethernet speed Returns 10 for 10 Base T and returns 100 for 100 Base T it will return 1 if there is no physical link The IP address can be derived using _IA0 a INT _IA0 amp S FF000000 1000000 amp SFF b INT _IA0 amp SOOFF0000 10000 c
174. es where there is a backlash between the motor and the main encoder and where the dual encoder is mounted on the motor When using Dual Loop mode with a large motor load ratio and or running at high velocities where low position error at speed is required FV should be used to compensate for the derivitave contribution from the higher resolution motor encoder The FV value is calculated by the equation FV KD 4 motor load motor load effective motor to load ratio For example KD 200 motor encoder changes 5000 counts per 1000 counts of load encoder motor load 5 1 FV 200 4 5 1 250 Arguments DV n n n n n n nyn or DVX n where n 0 Disables the dual loop mode n Enables the dual loop mode Operand Usage _DVn contains the state of dual velocity mode for specified axis 0 disabled 1 enabled Usage Usage and Default Details envane Jo Related Commands KD Damping constant FV Velocity feedforward Examples DV Llp Enables dual loop on all axes DV 0 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 147 of 358 5 24 2011 8 38 17 AM Galil Motion Control Comma
175. escription 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 n n n n n n n n or EQA n where n is the master positions at which the axes are to be disengaged n Returns 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 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 Usage Usage and Default Details ommand Line Controller Usage Default Value Related Commands EA Choose ECAM master EB Enable ECAM EC Set ECAM table index EG Engage ECAM EM Specify ECAM cycle EP Specify ECAM table intervals amp staring point ET ECAM table Examples EQ 300 700 Disengages the A and B motors at master positions 300 and 700 respectively ote 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 164 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax E
176. et 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 on file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 8 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Table of Contents Info Overview Label subroutine AMPERR Amplifier error automatic subroutine AUTO Subroutine to run automatically upon power up AUTOERR EEPROM checksum error and Serial Encoder timeout error Automatic Subroutine CMDERR Command error automatic subroutine COMINT Communication interrupt automatic subroutine ININT Input interrupt automatic subroutine LIMSWI Limit switch automatic subroutine MCTIME MC command timeout automatic subroutine POSERR Position error automatic subroutine SERERR Serial Encoder Error Automatic Subroutine TCPERR Ethernet communication error automatic subroutine Hexadecimal amp Bitwise Logical Operators AND and OR C Parentheses order of operations Semicolon Command Delimiter ABS Absolute value ACOS Inverse cosine AN Analog Input Query ASIN Inverse sine ATAN Inverse tangent COM Bitwise complement COS Cosine FRAC Fractional part IN Read digital input I
177. eturn an error code of 160 TC1 will return 160 BX Command Failure The BX uses a limited motion algorithm to determine the proper location of the motor within the magnetic cycle It is expected to move no greater than 10 degrees of the magnetic cycle The long timeout 1 for GalilTools 1 5 0 has been increased to prevent a timeout while using the BX command Arguments BX m m m m m m m m or BXn m or BX lt t where m is a real number from 4 998 to 4 999 representing the voltage used to initialize the axis A negative voltage will leave the amp on after the BX command while a positive voltage will leave the amp in the MO state The time for the BX command to return will increase with the magnitude of m In most cases BX settings of larger than 3 are not required lt tis an integer between 1 and 5000 and represents the final pulse duration of the BX command The last stage of the BX command will lock the motor into a 15 degree increment for t samples Operands _BXn contains 0 if n is not a Galil sine amp axis contains 1 if n is an uninitialized sine amp axis contains 3 if n is an initialized sine amp axis Usage Usage and Default Details Usage Value No In a Program Yes recommended Command Line Yes Default Value t 1000 Related Commands BA Brushless Axis BM Brushless Modulo Examples file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 111 of 358 5 24 2011 8 38 16 AM Galil Mot
178. ey acquiring data data padding Data CRC SS command ss2 26 E W read in f ssl 10 ss3 4 bit read in details SSn SSn BiSS setup command for the Hengstler 12 bit MT 10 bit ST Data will be available in TP and for servo feedback SSA 1 10 26 4 lt 13 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 299 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference BiSS clock MA frequency is set with the p argument and has the following form MA freq 20 MHz 2 p 1 20 MHz frequency is hardware dependent with a range of 18Mhz to 26Mhz Contact Galil if tolerances must be tighter for a particular application this is rare Table 2 Popular Master Clock Frequencies MA Clock Frequency kHz Operands _SSn Returns 4 bits of axis status data where n is the axis ABCDEFG or H SERERR is an automatic sub which will run in the event of an encoder problem See SY for setting up the active high low status of bits 2 and 3 _SSN Bit Map The BiSS decoding hardware will timeout if the encoder doesn t set the start bit within No timeout 0 timeout occurred 1 30uS CRC valid 0 invalid 1 BiSS employs a Cyclic Redundancy Check to verify data after transmission 2 Error bit active state set with SY When SY is set correctly this bit should be low when there is no active warning Consult the encoder documentation for the Warning bit definition F j When SY is set correctly this bit sho
179. four times less effectiv file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 208 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax _ Explicit amp Implicit KI Kh burnable with BN Integrator Full Description The KI command sets the integral gain of the control loop It fits in the control equation as follows D z KP KD z 1 z KI z 2 z 1 The integrator term will reduce the position error at rest to zero Arguments KI n n n n n n n n or KIA n where n is an unsigned numbers in the range 0 to 255 with a resolution of 0 001 n Returns the value for the specified axis Operand Usage _KIn contains the value of the integral gain for the specified axis Usage Usage and Default Details Conollr Usage Default Format 4 0 for 18x2 amp 21x3 4 4 for 18x6 4xxx amp RIO While Moving Yes Default Value 0 In a Program Yes Default Format 4 4 Command Line Yes Controller Usage ALL CONTROLLERS Related Commands KP Proportional Constant KD Derivative Constant IL Integrator Limit Examples KI 12 14 16 20 Specify a b c d axis integral KI 7 Specify a axis only KI 8 Specify c axis only KE 2p oray Return A B C D 7 14 8 20 KI values file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 209 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit KP Operands KPa
180. 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 Usage Usage and Default Details pernome o Related Commands BA Brushless Axis BB Brushless Phase Begins BC Brushless Commutation BD Brushless Degrees BI Brushless Inputs BM Brushless Modulo BO Brushless Offset BS Brushless Setup Examples BZ 3 Drive C axis to zero phase with 3 volt signal and end with motor enabled file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 113 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Accepts Axis Mask CA Operands cAn Bun not burnable Coordinate Axes Full 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 CR ES LE LI LM TN VE VM VP Arguments CAS or CAT where CAS specifies 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 1 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 Usage and Defaul
181. g 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 Ifin jog JG mode the commanded motion is in the direction which moves away from the specified position If the direction of the motion is reversed when in position tracking mode see PT command the starting point for the trippoint is reinitialized to the point at which the motion reversed The units of the command are quadrature counts Only one axis may be specified at a time AR can only be used when there s commanded motion on the axis Note AR will be affected when the motion smoothing time constant IT is not 1 See IT command for further information Arguments AR n n n n n n nzn or ARA n where n is an unsigned integer in the range 0 to 2147483647 decimal Operand Usage N A Usage Usage and Default Details Related Commands AV Trippoint for after vector position for coordinated moves AP Trippoint for after absolute position Examples A DP 0 0 0 0 Begin Program JG 50000 7000 Specify speeds BG AD Begin motion B Label AR 25000 After passing 25000 counts of relative distance on A axis G P Passed _A _TPA Send message on A axis B Jump to Label B N End Program int AR is used to specify increment
182. g is shown for P2 on a 1 4 axis controller drive type specifies the drive avaiable on this set of 4 axes Servo indicates standard servo drives Stepper indicates stepper drive Sine indicates sinusoidally commutated servo drives model specifies the ordered drive option for that set of 4 axes AMP 43040 500 watt for D3040 option AMP 43020 500 watt for D3020 option AMP 43140 1 A for D3140 option AMP 44040 for D4040 option AMP 44140 for D4140 option AMP 43540 for sine drive option If no string is displayed then that indicates that no drive is present for that set of 4 axes Note that the rev number at the end of each line of the ID command indicates the hardware revision of that board Newer board revisions will have a higher revision value Arguments N A Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO In a Program ommand Line Controller Usage Default Value Default Format Related Commands Examples SID Connector J3 Communications Board CMB 41012 3 3 volt i o Connector Pl Stepper Amplifier Board AMP 44040 Connector P2 Stepper Amplifier Board AMP 44040 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 189 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Embedded Only Burn not burnable F conditional statement Full Description The IF command is used in conjunction with an ENDIF command
183. ge _EI contains the interrupt mask m Related Commands UI User interrupt Examples 1 Interrupt when motion is complete on all axes OR if a limit switch is hit From the table enable bits 8 and 10 m 256 1024 1280 EL 1280 2 Interrupt when digital input 3 is low Enable bit 15 of m and bit 2 of n EI 32768 4 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 156 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Embedded Only ELSE Burn not burnable Else function for use with IF conditional statement Full Description The ELSE command is an optional part of an IF conditional statement The ELSE command must occur after an IF command and it has no arguments It allows for the execution of a command only when the argument of the IF command evaluates False If the argument of the IF command evaluates false the controller will skip commands until the ELSE command If the argument for the IF command evaluates true the controller will execute the commands between the IF and ELSE command Arguments ELSE Operand Usage N A Usage Usage and Default Details Command Line Controller Usage Default Value Default Format N A Related Commands ENDIF End of IF conditional Statement Examples A IF IN 1 0 IF conditional statement based on input 1 IF IN 2 0
184. gin Sequence VD Vector Deceleration IT Smoothing constant S curve Examples VA 1024 Set vector acceleration to 1024 counts sec2 VA Return vector acceleration 1024 VA 20000 Set vector acceleration VA 19456 Return vector acceleration ACCEL _VA Assign variable ACCEL the value of VA file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 336 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Burn burnable with BN Vector Deceleration Full Description The VD 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 1073740800 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 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 Operand Usage _VDn contains the value of the vector deceleration for the specified coordinate system S or T Usage Usage and Default Details Related Commands VA Vector Acceleration VS Vector Speed VP Vector Position CR Circle VE Vector End VM Vector Mode BG Begin Sequ
185. han or equal to gt greater than or equal to lt gt not equal Operand Usage _JS used after JS is called this operand contains the returned value of the subroutine called by JS Usage Usage and Default Details While Moving No RIO Ye Controller Usage Related Commands amp Bitwise Logical Operators AND and OR EN End lt gt lt gt lt gt Comparison Operators a b c d e f g h JS subroutine stack variable Examples i JS SQUARE V1 lt 5 Jump to subroutine SQUARE if V1 is less than 5 JS LOOP V1 lt gt 0 Jump to LOOP if V1 is not equal to 0 JS A Jump to subroutine A unconditionally Advanced Usage Examples ADD JS SUM 1 2 3 4 5 6 7 8 Call subroutine pass values G_JS Print return value will print 36 0000 SUM Sums values passed to it Expects 8 numbers EN at b ct d et f gt h Return the sum Dimension two arrays DM arrayl 10 DM array2 100 Zero the contents of each array JS ZeroAry arrayl 0 JS ZeroAry array2 0 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 206 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference ti N Zero the contents of an array ZeroAry a array b starting index a b 0 b b 1 JP ZeroAry b lt a 1 A 1 13 Counter loop offset spell i Calculate offset JS offset J
186. he ECAM table values in non volatile EEPROM memory Note 2 This command may cause the Galil software to issue the following warning A time out occurred while waiting for a response from the controller This warning is normal and is designed to warn the user when the controller does not respond to a command within the timeout period This occurs because this command takes more time than the default timeout of 5 sec The timeout can be changed in the Galil software but this warning does not affect the operation of the controller or software Examples file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 109 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit BW Sperone wa Burn burnable with BN Brake Wait Full Description The BW command sets the delay between when the brake is turned on and when the amp is turned off When the controller goes into a motor off MO state this is the time in samples between when the brake digital output changes state and when the amp enable digital output changes state The brake is actuated immediately upon MO and the delay is to account for the time it takes for the brake to engage mechanically once it is energized electrically The brake is released immediately upon SH Outputs 1 8 are used for Axes A H where output 1 is the brake for axis A and output 2 is the brake for axis B and so on Note The Brake Wait does not a
187. he conventional method of instant gear change n will return the value that is set for the appropriate axis Operand Usage _GDn contains the distance the master axis will travel for the specified slave axis to fully engage disengage or change ratios Usage Usage and Default Details Deiatevaue JQ Related Commands _GP Gearing Phase Differential GR Gear Ratio GA Gear Axis Examples A GA X Sets the X axis as the gearing master for the Y axis GD 5000 Set distance over which gearing is engaged to 5000 counts of the master axis JG5000 Set the X axis jog speed to 5000 cts sec BGX Begin motion on the X axis ASX Wait until X axis reaches the set speed of 5000 counts sec GR 1 Engage gearing on the Y axis with a ratio of 1 1 the distance to fully engage gearing will be 5000 counts of the master axis WT1000 Wait 1 second GR 3 Set the gear ratio to three The ratio will be changed over the distance set by the GD command WT1000 Wait 1 second GR 0 Disengage the gearing between the Y axis slave and the master The gearing will be disengaged over the number of counts of the master specified with the GD command above End program tzi file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 178 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 179 of 358 5 24
188. hen the PVT mode is exited If t 1 the PVT buffer is cleared t is in samples and sample time is defined by TM With a default TM of 1000 1024 samples is 1 second If t is omitted then the previous value is used Operand Usage _PVa contains the number of spaces available in the PV buffer for the specified axis Each axis has a 255 segment PV buffer Usage Usage and Default Details Controller Usage DMC 4xxx DMC 18x6 others via upgrade Default Value Default Format Related Commands BT Begin PVT Motion MF Forward Motion to Position Trippoint MR Reverse Motion to Position Trippoint Examples Desired X Y Trajectory Time ms at TM1000 Time ms at TM1000 relative time from relative time from start start mie m p p p X Position relative X Speed at end of absolute time period c s Y Position relative Y Speed at end of absolute time period c s 100 100 256 256 50 50 100 100 200300 50 306 1007 150 510 610 300 600 po fs00356 300 150 o J 50 660 DPO 0O Define zero position PVX 100 200 256 Command X axis to move 100 counts reaching an ending speed of 200c s in 256 samples file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 264 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference PVY 50 500 100 Command Y axis to move 50 counts reaching an ending speed of 500c s in 100 samples PVvYy 100 100 510 Command Y a
189. here 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 Operand Usage _FLn contains the value of the forward software limit for the specified axis Usage Usage and Default Details Related Commands BL Reverse Limit PF 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 173 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Hint Galil controllers also provide hardware limits file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 174 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax _ Explicit amp Implicit Burn burnable with BN Velocity Feedforward Full 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 FV Velocity cts s 1 22 10 6 TM 1000 FV operates when comma
190. hese guidlines a IF _TC 143 do not employ any trippoints in following code as the timer interrupt is suspended b Serial encoders can be disabled with the commands SIn 0 or SSn 0 where n is the axis indicator ABCDEFG or H c In order to re enable the timer interrupt issue TM m where m is the servo update period in us usually m 1000 See code example below Arguments N A Operand Usage N A Usage Usage and Default Details Related Commands _RS Checksum error code operand EN End program Examples file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 18 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Code detects a checksum error and notifies the user AUTOERR MG EEPROM ERROR _RS N Gl ti Distinguishing between a serial timeout condition and an EEProm condition AUTOERR IF _TC 143 REM BiSS or SSI timeout REM No trippoints in this clause REM Print message to DMC 4020 LCD LUO G BiSS L1 G Timeout L2 SSA 0 SSB 0 F SE zZ Checksum error trippoints ok here Print message to DMC 4020 LCD J D DW B amp amp Z UO G EEProm L1 G Z10 0 _RS L2 DIF E ti Fl file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 19 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference CMDERR Burn not burnable Command error aut
191. his operation can cause a small time delay before the controller responds file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 193 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Burn burnable with BN nput Interrupt Full Description The II command enables the input 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 Il 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 2nd argument n is omitted only the 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
192. id conditional jump JP a var0 l amp varl 2 invalid conditional jump Arguments JP destination condition where destination is a label integer or variable and is defined as the line number where code shall jump if condition is true condition is an optional conditional statement using a logical operator The logical operators are lt less than gt greater than equal to lt less than or equal to gt greater than or equal to lt gt not equal to Operand Usage N A Usage Usage and Default Details While Moving No RIO Related Commands JS Jump to Subroutine IF If conditional statement ELSE Else function for use with IF conditional statement ENDIF End of IF conditional statement file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 203 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference 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 IN 1 9 Jump to B if input 1 1 JP C Jump to C unconditionally file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 204 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Embedded Only Burn not burnable ump to Subroutine Full Description Basic Usage The JS command will change the sequential order of execution of commands in a program If the jump is tak
193. idal velocity profile only with linear acceleration AS used with smoothing profiling will be inaccurate file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 83 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Implicit Notation Only amp Trippoint AT none Burn J ot burnable Full 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 AT n 1 specifies n samples from the reference This is useful when TM is lowered and faster application loop times are required Arguments ATn m where n is a signed even integer in the range 0 to 2 Billion n 0 defines a reference time at current 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 m 0 or ommitted specifies n to be in ms m specifies n to be in samples AT n is equivalent to AT n AT lt old reference n gt Usage Usage and Default Details Controller Usage All Default Value oo Default Format o Operand Usage Related Commands TIM
194. ion Control Command Reference EM Simple Example A 2000 bxa JP bxa _BXA lt gt 3 DIF ti REM Detailed Example COM a 0 0 A axis 1 B axis BA a enable brushless mode BM a 2000 must be set per inidividual motor specifications bx_i 0 number of tries for the BX command COM_H tc 0 response from TC command if an error occurs MO a start in motor off state tv JP tv _TV a gt 500 make sure axis is not moving X lt 1000 set pulse duration to 1000 samples X a 3 command the BX command EM loop until BX passes or error occurs LOOP JP LOOP _BX a lt gt 3 amp tc 0 EM try again if an error occured and the number of tries lt 5 P COM_H tc lt gt 0 amp bx_i lt 5 EM if the number of tries is lt 5 then BX passed EM else try BZ command F bx_i lt 5 G Commutation complete F iS G BX failed to complete G attempting BZ command tc 0 BZ a 3 HD WG De DW Ww te IF tc 0 MG BZ command complete ELSE G BZ command failed MG check motor and encoder wiring MG try setting CE 2 or swapping 2 motor leads ENDIF NDIF ti Fl CMDERR tc _TC TEL REM if 160 error increase BX lt t and try again IF tc 160 G Retry BX bx_i bx_i 1 BX lt bx_i 1000 increase pulse time on failure DIF w F E file C Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 112 of 358 5 24 2011 8 38 16 AM G
195. is input is representing a sensor that senses an object on a conveyor This will trigger the controller to begin gearing and synchronize the master and slave axes together GR1 Engage gearing between the master and slave P1 _TPY Sets the current Y axis position to variable Pl This variable is used in the next command because MF requires an absolute position file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 58 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference MF P1 1000 Wait for the Y axis master to move forward 1000 encoder counts so the gearing engagement period is complete Then the phase difference can be adjusted for Note this example assumes forward motion IP_GPX Increment the difference to bring the master slave in position sync from the point that the GR1 command was issued EN End Program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 59 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Forward Limit Switch Operand Full Description The _LF operand contains the state of the forward limit for the specified axis The operand is specified as _LFn where n is the specified axis _LFn 1 when the limit switch state will allow motion in the positive direction _LFn 0 when the limit switch state will not allow motion in the positive direction Note This operand is not a direct readout
196. it mode first before executing a program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 351 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit YA eats ran Burn burnable with BN tep Drive Resolution Full Description The YA command specifies the resolution of the step drive in step counts per full motor step for Stepper Position Maintenance mode Arguments YA m m m m m m m m YAn m where nis A B C D E F G or H or any combination to specify the axis or axes m is 0 to 9999 which represents the drive resolution in step counts per full motor step For the SDM 44040 m is 1 2 4 or 16 for full half 1 4 and 1 16 step drive resolution respectively YA actually sets the configurable hardware step drive resolution for the SDM 44040 For the SDM 44140 set m to 64 when using stepper position maintenance mode The 44140 step drive is fixed at 64 step counts per full motor step and is not modifiable with the YA command Operand Usage _YAn contains the resolution for the specified axis Usage Usage and Default Details Related Commands QS Error Magnitude YS Stepper Position Maintenance Mode Enable Status YB Step Motor Resolution YC Encoder Resolution YR Error Correction Examples 1 Set the step drive resolution for the SDM 44140 Microstepping Drive YA 64 64 64 64 2 Query the D axis value MG_YAD 64 0000
197. ith 3 4 axes 62 5 usec Accelera Controllers with 5 6 axes 93 75 usec Accelera Controllers with 7 8 axes 125 usec Limitations In the Fast firmware mode the following functions are disabled TD DV TK NB NZ NF second field of EI Gearing CAM PL Analog Feedback Steppers Trippoints in all but threads 0 and 1 Data Record and TV Maximum value for n is 10000 usec Resolution of n is 31 25 usec n returns the value of the sample time Operand Usage _TM contains the value of the sample time Usage Usage and Default Details Usage Value Yes Yes Command Line Yes Default Value 1000 Related Commands Examples TM 1000 Turn off internal clock T 2000 Set sample rate to 2000 msec TM 1000 Return to default sample rate file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 320 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference See http www galilmc com support firmware downloads php to download fast firmware file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 321 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Burn burnable with BN Full 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 c
198. iting code for embedded applications When running on the controller the DMC language supports if then else conditionals code branching subroutines a call stack with parameter passing and local variable scope on some models multi threading and automatic subroutines i e event driven programming DMC code runs on the Galil Real Time Operating System RTOS which is specifically designed for Galil hardware and for motion control The learning curve on DMC code is quite fast usually less than one hour to basic motion so called spinning motors It is the fastest to learn the easiest the simplest and one of the most flexible and powerful languages in the industry Don t forget Galil s Applications Support Team is available to assist you from the most basic question to the most complicated needs Top Down How is a Galil system normally structured However you want there are three general approaches to Galil programming file C Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 1 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Embedded Galil centric Programming In this approach a host computer is only used during development to program the controller The program is then downloaded and burned to non volatile flash using the AUTO automatic subroutine to indicate where code execution should start on boot up The Galil controller will now run standalone not requiring any intervention
199. l Command Reference Syntax Implicit Notation Only TI TIO _TI1 _TI2 _TI3 _TI4 _TI5 ell Inputs Full Description The TI 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 Return Input Status for Inputs 9 through 16 Applies only to controllers with more than 4 axes n 10 Return Input Status for Inputs 81 through 88 auxiliary encoder inputs n 11 Return Input Status for Inputs 89 through 96 auxiliary encoder inputs no argument will return the Input Status for Inputs 1 through 8 n returns the Input Status for Inputs 1 through 8 n 2 through 5 see note 2 These arguments only apply when using extended I O configured as inputs where n represents the extended inputs ranging from 8 n 1 through 8 n 1 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 Usage Usage and Default Details While Moving No RIO Ya Default Value N A Related Commands IN Read digital input CO Configure Extended I O Examples TI1 Tell input stat
200. l Motion Control Command Reference Syntax Explicit amp Implicit SD Operands 5D Burn burnable with BN Switch Deceleration Full Description The Limit Switch Deceleration command SD sets the linear deceleration rate of the motors when a limit switch has been reached The parameters will be rounded down to the nearest factor of 1024 and have units of counts per second squared Arguments SD n n n n n n n n SDA n where nis an unsigned numbers in the range 1024 to 1073740800 n Returns the deceleration value for the specified axes Operand Usage _SDn contains the deceleration rate for the specified axis Usage Usage and Default Details Related Commands AC Acceleration DC Deceleration PR Position Relative PA Position Absolute SP Speed Examples PR 10000 Specify position AC 2000000 Specify acceleration rate DC 1000000 Specify deceleration rate SD 5000000 Specify Limit Switch Deceleration Rate SP 5000 Specify slew speed Note The SD command may be changed during the move in JG move but not in PR or PA move file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 292 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference SH Servo Here O OE Here Full Description Accepts Axis Mask burnable with BN The SH commands tells the controller to use the current motor position as the command position and to enable servo control here This comm
201. led for the specified axis Usage Usage and Default Details ommand Line Controller Usage I Default Value 0 0 0 or 1 1 Related Commands AQ Analog Configuration CE Configure Encoder MT Motor Type Examples AF 1 0 0 1 Analog feedback on A and D axis Vl _AFA Assign feedback type to variable AF Interrogate feedback type file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 70 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn burnable with BN Amplifier Gain Full Description The AG command sets the amplifier current voltage gain for the AMP 430x0 0 sets the lowest ratio or value while 2 sets the highest ratio AG is stored in EEPROM by the BN command The MT command must be issued prior to the AG command to set the proper range The axis must be in the motor off state MO before new AG settings will take effect Arguments AG n n n n n n n n where AMP 43040 n 0 0 4 A V Usage Usage and Default Details file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 71 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Operand Usage Related Commands TA Tell Amplifier Error AW Amplifier Bandwidth Examples MO Set motor off AG2 1 Sets the highest amplifier gain for A axis and medium gain for B axis on 430x0 SH Turn motor on BN Save AG setting to EEP
202. ly 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 182 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit Notation Only Bun not burnable Handle Assignment Switch Full Description The HS command is used to switch the handle assignments between two handles Handles are opened when a connection is established by an external client TCP or UDP or when a handle is assigned explicitly with the IH command Should those assignments need modifications the HS command allows the handles to be reassigned A handle encapsulates the following 4 pieces of information 1 Local IP address same for all handles 2 Remote IP address 3 Local Port 4 Remote Port Handles are used as a pointer to the network socket in commands such as SAh MBh Eh and IHh where h is the handle letter Arguments HSh i where h is 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 Usage and Default Details Usage Value While Moving Yes In a Program Ye Command Line Yes Default Value N A Operand Usage N A Related Commands IH IP
203. m index html 11 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference ME Forward Motion to Position MG Message MO Motor Off MR Reverse Motion to Position MT Motor Type MW Modbus Wait NB Notch Bandwidth NF Notch Frequency NO No Operation NZ Notch Zero OA Off on encoder failure OB Output Bit OC Output Compare OE Off on Error OF Offset OP Output Port OT Off on encoder failure time OV Off on encoder failure voltage P2CD Serial port 2 code P2CH Serial port 2 character P2NM Serial port 2 number P2ST Serial port 2 string PA Position Absolute PF Position Format PL Pole PR Position Relative PT Position Tracking PV PVT Data PW Password QD Download Array QH Hall State QR I O Data Record QS Error Magnitude QU Upload Array QZ Return Data Record information RA Record Array RC Record RD Record Data RE Return from Error Routine REM Remark RI Return from Interrupt Routine RL Report Latched Position RP Reference Position RS Reset SA Send Command SB Set Bit SC Stop Code SD Switch Deceleration SH Servo Here SI Configure the special Galil SSI feature SL Single Step SM Subnet Mask SP Speed SS Configure the special Galil BiSS feature ST Stop SY Serial encoder BiSS active level
204. mand 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 Operand Usage When used as an operand HXn contains the running status of thread n with 0 Thread not running 1 Thread is running 2 Thread has stopped at trippoint Usage Usage and Default Details Ye Controller Usage Default Value n 0 Default Format N A Related Commands XQ Execute program HX Stop all threads of motion Examples XQ A Execute program A thread zero XQ B 3 Execute program B thread three HXO Halt thread zero HX3 Halt thread three file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 185 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only TAO _IA1 _IA2 IA3 IA4 IA5 Bun burnable with BN IP Address Full Description The IA command assigns the controller s IP address The IA command may also be used to specify the TCP time out Setting the IP address over Ethernet to a new value will cause an immediate disconnect Reconnect to the controller on the new IP address and issue a BN to save the new value to flash Since it assigns an IP address to the controller communication with the controller via Ethernet cannot be accomplished until after the address has been assigned The controller defaults to DHCP and will receive an IP address from a DHCP s
205. master exceeds its modulus in the positive direction and EY will decrement by one each time the master exceeds its modulus in the negative direction EY can be used to calculate the absolute position of an axis with the following equation Absolute position EY EM TP Arguments EYn where n is a signed integer in the range 2147483648 to 2147483647 decimal n returns the current cycle count Operand Usage _EY returns the current cycle count Usage Usage and Default Details ommand Line Controller Usage Default Value Related Commands EM ECAM modulus Examples MG LEY _EMY _TPY print absolute position of master Y file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 169 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn burnable with BN Acceleration Feedforward Full 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 The Feedforward Bias product is limited to 10 Volts FA operates when commanding motion with PA PR and JG Note If the feedforward coefficient is changed during a move then the change will not take effect until the next move Acceleration Feedforward Bias FA AC 1 5 10 7
206. 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 should complete before code continues 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 special label MCTIME if present 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 in lieu of AM 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 MC with no axis mask specifies that motion on all axes should complete before code continues Operand Usage N A Usage Usage and Default Details Related Commands BG Begin AM After Move TW Timeout Examples MOVE Program MOVE TW 1000 1000 Set motion complete timeout to one second
207. meter SP 5000 6000 7000 8000 Specify a b c d speeds BG Begin motion of all axes AM C 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 Note 2 is the minimum non zero speed file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 298 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit Notation Only SS Oranas Jess ES Y Bun burnable with BN Configure the special Galil BiSS feature Full Description BiSS is an open source digital interface for sensors and actuators BiSS is hardware compatible to the industrial standard SSI Serial Synchronous Interface It allows serial transmission of absolute position data from BiSS encoders based on a master clock signal from the controller Communication between the controller and encoder is based on two signal lines clock MA and data SLO which are differential for increased noise immunity and transmission length The standard Galil BiSS implementation is C mode unidirectional Contact Galil for other modes There are two items required when connecting a BiSS encoder to a DMC 40x0 special BiSS firmware and a hardware upgrade on the controller s internal ICM board When ordering a new controller with the BISS option both requirements will be loaded at the factory Clocking in BiSS data has a timing overhead which m
208. mmand When communicating over Ethernet two Ethernet handles should be used file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 121 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference 1 The first handle should be used for command and response traffic This is the primary handle that the host uses to communicate to the controller 2 The second handle should be used for unsolicited traffic This is the primary handle that the controller uses to asynchronously communicate to the host Use CF to point unsolicited traffic to this handle It is NOT recommended to use one Ethernet handle for both command and response and unsolicited messages GalilTools will by default establish a two handle connection when using Ethernet Demonstrates from GalilTools terminal that the main handle is seperate from the unsolicited handle 192 168 1 3 RIO47102 Rev 1 0c 1480 IHA IHB SPH CONTROLLER IP ADDRESS 192 168 1 3 ETHERNET ADDRESS 00 50 4C 28 05 C8 HA TCP PORT 23 TO IP ADDRESS 192 168 1 100 PORT 2420 UDP PORT 60007 TO IP ADDRESS 192 168 1 100 PORT 2421 AVAILABLE AVAILABLE HE AVAILABLE HHHHH I 3 Fale E gt HB 6 H I Pm Main handle is A MG_CF 66 0000 Unsolicited handle 66 is ASCII for B file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 122 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Refer
209. mmands ABS n Absolute value Examples MG SQR 2 1 4142 MG SQR 2 1 4142 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 51 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Square Brackets Array Index Operator Full Description The square brackets are used to denote the array index for an array or to denote an array name They are also used to designate the argument to a function such as ABS n Arguments mmmmmmmm n where mmmmmmmm is the array name n is the array index and is an integer between 0 and 15999 When used in an array n 1 returns the array length Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO In a Program ommand Line Controller Usage Default Value Default Format Related Commands DM Dimension Array QU Print Upload Array Examples DM A 50 define a 50 element array A 0O 3 set first element to 3 MG A 0O print element 0 array DM A 5 define a 5 element array A 0O 3 set first element to 3 MG A 0 A 0 print element 0 len A 1 variable len now contains the length of array A QU A 0 len 1 1 MG print entire array MG A length len display Variable len EN XQ array A 0 3 3 4320 216666 217522 607950 A length 5 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 52 of 358 5 24 2011 8 38 16 AM Galil Moti
210. mp only Arguments RI n where n 0 Clears the interrupted trippoint n 1 Restores state of trippoint no argument clears the interrupted trippoint Operand Usage N A Usage Usage and Default Details Command Line Controller Usage Default Format N A Related Commands ININT Input interrupt subroutine II Enable input interrupts Examples A II1 JP A EN Program label ININT Begin interrupt subroutine MG INPUT INTERRUPT Print Message SB 1 Set output line 1 RI 1 Return to the main program and restore trippoint file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 281 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Accepts Axis Mask Bun not burnable Report Latched Position Full Description The RL command will return the last position captured by the latch The latch must first be armed by the AL command and then a 0 must occur on the appropriate input Each axis uses a specific general input for the latch input X A axislatch Input 1 Y B axislatch Input 2 Z C axislatch Input 3 W D axislatch Input 4 E axislatch Input 9 F axislatch Input 10 G axislatch Input 11 H axislatch Input 12 The armed state of the latch can be configured using the CN 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 T
211. ms 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 the homing input for that axis The direction for this first stage is determined by the initial state of the homing input Once the homing input changes state the motor decelerates to a stop The state of the homing input can be configured using the CN command At the second stage the motor change directions and slowly approach the transition again at the speed set with the HV command When the transition is detected the motor is stopped instantaneously At the third stage the motor moves forward at the speed set with the HV command until it detects an index pulse from the encoder It latches to 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 set with the HV command Arguments HM nnnnnnnnnn where nis A B C D E F G or H or any combination to specify the axis No argument homes all axes Operand Usage _HMnh contains the state of the home switch for the specified axis Usage Usage and Default Details Related Commands CN Configure Home FI Find Index Only FE Find Home Only HV Homing velocity Examples HM Set Homing Mode for all axes BG Home all axes BGA Home on
212. n Only Bun not burnable Vector Position Full 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 elliptical scale factor set using the command ES 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 system use the command CAS or CAT Arguments VP nm lt o gt p where n and m are signed integers in the range 2147483648 to 2147483647 The length of each segment must be limited to 8388607 The values for n and m will specify a coordinate system from the beginning of the sequence o specifies a vector speed to be taken into effect at the execution of the vector segment o is an unsigned even integer between 2 and 22 000 000 for servo motor operation and between 2 and 6 000 000 for stepper motors 0 is in units of counts per sample p specifies a vector speed to be achieved at the end of the vector segment p is an unsigned even integer between 2 and 22 000 000 p is in units of counts per sample Operand Usage _VPa where a ABCDEFGH for the axis and 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
213. n brushed mode for _TA1 mask _BRH 128 _BRG 64 _BRF 32 _BRE 16 _BRD 8 _BRC 4 _BRB 2 _BRA mask COM mask mask _TAl amp mask amp SOO00FFFF LUO turn off auto update of LCD REM amplifier error status on LCD MG A ER TAO L1 _TAO L2 WT2000 MG A ER TA1 L1 mask L2 WT2000 MG A ER TA2 L1 _TA2 L2 WT2000 MG A ER TA3 L1 _TA3 L2 WT2000 LU1 turn on Automatic Axis Update of LCD WT5000 REM the sum of the amperr bits should be 0 with no amplifier error r _TAO mask _TA2 _TA3 JP AMPERR er0 REM Notify user amperr has cleared LUO MG AMPERR L1 RESOLVED L2 WT3000 LU1 2 Fl file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 16 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference AUTO pe Subroutine to run automatically upon power up Full Description AUTO defines code to run automatically when power is applied to the controller or after the controller is reset When no host software is used with the controller AUTO and the BP command are required to run an application program on the controller Upon controller startup application code will automatically begin running in thread 0 at AUTO Use EN to end the routine Arguments N A Operand Usage N A Usage Usage and Default Details Related Commands BP Burn program EN End program AUTOERR Automatic S
214. n into effect at the execution of the vector segment n is an unsigned even integer between 0 and 22 000 000 for servo motor operation and between 0 and 6 000 000 for stepper motors o specifies a vector speed to be achieved at the end of the vector segment o is an unsigned even integer between 0 and 8 000 000 Operand Usage N A Usage Usage and Default Details file C Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 129 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Related Commands VP Vector Position VS Vector Speed VD Vector Deceleration VA Vector Acceleration VM Vector Mode VE End Vector BG BGS Begin Sequence Examples VMAB Specify vector motion in the A and B plane VS 1000 Specify vector speed CR 1000 0 360 Generate circle with radius of 1000 counts start at j 0 degrees and complete one circle in counterclockwise 1 direction CR 1000 0 360 lt 40000 Generate circle with radius of 1000 counts start at 0 degrees and complete one circle in counterclockwise direction and use a vector speed of 40000 VE End Sequence BGS Start motion file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 130 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Accepts Axis Mask CS Operands J Csr Bun not burnable Clear Sequence Full Description The CS command will remove VP CR or LI comm
215. n is reversed when in PT mode the starting position for AD is reinitialized to the position at which the motor is reversed Note AD command will be affected when the motion smoothing time constant IT is not 1 See IT command for further information Hint The AD command is accurate to the number of counts that occur in 2 TM sec Multiply your speed by 2 TM sec to obtain the maximum position error in counts Remember AD measures incremental distance from start of move on one axis Arguments AD n n n n n n n n or ADA n where n is an unsigned integers in the range 0 to 2147483647 decimal Note The AD command cannot have more than largument Operand Usage N A Usage Usage and Default Details Controller Usage Default Value N A Default Format N A Related Commands AV After distance for vector moves AP After position trip point AR After relative distance trip point MF Motion Forward trip point MR Motion Reverse trip point Examples A DPO0 0 Begin Program PR 10000 20000 Specify positions BG Begin motion AD 5000 After A reaches 5000 MG Halfway to A TPA Send message AD 10000 After B reaches 10000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 68 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference G Halfway to B TPB Send message N End Program ti file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 69 of 358 5
216. n master counts n1 is an integer between 1 and 2 147 483 647 m2 is the index of the second widened segment m2 is a positive integer between 3 and 255 n2 is the length of the second widened segment in master counts n2 is an integer between 1 and 2 147 483 647 If m1 or m2 is set to 1 there is no widened segment The segment number m2 must be greater than m1 and m2 may not be used unless m1 is used Operand Usage _EWO0 contains m1 the index of the first widened segment _EW1 contains n1 the length of the first widened segment _EW2 contains m2 the index of the second widened segment _EW3 contains n2 the length of the second widened segment Usage Usage and Default Details Related Commands EP ECAM master positions EA Choose ECAM master EB Enable ECAM EC Set ECAM table index EG Engage ECAM Slave EM Specify ECAM cycle EQ Disengage ECAM Slave ET ECAM table Examples EW 41 688 Widen segment 41 to 688 master counts EW 41 688 124 688 Widen segments 41 and 124 to 688 master counts file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 168 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference ECAM Cycle Count Syntax Implicit Notation Only Bun not burnable Full Description Sets or gets the ECAM cycle count This is the number of times that the ECAM axes have exceeded their modulus as defined by the EM command EY will increment by one each time the
217. n sent to a stepper amplifier In general for a unit of real distance 1 step is NOT equal in distance to 1 count See the Stepper Position Maintenance Mode in the user manual for more information Each axis of a Galil motion controller can be configured to control either a servo or a stepper In this documentation servo motors are generally assumed Differences between functionality in stepper and servo operation are noted in each command Where not explicitly noted otherwise when using stepper motors the unit count can be exchanged with the unit step e g steps per second instead of counts per second file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 7 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Flash Memory Each Galil controller has a flash memory provided for saving parameters and user data The flash is divided into three sectors Parameters Variables and Arrays and Program Each sector has an associated burn command which burns the entire sector Flash Sector Data Storage Stores the controller parameters such as PID filter coefficients IP address motion kinematic values I O Parameters i BN configurations Variables and Array Stores the currently allocated variable table LV and each of the arrays in the array table LA Stores program currently downloaded on the controller Resetting the Controller to Factory Defaults When a master reset occurs the controller will res
218. nd Reference file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 148 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Accepts Axis Mask EA rerna foe Bun not burnable Choose ECAM master Full 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 M or N Operand Usage Usage Usage and Default Details Related Commands EB Enable ECAM EC Set ECAM table index EG Engage ECAM EM Specify ECAM cycle EP Specify ECAM table intervals amp staring point EQ Disengage ECAM ET ECAM table Examples EAB Select B as a master for ECAM file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 149 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Bun not burnable Enable ECAM Full 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 EBn where n 1 Starts ECAM mode n 0 Stops ECAM mode n Returns 0 if ECAM is disabled and a 1 if enabled Operand Usage _EB contains the state of Ecam mode 0 disabled 1 enabled Usage Usage and Default Details
219. nding motion with PA PR JG VM LM PVT Mode and CM For example if FV 10 and the velocity is 200 000 count s the velocity feedforward bias equals 2 44 volts Arguments 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 Operand Usage _FVn contains the feedforward velocity for the specified axis Usage Usage and Default Details envane JO Related Commands FA 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 SEV Return the A and B values 10 20 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 175 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn burnable with BN Master Axis for Gearing Full 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
220. ndpoints with respect to the start of the move sequence file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 344 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Bun not burnable Vector Speed Ratio Full 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 coordinate plane Operand Usage _VRn contains the vector speed ratio of the specified coordinate system S or T Usage Usage and Default Details While Moving Yes Default Value 1 InaProgram Yes Default Format 2 4 Command Line Yes Controller Usage ALL CONTROLLERS Related Commands VS Vector Speed Examples D Vector Program VMAB Vector Mo
221. ndy Desktop Temp 4Kcom index html 49 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syatax e Function Burn not burnable Full Description Returns the sine of the given angle in degrees Arguments SIN n where nis a signed number in degrees in the range of 32768 to 32767 with a fractional resolution of 16 bit Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO Yes In a Program es ommand Line es Controller Usage All Default Value A Default Format Related Commands ASIN n Arc sine COS n Cosine ATAN n Arc tangent ACOS n Arc cosine TAN n Tangent Examples MG SIN O 0 0000 MG SIN 90 1 0000 MG SIN 180 0 0000 MG SIN 270 1 0000 MG SIN 360 0 0000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 50 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syatax e Function SQR operama oon Burn not burnable Square Root Full Description Takes the square root of the given number If the number is negative the absolute value is taken first Arguments SQR n where nis a signed number in the range 2147483648 to 2147483647 Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO Yes In a Program es ommand Line es Controller Usage All Default Value A Default Format Related Co
222. nly no 40x0 0400 1024 C0 192 0800 2048 1000 4096 2000 8192 DB 219 4000 16384 DA 218 8000 32768 FO FF 240 255 User Interrupt See UI command n is an 8 bit integer mask between 0 and 255 and is used to select the specific digital input s if bit 15 of m is set indicating that digital inputs are to be used for interrupting Bit 15 of m must be set for the n mask to be used D9 217 Reserved W Application program stopped _XQn 1 Ff PC command done colon response sent PCI only no 40x0 E1 E8 225 232 Digital input s 1 8 low use n for mask mn ny eol Nj Re nj iei F C 6 c Nn oO 5 oO g oo Q B 5 j Qa Intput Interrupts file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 155 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Digital input 1 is low IN 1 0 1 Digital input 2 is low IN 2 0 Digital input 3 is low IN 3 0 se Seo stat spar sow INTI OT h is 0 7 or 1 and indicates the preconfigured UDP handle where interrupts should be sent 0 7 indicates handles A H respectively If the handle specified by h is not UDP or not initialized an error will occur TC1 A 1 disables the interrupt dispatch GalilTools software will auto configure h allowing the user to ignore its use in most cases Usage Usage and Default Details Operand Usa
223. nput 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 The IN command can only be used with a serial connection to the controller 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 Note Do not include a space between the comma at the end of the input message and the variable name Operand Usage N A Usage Usage and Default Details Controller Usage Default Value Default Format Related Commands N A 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 moti
224. nterval to wait after the profile has finished the move before the amp enable line is removed Using a Galil SDM drive with LC When using an integrated Galil stepper drive LC may leverage a hardware feature providing for a fraction of the total holding torque to be used at rest Sending LCO MO may be necesary to shut off all current to the SDM in the motor off MO state Consult the user manual for the SDM to be used for further details Arguments LC n n n n n n n n where n 0 Normal stepper drive always on n 1 Low current stepper mode n Returns whether the axis is in low current stepper mode n can also be an integer between 1 and 32767 specifying the number of samples to wait between the end of the move and when the amp enable line toggles Operand Usage _LCn contains the low current setting Usage Usage and Default Details Usage Value Yes In a Program Yes Command Line Yes Default Value Related Commands MT Motor Type Examples MTZ 2 Specify stepper mode for the z axis LCZ 1 Specify low current mode for the z axis file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 214 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit LD operands on Burn burnable with BN Limit Disable Full Description Disables limit switches Soft limits BL and FL are still in effect This feature should be used to gain additional
225. o 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 Operand Usage _RLn contains the latched position of the specified axis RELATED COMMAND AL Arm Latch Usage Usage and Default Details Defan vae J Related Commands 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 282 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 283 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Accepts Axis Mask Bun not burnable Reference Position Full Description The RP command returns the commanded reference position of the motor s Arguments RP nnnnnnnnnn where nis A B C D E F G H or N or any combination to specify the axis or axes Operand Usage _RPn contains the commanded reference position for the specified axis RELA
226. ob If 1 in motor off mode If 0 in servo mode Hint The MO command is useful for positioning the motors by hand Turn them back on with the SH command file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 234 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax fExplicit amp Implicit Burn not burnable Reverse Motion to Position Full 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 Hint The accuracy of the MR command is the number of counts that occur in 2 TM sec Multiply the speed by 2 TM sec 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 Arguments MR n n n n n n n n or MRA n where n is a signed integers in the range 2147483648 to 2147483647 decimal
227. off the reverse limit n Returns the reverse software limit for the specified axes Operand Usage _BLn contains the value of the reverse software limit for the specified axis Usage Usage and Default Details Controller Usage Default Value 214783648 Default Format Related Commands 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 100 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit BM pernas Jev Burn burnable with BN Brushless Modulo Full Description The BM command defines the length of the magnetic cycle in encoder counts For rotary motors it is recommended that the BM value be specified as the counts per revolution divided by the of poll pairs cts 4096 Counts per rev pp 3 Pole pairs BMA cts pp Arguments BM n n n n n n n n or BMA n where nis a decimal value between 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 Operand Usage _BMn indicates the cycle length in counts for the specified a
228. oints 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 Operand Usage _ITn contains the value of the independent time constant for the specified n axis Usage Usage and Default Details Related Commands PR Position relative PA Position absolute JG Jog VM Vector mode LM Linear Interpolation Mode Examples IT 0587 06y 01 9 Osl Set independent time constants for a b c d axes IT Return independent time constant for A axis 20 8 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 201 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Tor Burn not burnable Full 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 n is a signed even integer in the range 0 to 22 000 000 The units of this are counts second Use JGN n or JGM n for the virtual axes For stepper motor operation the maximum value is 6 000 000 steps second n Returns the absolute value of the jog speed for the specified axis When ordered with the ICM 42100 n is a
229. olute position commands on the fly The motion profile is trapezoidal with the parameters controlled by acceleration deceleration and speed AD DC SP The absolute position may be specified such that the axes will begin motion continue in the same direction reverse directions or decelerate to a stop When an axis is in the PT mode the ST command will exit the mode The PA command is used to give the controller an absolute position target Motion commands other than PA are not supported in this mode The BG command is not used to start the PT mode The AM and MC trip points are not valid in this mode It is recommended to use MF and MR as trip points with this command as they allow the user to specify both the absolute position and the direction The AP trip point may also be used Arguments PT n n n n n n n n where n 0 or where 1 designates the controller is in the special mode n returns the current setting Operand Usage _PTn contains the set state of position tracking 1 or 0 Usage Usage and Default Details envane JO Related Commands AC Acceleration DC Deceleration PA Position Absolute SP Speed Examples A PLD gg Li Enable the position tracking mode for axes X Y Z and W NOTE The BG command is not used to start the PT mode LOOP Create label LOOP in a program This small program will update the absolute position at 100 Hz Note that the user must update the variables V1 V2
230. omatic subroutine Full Description CMDERR is an automatic subroutine that runs code when a DMC code error occurs Without CMDERR defined if an error see TC command occurs in an application program running on the Galil controller the program and all threads will stop Use EN to end the routine CMDERR will only run from errors generated within embedded DMC code In a single threaded application Thread 0 only the EN command in the CMDERR routine will restart thread 0 where it left off In a multi threaded application the thread that has an error will be halted when a command error occurs Thread 0 will be interrupted to run the CMDERR routine but other threads will continue to run In order to restart the thread that encountered the error see the example in Chapter 7 of the User Manual and the _ED operand Thread 0 does not need to be running in order for the CMDERR routine to execute Arguments N A Operand Usage N A Usage Usage and Default Details Related Commands TC Tell Error Code _ED Last program line with an error EN End program Examples This code will put the motion controller in Position Tracking mode Variable target is updated from the terminal or from a host program to specify a new target CMDERR is used to detect a bad target value start DPA 0 Define current position as zero PTA 1 Turn on position tracking target 0 Initialize target variable txrack Start
231. ommand deallocates the spaces and compacts the array spaces in the memory it is possible that execution of this command may take longer time than a standard command Variables and arrays that are deallocated are not set to zero A routine that writes zeros to the array and or variables should be created if this is desired file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 133 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Explicit amp Implicit DC eran Joen burnable with BN Deceleration Full 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 squared Arguments DC n n n n n n n n or DCA n where nis an unsigned numbers in the range 1024 to 1073740800 n Returns the deceleration value for the specified axes Operand Usage _DCn contains the deceleration rate for the specified axis Usage Usage and Default Details While Moving The DC command can only be specified while in the jog mode Ys O OSS O O s In a Program Ye ommand Line s Controller Usage ll Default Value Default Format 8 0 for 21x3 18x2 10 0 for 40x0 18x6 While Moving Yes Default Value 256000 In a Program Yes Default Format 10 0 Command Line Yes Controller Usage ALL CONTROLLERS When mo
232. ommand 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 n is 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 Operand Usage _PRn contains the current incremental distance for the specified axis Usage Usage and Default Details envane Jo Related Commands AC Acceleration BG Begin DC Deceleration IP Increment Position PA Position Absolute PF Position Formatting SP Speed 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 27 Return relative distances 2100 200 300 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 261 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax fExplicit amp Implicit PT eats JP Burn not burnable osition Tracking Full Description The PT command will place the controller in the position tracking mode In this mode the controller will allow the user to issue abs
233. ommands CB Clear Bit OB Output Bit OP Output Port Examples SB 5 Set digital output 5 SB 1 Set digital output 1 CB 575 Clear digital output 5 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 288 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference CB T Clear digital output 1 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 289 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference SC Stop Code Full Description Syntax Accepts Axis Mask The Stop Code command returns a number indicating why a motor has stopped The controller reponds with a number interpreted as follows Stop Code Table Boorse roming independent mode 6 Btopedy Aborinpot S FE Arguments SC nnnnnnnnnn where nis A B C D E F G or H or any combination to specify the axis or axes Operand Usage _SCn contains the value of the stop code for the specified axis Usage Usage and Default Details file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 290 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference lt In a Program es Command Line Default Value A ol s s Default Format Related Commands LU LCD Update Examples Tom _SCD Assign the Stop Code of D to variable Tom file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 291 of 358 5 24 2011 8 38 17 AM Gali
234. on AMA Wait for motion complete G MOVE DONE Print Message EN End Program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 198 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 199 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax fExplicit amp Implicit IP Greta Joon Burn not burnable ncrement Position Full 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 parameters have no effect This command is useful when s
235. on TM Update Time Examples vela _TVA Assigns value of A axis velocity to the variable VELA TVA Returns the A axis velocity 0003420 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 330 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit TW Prerna rwa Burn burnable with BN Timeout for IN Position MC Full Description Arguments TW n n n n n n n n TWA n n specifies the timeout in msec n ranges from 0 to 32767 msec n 1l Disables the timeout n Returns the timeout in msec for the MC command for the specified axis Operand Usage _TWn contains the timeout for the MC command for the specified axis Usage Usage and Default Details Related Commands MC Motion Complete trippoint MCTIME Motion Complete Timeout Automatic Subroutine Examples file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 331 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Two Letter Only none not burnable Full Description The TZ command is used to request the I O status This is returned to the user as a text string Arguments N A Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO Yes In a Program es Command Line Yes Related Commands TI Tell Inputs SB CB Set Clear output bits OP Output port CO Configure I O
236. on Control Command Reference file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 53 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Other Mar iG a e 1 oi Operands none Burn not burnable S subroutine stack variable Full Description Provides local subroutine access for up to 8 variables passed on the subroutine stack when using the JS Gump to subroutine command Passing values on the stack is advanced DMC programming and is recommended for experienced DMC programmers familiar with the concept of passing arguments by value and by reference See the JS command for a full explanation of passing stack variables Notes 1 Passing parameters has no type checking so it is important to exercise good programming style when passing parameters See examples below for recommended syntax 2 Do not use spaces in expressions containing 3 Global variables MUST be assigned prior to any use in subroutines where variables are passed by reference Arguments N A Operand Usage N A Usage Usage and Default Details Related Commands MG Message amp Pass by reference JS Jump to subroutine Examples Add JS SUM 1 2 3 4 5 6 7 8 call subroutine pass values G_JS print return value SUM NO a b c d e f g h Sums the values a to h and returns the result EN at b c d et F g h return sum Executed program from programl dmc 36 0
237. oordinated motion plane The tangent axis is specified with the VMnmp 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 same as _TN When operating with stepper motors m is the scale factor in steps degree n is the absolute position at which the tangent angle is zero in the range between 8388608 to 8388607 Operands _TNn where n S or T contains the first position value for the tangent axis in the specified vector plane This allows the user to correctly position the tangent axis before the motion begins Note _TNn will change based upon the vector path described in the VM declaration See the example below Usage Usage and Default Details While Moving Yes Default Value N A Related Commands VM Vector mode CR Circle Command VP Vector Position Examples Use a 2D table with a tangent cutting blade to cut a half circle Ensure that the blade is oriented before turning on the saw The saw is activated with output 1 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 322 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference CR 1000 0 180 1000
238. or Stepper Position Maintenance mode Arguments YC mm m m m m m m YCn m where n is A B C D E F G or H or any combination to specify the axis or axes m is 0 to 32766 which represents the encoder resolution in counts per revolution Operand Usage _YCn contains the encoder resolution for the specified axis Usage Usage and Default Details Related Commands QS Error Magnitude YS Stepper Position Maintenance Mode Enable Status YA Step Drive Resolution YB Step Motor Resolution YR Error Correction Examples 1 Set th ncoder resolution of the D axis for a 4000 count rev encoder YC 4000 2 Query the D axis value YCD 4000 Response shows D axis encoder resolution file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 354 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax fExplicit amp Implicit Burn not burnable Error Correction Full Description The YR command allows the user to correct for position error in Stepper Position Maintenance mode This correction acts like an IP command moving the axis or axes the specified quantity of step counts YR will typically be used in conjunction with QS Arguments YR mm m m m m m m YRn m where nis A B C D E F G or H or any combination to specify the axis or axes m is a magnitude in step counts Operand Usage None Usage Usage and Default Details Value No Yes Default Format 1
239. or a hall transition STA G Commutation Complete N tzi file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 93 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn burnable with BN rushless Degrees Full 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 n is an integer between 0 360 n Returns the current brushless motor angle between 0 360 Operand Usage _BDn contains the commutation phase of the specified axis Usage Usage and Default Details Related Commands BA Brushless Axis BB Brushless Phase Begins BC Brushless Commutation BI Brushless Inputs BM Brushless Modulo BO Brushless Offset BS Brushless Setup BZ Brushless Zero BG Examples file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 94 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Accepts Axis Mask not burnable Full Description The BG command starts a motion on the specified axis or sequence Arguments BG nnnnnnnnnn where nis A B C D E F G H
240. owing formula Tef e27 n e e where n is the argument given to PL T is the controller s servo loop sample time in seconds TM divided by 1 000 000 Fc is the crossover frequency in Hertz Example Fc 36Hz TM 1000 n e 0 001 36 2 pi 0 8 a rea Jini com Arguments PL n n n n n n n n or PLA n Frequency Argument nis a positive integer in the range of 1 to Fmax and corresponds to the crossover frequency that the poll will create Fmax is given by 1 4 TM Calculated Poll Argument deprecated n is a positive number in the range 0 to 0 9999 Returns the value of the pole filter for the specified axis Operand Usage _PLn contains the value of the pole filter for the specified axis Usage Usage and Default Details file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 259 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Related Commands KD Derivative KP Proportional KI Integral Gain Examples Set A axis Pole to 0 95 B axis to 0 9 C axis to 0 8 D axis pole to 0 822 PL 95 9 8 822 Query all Pole values BL 2725 242 20 9527 0 8997 0 7994 0 8244 Return A Pole only PL 2029527 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 260 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn burnable with BN Position Relative Full Description The PR c
241. owing image shows a rastered dot matrix type image easily created with output compare and a laser on a two dimensional stage RTT TT TETTEL TLELELILELELIEETTTIEETTTTE lt sseeneeeegeeenasssesssss Syntax Explicit amp Implicit burnable with BN Full 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 an abort occurs from either the abort input or on AB command or an amplifier error occurs based on the description of the TA command See the TA command for conditions of an amplifier fault If an error or axis specific abort 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 When internal servo amplifiers are installed that can drive brushless motors such as the AMP 43040 D3040 or the AMP 20540 and an axis is driven with an external amplifier the axis should be setup as a brushed motor BR1 Otherwise the controller will detect the amplifier as having a hall error and shut down the motor if OE is set to nonzero Arguments OE n n n n n n n n or OEA n OE n n n n n n n n or OEA n where n 0 Disables the Off On Error function n 1 Motor shut off MO by position error TE gt ER or abort input n 2 Motor shut off MO by hardware limit switch n 3 Motor shut off MO ei
242. p 4Kcom index html 223 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Two Letter Only L V none not burnable List Variables Full Description The LV command returns a listing of all of the program variables in memory The listing will be in alphabetical order Arguments None Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO Yes In a Program es ommand Line es Controller Usage All Default Value A Default Format Related Commands LA List Arrays LS List Program LL List Labels Examples LV APPLE 60 0000 BOY 25 0000 ZEBRA 37 0000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 224 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Notation Only EEN Burn J burnable with BN Inhibit leading zeros eee Inhibit leading zeros eee Zeros Full 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 zeros n Returns the state of the LZ function 0 does not remove and 1 removes zeros Operand Usage _LZ contains the state of the LZ function 0 is disabled and 1 is enabled Usage Usage and Default Details Ya
243. pe 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 board will specify the port value as 1000 Each controller DMC may have 8 handles open at any given time The handles are denoted with A B C D E F G or H Arguments THh ip0 ip1 ip2 ip3 lt p gt q THh n lt p gt q THh gt r where h is the handle 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 nis a signed integer between 2147483648 and 2147483647 This value is the 32 bit IP address and can be used instead of specifying the 4 address fields 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 IHS gt r closes the handle that sent the command where r 1 for UDP IP or r 2 for TCP IP or 3 for either IHT gt r closes all handles except for the one sending the command where r 1 UDP or r 2 TCP or 3 for either gt r specifies that the connection be terminated and the handle be freed where r is 1 for UDP 2 for TCP IP or 3 for TCP IP Reset THh returns the IP address as 4 1 byte numbers Operand Usage _IHhO contains the IP address as a 32 bit number _THh1 contains
244. perand_SAA 2nd response to TE command SAA TEMP 16 Sets variable temp equal to 16 on handle A controller EN End Program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 287 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Bun not burnable Full Description The SB command sets a particular digital output setting the output to logic 1 The SB and CB Clear Bit instructions can be used to control the state of output lines SB can be used to set the outputs of extended I O which have been configured as outputs See the CO command The SB command can also be used with modbus devices to toggle remote outputs Arguments SBn where n is an integer which represents a specific controller output bit to be set high When using Modbus devices 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 H Module is the position of the module in the rack from 1 to 16 BitNum is the I O point in the module from 1 to 4 Operand Usage N A Usage Usage and Default Details Related C
245. ples 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 167 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference EWO _EW1 _EW2 EW3 not burnable Full Description The EW command allows widening the length of one or two ECAM segments beyond the width specified by EP For ECAM tables with one or two long linear sections this allows placing more points in the curved sections of the table There are only two widened segments and if used they are common for all ECAM axes Remember that the widened segment lengths must be taken into account when determining the modulus EM for the master The segments chosen should not be the first or last segments or consecutive segments Arguments EW ml n1 m2 n2 where ml is the index of the first widened segment m1 is a positive integer between and 255 n1 is the length of the first widened segment i
246. pply when the motor is shut off due to OE1 Off on Error In this case position error exceeded or Abort triggered the motor off and brake output will be applied simultaneously Arguments BW n n n n n n n 0 or BWA n where n specifies the brake wait time in samples n ranges from 1 to 32000 n 0 Turns Brake Wait off n Returns the brake wait time in msec for the specified axis Operand Usage _BWhn contains the brake wait time in samples for the specified axis Usage Usage and Default Details Deiautevate J Related Commands MO Motor Off SH Servo Here Examples BW100 Set brake delay to 100 ms TM1000 for the X axis file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 110 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit BX reat Burn not burnable Sine Amp Initialization THIS COMMAND IS STILL IN BETA ITS IMPLEMENTATION IS SUBJECT TO CHANGE Full Description The BX command is only valid with the AMP 43540 or the AMP 43640 An axis with a Galil sine amp powers up in MO state and SH will generate an error for that axis until it is initialized While the BX command is executing communication to and from the controller will be halted This may result in a timeout if the BX command is sent from the host Embedded code execution will also pause during BX operation If the BX command failes to initialize an axis it will r
247. proportional to the resolution of the step drive The result of QS is modularized so that result is never grearter than 1 2 the revolution of the stepper motor Largest possible QS result 0 5 Y A YB Arguments QS nnnnnnnn or QSn where nis A B C D E F G or H or any combination to specify the axis or axes Operand Usage _QSn contains the error magnitude in drive step counts for the given axis Usage Usage and Default Details envane Jo Related Commands YA Step Drive Resolution YB Step Motor Resolution YC Encoder Resolution YR Error Correction YS Stepper Position Maintenance Mode Enable Status Examples 1 For an SDM 44140 microstepping drive query th rror of B axis QSB 2253 This shows 253 step counts of error The SDM 44140 resolution is 64 microsteps per full motor step nearly four full motor steps of error 2 Query the value of all axes 20S 0 253 0 0 0 0 0 0 Response shows all axes error values file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 270 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Bun not burnable Upload Array Full 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
248. put 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 nis a positive number in the range between 0 25 and 64 with a resolution of 1 32 n Returns the value of the smoothing constant for the specified axis Operand Usage _KSn contains the value of the stepper motor smoothing constant for the specified axis Usage Usage and Default Details While Moving Yes Default Value 2 000 In a Program Yes Default Format 2 3 Command Line Yes Controller Usage ALL CONTROLLERS Related Commands MT Motor Type Examples KS 2 4 8 Specify a b c axes KS 5 Specify a axis only KS 15 Specify c axis only Hint KS is valid for step motor only file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 211 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Two Letter Only none not burnable Full Description The LA command returns a list of all arrays in memory The listing will be in alphabetical order The size of each array will be included next to each array name in square brackets Arguments None Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO Yes In a Program es ommand Line es Controller Usage All Default Value A Default Format Related Commands LL List Labels LS List Program LV List Variable Examples LA CA LA NY VA
249. r A thru H Note Port 502 must be used in the Ethernet handle See the IH command for more info on how to open a handle with a specific port number Level 2 Modbus Function Codes Function Code Slaved Galil Description RIO only Read Digital Outputs RIO only Read Digital Inputs RIO only Read Analog Inputs RIO only Read Analog Outputs RIO only Arguments MBh addr 1 m n array where h is the handle letter addr is the unit ID 1 is the function code 1 Read Coil Status m is the address of the first coil nis the quantity of coils array is the name of the array whose first element will store the response MBhz addr 2 m n array where h is the handle letter addr is the unit ID 2 is the function code 2 Read Input Status m is the address of the first coil nis the quantity of coils array is the name of the array whose first element will store the response MBhz addr 3 m n array where h is the handle letter addr is the unit ID 3 is the function code 3 Read Holding Registers m is the address of the first Register nis the quantity of registers array is the name of the array that will store the resulting register data 2 byte per element file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 226 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference MBhz addr 4 m n array where h is the handle letter addr is the unit ID 4 is the function code 4 Read Input Regist
250. r 123 occurs Use RE to terminate the subroutine Code does not need to be running in thread zero for TCPERR to run Arguments N A Operand Usage N A Usage Usage and Default Details Related Commands TC Tell error code _IA4 Last dropped handle MG Print message SA Send ASCII command via Ethernet Examples L G EA L WT1000 JP L TCPERR G P1 TCPERR Dropped handle _IA4 RE NOTE Use RE to end the routine file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 32 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Burn not burnable Hexadecimal Full Description The operator denotes that the following string is in hexadecimal notation Arguments nnnnnnnn mmmm n is up to eight hexadecimal digits denoting 32 bits of integer m is up to four hexadecimal digits denoting 16 bits of fraction Operand Usage N A Usage Usage and Default Details While Moving No RIO Related Commands Multiply shift left Divide shift right MG 8 4 Print in hexadecimal Examples x S7 fLFLLLFL 0000 store 2147483647 in x y x amp 0000ffff 0000 store lower 16 bits of x in y z x amp ffff0000 0000 10000 store upper 16 bits of x in z file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 33 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference
251. r 7 configures those inputs as the differential input relative to input 2 4 6 and 8 respectively Arguments AQn m where n is an integer from 1 8 that represents the analog input channel m is an integer from 1 4 that designates the analog range AQ setting details Analog Range Position Range 12 bit Position Range 16 bit l 5 V 2048 to 2047 32 768 to 32767 10 V 2048 to 2047 32 768 to 32767 0 to 4095 to 65535 10 V 0 to 4095 to 65535 Usage Usage and Default Details Y Controller Usage DMC 4xxx DMC 21x3 RIO 47xxx Default Format 1 0000 es 2 Operand Usage _AQn holds the range setting for that axis where n 1 8 Related Commands AN n Read Analog Input AF Analog Feedback Examples AQ2 3 Specify analog input 2 as 0 5V sAO1 3 Specify analog input 1 as 0 5V and the differential input to analog input 2 MG_AQ2 3 0000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 80 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Explicit amp Implicit amp Trippoint none not burnable Full Description The After Relative AR command is a trippoint used to control the timing of events This command will hold up the execution of the following command until one of the following conditions have been met 1 The commanded motor position crosses the specified relative distance from either the start of the move or the last AR or AD command When usin
252. r command is 9 998 volts Arguments TL n n n n n n n n TLA n where nis an unsigned numbers in the range 0 to 9 998 volts with resolution of 0 0003 volts n Returns the value of the torque limit for the specified axis Operand Usage _TLn contains the value of the torque limit for the specified axis Usage Usage and Default Details Related Commands Examples TL 159p TeS 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 Thi 2p ep ope Return limits 1 0000 5 0000 9 0000 7 5000 TL Return A axis limit 21 0000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 319 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Burn burnable with BN Update Time Full Description The TM command sets the sampling period of the control loop A zero or negative number turns off the servo loop The units of this command are microseconds Arguments TMn where Default Firmware Using the normal firmware the minimum sample times n are the following Accelera Controllers with 1 2 axes 62 5 usec Accelera Controllers with 3 4 axes 125 usec Accelera Controllers with 5 6 axes 156 25 usec Accelera Controllers with 7 8 axes 187 5 usec Fast Firmware Using the fast firmware the minimum sample times n are the following Accelera Controllers with 1 2 axes 31 25 usec Accelera Controllers w
253. rder to terminate the Contour Mode correctly Example CD 0 0 will terminate the contour mode for the X axis Operand Usage N A Usage Usage and Default Details Related Commands CM Contour Mode DT Time Increment CS Clear Sequence _CS is the Segment Counter Examples CONTOUR Program Label CMAB Enter Contour Mode DT 4 Set time interval CD 1000 2000 Specify data CD 2000 4000 Next data file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 117 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference CD 0 0 0 End of Contour Buffer Wait Wait for all segments to process buffer to empty WT 16 1 wait for 1 DT time segment 2 4 JP Wait _CM lt gt 511 EN End Program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 118 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit CE Operands Cen Burn burnable with BN Configure Encoder Full Description The CE command configures the encoder to quadrature type or 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 changing the CE type can cause the motor to run away The configuration applies independently to the main axes encoders and the auxiliary encoders When the MT command is configured for a stepper motor
254. re pausing again Operand Usage N A Usage Usage and Default Details ommand Line Controller Usage Default Value Default Format Related Commands BK Breakpoint TR Trace Examples BK 3 Pause at line 3 the 4th line in thread 0 BK 5 Continue to line 5 SL Execute the next line SL 3 Execute the next 3 lines BK Resume normal execution file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 296 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Burn burnable with BN Subnet Mask Full Description The SM command assigns a subnet mask to the controller All packets sent to the controller whose source IP address is not on the subnet will be ignored by the controller For example for SM 255 255 0 0 and IA 10 0 51 1 only packets from IP addresses of the form 10 0 xxx xxx will be accepted Arguments SM sm0 sm1 sm2 sm3 or SM n where sm0 sm1 sm2 sm3 are 1 byte numbers 0 to 255 separated by commas and represent the individual fields of the subnet mask n is the subnet mask for the controller which is specified as an integer representing the signed 32 bit number two s complement SM will return the subnet mask of the controller Operand Usage _SMO contains the subnet mask representing a 32 bit signed number Two s complement Usage Usage and Default Details Usage While Moving No RIO Yes In a Program es
255. re the motor s incremental encoder per normal to the DMC 4xxx main encoder inputs The load SSI encoder should be wired to the axis aux encoder lines SSI Signals DMC 40x0 Nominal Signal Name Signal Reassignment with SSI Signal Reassignment with BiSS Issue the configuration command SI or SS to setup the serial decoding for the axis aux encoder e g SIn 2 sil si2 si3 lt p gt q Verify proper serial encoder operation by moving the motor in non dual loop mode and checking TDn Disable the motor with MO and issue DFn 1 and DVn 1 The axis control law will now fragment the PID loop P and I will be closed around the serial encoder D will be closed around the motor encoder The serial encoder can now be interrogated with TP not TD and the incremental encoder with TD not TP In summary DF will cause the main encoder register TP and aux encoder register TD to be swapped This makes the wiring configuration compatible with the standard dual loop mode DV Arguments DF n n n n n n n n where n represents a Boolean on or off and is either 1 or 0 Operands _DFn contains the value 1 or 0 of the specified axis Usage Usage and Default Details While Moving Pern vae Jo Related Commands DV Dual Velocity Dual Loop SI Configure the special Galil SSI feature SS Configure the special Galil BiSS feature Examples MOX Disable motor on X SIX 2 25 15 0 lt 13 gt 2 Setup SSI encoder to fill the Au
256. rg is a number controller operand variable mathematical function or string The range for numeric values is 4 bytes of integer followed by two bytes of fraction Strings are encapsulated by quotations Typical usage would have the first argument as a string such as KI and the subsequent arguments as the arguments to the command Example SAF KI 1 2 would send the command KI1 2 There is a 78 character maximum payload length for the SA command Operand Usage _SAhn gives the value of the response to the command sent with an SA command The h value represents the handle A thru H and the n value represents the specific field returned from the controller 0 7 If the specific field is not used the operand will be 2431 Usage Usage and Default Details file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 286 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference In a Program Yes Command Line Yes Controller Usage an Related Commands IH Open IP Handle Examples A THA 10 0 0 12 Configures handle A to be connected to a controller with IP 10 0 0 12 B JP B _IHA2 lt gt 2 Wait for connection SAA KI 1 2 Sends the command to handle A slave controller KI 1 2 WT10 SAA TE Sends the command to handle A slave controller TE WT10 G_SAAO Display the content of the operand_SAA first response to TE command G_SAA1 Display the content of the o
257. rious events The encoder manufacturer dictates the high low active state of both of these bits Consult your encoder documentation for details The SY mask should be set appropriately to ensure that the SERERR automatic subroutine will run when the bits are active and that the _SSn operand reports the fault state of the encoder correctly Example of Warning and Alarm Error bit use Quoted from Renishaw Data Sheet L 9709 9005 03 A Error 1 bit The error bit is active low 1 indicates that the transmitted position information has been verified by the readhead s internal safety checking algorithm and is correct 0 indicates that the internal check has failed and the position information should not be trusted The error bit is also set to 0 if the temperatur xceeds the maximum specification for the product Warning 1 bit The warning bit is active low 0 indicates that the encoder scale and or reading window should be cleaned Note that the warning bit is not an indication of the trustworthiness of the position data Only the error bit should be used for this purpose Arguments SY m m m m m m m m or SYn m where m specifies the axis Error and Warning active high low configuration according to the following table SY argument SY m argument Warning Bit Oooo o ao Remeron _ 3 default Active High Active High Operands _SYn contains the current state of the SY setting Usage Usage and Default Det
258. rippoint Operand Usage N A Usage Usage and Default Details Controller Usage Related Commands AMPERR Amplifier error automatic subroutine SERERR Serial Encoder Error Automatic Subroutine TCPERR Ethernet communication error automatic subroutine POSERR Position error automatic subroutine LIMSWI Limit switch automatic subroutine file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 278 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Examples REM dummy loop A JP A POSERR Begin Error Handling Subroutine G ERROR Print message SB1 Set output bit 1 RE Return to main program and clear trippoint file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 279 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Burn not burnable Full Description REM is used for comments The REM statement is NOT a controller command Rather it is recognized by Galil PC software which strips away the REM lines before downloading the DMC file to the controller REM differs from NO or in the following ways 1 NO or comments are downloaded to the controller and REM comments aren t 2 NO or comments take up execution time and REM comments don t therefore REM should be used for code that needs to run fast 3 REM comments cannot be recovered when uploading a program but NO or comments are recovered Thus
259. rvo control the position error should be small The position error is typically largest during acceleration file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 313 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Two Letter Only none not burnable Full Description The TH command returns a list of data pertaining to the Galil s Ethernet connection This list begins with the IP address and Ethernet address physical address followed by the status of each handle indicating connection type and IP address Arguments N A Operand Usage N A Usage Usage and Default Details Yes Yes Controller Usage Ethernet Only Default Value Fs Default Format Fs Related Commands HS Handle Swap IA IP address IH Internet Handle WH Which Handle Examples CONTROLLER IP ADDRESS 10 51 0 87 ETHERNET ADDRESS 00 50 4C 08 01 1F IHA TCP PORT 1050 TO IP ADDRESS 10 51 0 89 PORT 1000 IHB TCP PORT 1061 TO IP ADDRESS 10 51 0 89 PORT 1001 IHC TCP PORT 1012 TO IP ADDRESS 10 51 0 93 PORT 1002 IHD TCP PORT 1023 TO IP ADDRESS 10 51 0 93 PORT 1003 IHE TCP PORT 1034 TO IP ADDRESS 10 51 0 101 PORT 1004 IHF TCP PORT 1045 TO IP ADDRESS 10 51 0 101 PORT 1005 IHG AVAILABLE IHH AVAILABLE file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 314 of 358 5 24 2011 8 38 17 AM Galil Motion Contro
260. s AU m m m m m m m m or AUn m where m Returns the value of the AU setting for the specified axis AMP 43540 an VDC induce ntl m C SO e po P AMP 43040 C Derio f file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 86 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference C Operand Usage _AUn Returns the AU setting for the axis specified by n Usage Usage and Default Details While Moving Y ormat es es Default Value N A Default F Related Commands TA Tell Amplifier AG Amplifier Gain AW Amplifier Bandwidth BX Sine Amp Initialization Examples AU1 0 Sets X axis to higher loop gain and Y axis to normal loop gain AUY Query Y axis current loop gain 20 MG_AUA Query A axis current loop gain ol file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 87 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Implicit Notation Only 7 amp Trippoint A AVS AVT Bun not burnable After Vector Distance Full 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
261. s ommand Line es Controller Usage All Default Value Default Format Related Commands PF Position Format Examples VF 5 3 Sets 5 digits of integers and 3 digits after the decimal point F 8 0 Sets 8 digits of integers and no fractions VF 4 0 Specify hexadecimal format with 4 bytes to the left of the decimal file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 340 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Accepts Axis Mask VMs VMT Bun not burnable Vector Mode Full 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 nmp where n and m specify plane of vector motion and can be any two axes Vector Mo
262. s QU Upload array Examples DM array 5 Dimension array QD array Download values to array 1 2 3 4 5 U array 0 4 1 Upload the array 0000 2 0000 3 0000 4 0000 5 0000 D array 2 4 Download a subset 9 8 TNS QU array 0 4 1 21 0000 2 0000 9 0000 8 0000 7 0000 OF Os Hint This log is from Hyperterm a non Galil software file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 267 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Accepts Axis Mask ann Bun not burnable Hall State Full Description The QH command transmits the state of the Hall sensor inputs The value is decimal and represents an 8 bit value Bit Status 07 Undefined set to 0 06 Undefined set to 0 05 Undefined set to 0 04 Undefined set to 0 03 Undefined set to 0 02 Hall C State 01 Hall B State 00 Hall A State When using the AMP 43540 and AMP 43640 the BA command must be issued before QH will report the hall state status Arguments QHn returns the Hall sensor input byte where n A B C D E F G H Usage While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage DMC 40x0 D430x0 Operand Usage _QHn Contains the state of the Hall sensor inputs Related Commands PA Position Absolute BS Brushless Setup EXAMPLE QHY 6 Hall inputs B and C active on Y axis QR Examples file Cl
263. s RL Report Latch Examples A Program Label 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 74 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference ti N End of program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 75 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Seatac Accepts Axis Mask amp Trippoint Operands none Bun not burnable After Move O OSE Move Full 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 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 profiled motion is complete
264. s an integer between 0 and 4 which represent the number of places after the decimal point n Returns the value of m Operand Usage _PF contains the value of the position format parameter Usage Usage and Default Details Controller Usage Default Value Default Format 2 1 10 0 for 18x2 Related Commands Examples TPX Tell position of X 0 Default format PF 5 2 Change format to 5 digits of integers and 2 of fractions TPX Tell Position 21 00 PF 5 2 New format Change format to hexadecimal TPX Tell Position 00015 00 Report in hex file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 258 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn burnable with BN Full Description The PL command adds a low pass filter in series with the PID compensation The crossover frequency can be entered directly as an argument to PL The minimum frequency for pole placement is 1 Hz and the maximum is 1 4 TM To maintain compatibility with earlier versions a value less than 1 may be specified using the following formula The digital transfer function of the filter is 1 n Z n and the equivalent continuous filter is A S A where A is the filter cutoff frequency A 1 T In 1 n rad sec and T is the sample time To convert from the desired crossover 3 dB frequency in Hertz to the value given to PL use the foll
265. s the bit directly preceeding the CRC The Error bit is defined as the bit directly preceeding the Warning bit See table 1 Arguments N A Operands N A Usage Usage and Default Details Usage Value g Yes In a Program Ye Command Line No Default Value N A Related Commands SS Configure the special Galil BiSS feature SY Serial encoder BiSS active level Examples SERERR LUO MG SERERR L1 MG_SSA L2 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 30 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference REM disable axis A EA 1 ERA 0 disable axis serial encoder 0 D D D HuoN n D file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 31 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference TCPERR Ethernet communication error automatic subroutine Full Description TCPERR is an automatic subroutine which allows execution of code when an TCP error occurs The following error see TC occurs when a command such as MG hello EA is sent to a failed Ethernet connection 123 TCP lost sync or timeout This error means that the client on handle A did not respond with a TCP acknowledgement for example because the Ethernet cable was disconnected Handle A is closed in this case TCPERR allows the application programmer to run code for example to reestablish the connection when erro
266. s value of dual encoder register Usage Usage and Default Details Controller Usage Default Format Related Commands DE Dual Encoder Examples TD Return A B C D Dual encoders 200 10 0y 110 TDA Return the A motor Dual encoder 200 DUAL _TDA Assign the variable DUAL the value of TDA file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 312 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Axis Mask not burnable Tel Error 0 OS Error Full Description The TE 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 n is 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 Operand Usage _TEn contains the current position error value for the specified axis Usage Usage and Default Details es Command Line es Controller All oe o o u uo Format Related Commands OE Off On Error ER Error Limit POSERR Error Subroutine PF Position Formatting Examples TE Return all position errors 5 2 0 6 TEA Return the A motor position error 25 TEB Return the B motor position error 252 Error _TEA Sets the variable Error with the A axis position error Hint Under normal operating conditions with se
267. scription 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 or CDm n is sent Arguments DTn where n is an integer in the range 0 to 8 n through 8 specifies the time interval of 2 n samples n 1 allows a pre load of the contour buffer or to asynchronously pause the contour buffer DT 1 during contour mode will pause the contour buffer and commanded movement A positive DT will resume contour mode from paused position of buffer 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 Usage and Default Details ervan Jo Operand Usage _DT contains the value for the time interval for Contour Mode Related Commands CM Contour Mode CD Contour Data Examples DT 4 Specifies time interval to be 16 msec TM1000 SDT 7 Specifies time interval to be 128 msec REM basic contour example ContO Define label Cont0O CM ABCD Specify Contour Mode DT 4 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 CD 100 200 300 400 ew position data CD 0 0 0 0 0 End of Contour Buffer Sequence Wait Wait for all segmen
268. shless Degrees BM Brushless Modulo BO Brushless Offset BS Brushless Setup BZ Brushless Zero BK Examples BI 5 The Hall sensor of the Y axis are on inputs 5 6 and 7 EM Example for use with AMP 43650 or AMP 43540 A 2000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 97 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference BIA 1 use hall sensor inputs on the Galil BEA enable brushless calibration bi _BIA store hall state JGA 500 BGA begin jog hall JP hall _BIA lt gt bi wait for a hall transition STA G Commutation Complete EN file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 98 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Implicit Notation Only B K o Operands not burnable Breakpoint Full Description For debugging Causes the controller to pause execution of the given thread at the given program line number which is not executed All other threads continue running Only one breakpoint may be armed at any time After a breakpoint is encountered a new breakpoint can be armed to continue execution to the new breakpoint or BK will resume program execution The SL command can be used to single step from the breakpoint The breakpoint can be armed before or during thread execution Arguments BK nm where n is an integer in the range 0 to 1999 which is the line number to stop a
269. signed even integer in the range of 0 to 50 000 000 The units are interpolated encoder counts per second Operand Usage _JGn contains the absolute value of the jog speed for the specified axis Usage Usage and Default Details Related Commands BG Begin DC Deceleration TV Tell Velocity ST Stop AC Acceleration IP Icrement Position Examples file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 202 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Embedded Only JP perans ffion Burn not burnable ump to Program Location Full 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 The operand between any two conditions requires that only one statement be true for the combined statement to be true Each condition must be placed in parenthesis for proper evaluation by the controller Example JP a var0 1 amp varl 2 val
270. sition to 0 This will not effect the DE value To set the DE value when in stepper mode use the DP command Operand Usage _DEn contains the current position of the specified auxiliary encoder Usage Usage and Default Details Controller Usage Default Value 0 0 0 0 Default Format While Moving Yes Default Value 0 0 0 0 InaProgram Yes Default Format Position Format Command Line Yes Controller Usage ALL CONTROLLERS Related Commands 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 2 2 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 136 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Implicit Notation Only burnable with BN Dual Feedback DV feedback swap Full Description This command is used only by the DMC 4xxx with SSI or BiSS upgrades For users wishing to operate with SSI or BiSS in Dual Loop mode DV the DF command can be used to configure a load side serial encoder and a motor side incremental encoder with DV1 Wi
271. switch SH RE1 retrurn to main program REM POSERR example for checking to see if encoder failure occured REM The stop code will only update of the profilier is running at the time REM the encoder failure is detected POSERR a 0 Loop IF _MO a 1 IF _TE a lt _ER a amp _OE a amp _OA a MG possible encoder failure on a Z1 0 axis ENDIF ENDIF a vratl JP loop a lt _BV AI1 wait for input 1 to go high Soe enable all axes RE file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 29 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference SERERR Serial Encoder Error Automatic Subroutine Full Description When equipped with hardware featuring the BiSS encoder upgrade SERERR is an automatic subroutine which runs whenever there is a fault condition on the serial encoder The following are the fault conditions which will cause SERERR to interrupt Serial Encoder Faults BiSS Encoder timeout bit 0 of _SS CRC error bit 1 of _SS Error bit bit 2 of _SS Warning bit bit 3 of _SS The active level of the Error and Warning bits for BiSS must be configured with SY For the encoder timeout condition TC1 will also return 140 Serial encoder missing Return from this automatic sub with RE Note The encoder manufacturer may name the Error and Warning bits differently Consult the encoder documentation for the naming convention Galil defines the Warning bit a
272. t Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO Yes In a Program es ommand Line es Controller Usage All Default Value A Default Format Related Commands ASIN n Arc sine SIN n Sine ATAN n Arc tangent ACOS n Arc cosine TAN n Tangent Examples MG COS 0 1 0000 MG COS 90 0 0000 MG COS 180 1 0000 MG COS 270 0 0000 MG COS 360 1 0000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 44 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syatax e Function FRAC opener one Burn not burnable Fractional part Full Description Returns the fractional part of the given number Arguments FRAC n n is a signed number in the range 2147483648 to 2147483647 Operand Usage N A Usage Usage and Default Detail Usage While Moving No RIO Yes In a Program es ommand Line es Controller Usage All Default Value A Default Format Related Commands INT n Integer part Examples MG FRAC 1 2 0 2000 MG FRAC 2 4 0 4000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 45 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syatax e Function IN pans Jor Burn not burnable Read digital input Full Description Returns the value of the given digital input either 0 or 1 Arguments
273. t n must be a valid line number in the chosen thread m is an integer in the range 0 to 7 The thread Operand Usage _BK will tell whether a breakpoint has been armed whether it has been encountered and the program line number of the breakpoint LineNumber breakpoint armed LineNumber breakpoint encountered 2147483648 breakpoint not armed Usage Usage and Default Details Ye Controller Usage Default Value Default Format N A Related Commands Examples BK 3 Pause at line 3 the 4th line in thread 0 BK 5 Continue to line 5 SL Execute the next line SL 3 Execute the next 3 lines BK Resume normal execution file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 99 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit BL pends sr Burn burnable with BN Reverse Software Limit Full 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 Arguments BL n n n n n n n n or BLA n where n is 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
274. t Details Related Commands VP Vector Position VS Vector Speed VD Vector Deceleration VA Vector Acceleration VM Vector Mode VE End Vector BG BGS Begin Sequence Examples CAT Specify T coordinate system AB Specify vector motion in the A and B plane S 10000 Specify vector speed R 1000 0 360 Generate circle with radius of 1000 counts start at 0 degrees and complete one ircle in counterclockwise direction E End Sequence BGT Start motion of T coordinate system lt saa lt g file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 114 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Implicit Notation Only CB rerna fione Bun not burnable lear Bit Full Description The CB command clears a particular digital output setting the output to logic 0 The CB and SB Set Bit instructions can be used to control the state of output lines CB can be used to clear the outputs of extended I O which have been configured as outputs See the CO command The CB command can also be used with modbus devices to clear remote outputs Arguments CB n where n is an integer corresponding to a specific output on the controller to be cleared set to 0 When using Modbus devices 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 use
275. t information when the argument n is 0 or is omitted Otherwise the CW command is used as a communications enhancement for use by the Galil terminal software programs When turned on the most significant bit of unsolicited ASCII characters is set to 1 Unsolicited ASCII characters are characters that are returned from a program running on the controller usually from the MG command This command does not affect solicited characters which are characters that are returned as a response to a command sent from a host PC e g TP If using Galil drivers CW will be automatically configured the user should not change the CW settings Arguments CW n m where n is a number either 0 1 or 2 0 or Causes the controller to return the copyright information 1 Causes the controller to set the MSB of unsolicited returned characters 2 Causes the controller to not set the MSB of unsolicited characters m is 0 or 1 optional O Causes the controller to pause program execution when hardware handshaking disables character transmissions 1 Causes the controller to continue program execution when hardware handshake disables character transmissions output characters will be lost Operand Usage _CW contains the value of the data adjustment bit 1 on 2 off Usage Usage and Default Details While Moving No RIO Controller Usage Related Commands CF Configure Unsolicited Messages Handle Examples CW1 Set CW to Galil Driver mode
276. tails Related Commands EA Choose ECAM master EB Enable ECAM EC Set ECAM table index EG Engage ECAM EP Specify ECAM table intervals amp staring point EQ Disengage ECAM ET 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 158 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Embedded Only Bun not burnable Full 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 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 A return parameter can be specified to EN from a subroutine to return a value from the subroutine to the calling stack The EN command is used to end the automatic subroutines MCTIME COMINT and CMDERR When the EN command is used to terminate the COMINT communications interrupt subroutine there are 2 argurments The first determines whether trippoints will be restored upon completion of the subroutine and the second determines whether the communi
277. tal vector move length in encoder counts Usage Usage and Default Details eravan JO Related Commands LI Linear Distance BG BGS Begin Sequence LM Linear Interpolation Mode PF Position Formatting VA Vector Acceleration VD Vector Deceleration VS Vector Speed Examples CAS Specify S coordinated motion system LM CD Specify linear interpolation mode for C and D axes LI 100 200 Specify linear distance E End linear move BGS Begin motion file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 216 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax fExplicit amp Implicit Burn not burnable Linear Interpolation Distance Full Description The LI 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 segments 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 space for new vector segments The Linear End LE command must be given after the last LI segment in a sequence LE 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 availa
278. ted 400 600 500 200 PA 700 A axis will go to 700 on the next move while th 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 257 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only PF Prenas Burn burnable with BN osition Format Full Description The PF command allows the user to format the position numbers such as those returned by TP The number of digits of integers and the number of digits of fractions can be selected with this command An extra digit for sign and a digit for decimal point will be added to the total number of digits If PF is negative 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 i
279. the operand _BGn file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 96 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit BI Prerna Loh Burn burnable with BN Brushless Inputs Full Description The command BI 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 48 The Hall sensors of each axis must be connected to consecutive input lines for example BI 3 indicates that inputs 3 4 and 5 are used for halls sensors With the AMP 43540 or AMP 43650 the Hall A Hall B and Hall C inputs on the Encoder connector may be specified by setting the BI command to 1 Arguments BI n n n n n n n n or BIA n where n is 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 1l Specifies the controller to use the Hall inputs available on the AMP 43540 or AMP 43640 n Returns the starting input used for Hall sensors for the specified axis Operand Usage _BIn contains the starting input used for Hall sensors for the specified axis Usage Usage and Default Details Related Commands BA Brushless Axis BB Brushless Phase Begins BC Brushless Commutation BD Bru
280. the slave port number _IHh2 contains a 0 if the handle is free contains a 1 if it is fora UDP slave contains a 2 if it is for a TCP slave contains a 1 if it is for a UDP master contains a 2 if it is for a TCP master contains a 5 while attempting to establish a UDP handle contains a 6 while attempting to establish a TCP IP handle _IHh3 contains a 0 if the ARP was successful contains a if it has failed or is still in progress _THh4 contains a 1 if the master controller is waiting for acknowledgment from the slave after issuing a command contains a 2 if the master controller received a colon from the slave after issuing a command contains a 3 if the master controller received a question mark from the slave after issuing a command contains a 4 if the master controller timed out while waiting for a response from the slave after issuing a command Usage Usage and Default Details file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 192 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Yes Yes Yes 0 Related Commands In a Program Command Line Default Value Default Format While Moving IA Internet Address Examples THA 251 29 51 1 Open handle A at IP address 251 29 51 1 TCP is used as default THA 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 befor opening a handle T
281. ther by position error TE gt ER hardware limit switch or abort input n lt gt 0 Motor is shut off MO by an amplifier error TA Usage Usage and Default Details file C Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 246 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Default Value fo Operand Usage _OEn contains the status of the off on error function for the specified axis Related Commands AB Abort ER Error limit SH Servo Here POSERR Error Subroutine TA Tell Amplifier Error LIMSWI Limit switch automatic subroutine Examples 20H 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 247 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit OF Burn burnable with BN Full 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 range 9 998 to 9 998 volts with resolution of 0 0003 n Returns the offset for the specified axis Operand Us
282. tic subroutine and is used to run code when a fault occurs on a Galil amplifier See the TA command and individual amplifier information in the DMC 4xxx User Manual Other user code does not need to be running for AMPERR to be raised When an external servo driver is used in an axes where the AMP 430x0 is also installed the axis should be setup as a brushed motor BR a 1 otherwise the lack of hall inputs will cause an amplifier error Use RE to return from the AMPERR subroutine See the TA command for more information Arguments N A Operand Usage N A Usage Usage and Default Details Controller Usage controllers with integrated drives Related Commands TA Tell amplifier status CN Configure I O OE Off on error RE Return from error Examples this code will run in the event of an amplifer error setting a digital output and notifying the operator AMPERR Set a digital bit to signal an amplifier error to peripheral hardware SB4 Send a message to the user G An amplifier error has occured Return from the AMPERR subroutine restoring trippoints that were running REL Detailed AMPERR example Uses LCD to display amplifier error information and remains in AMPERR file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 15 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference routine until the error is cleared AMPERR REM mask out axes that are i
283. tine can be written and called many times and from various locations in code The stack remembers where to return when completed This is opposite from a blind jump JP 2 Variable Scope Local variables A subroutine can run with a protected variable space Local variables exist only in the extent of the subroutine and no external thread or stack level can access local variables Local variables can be used for counters indices and other helper variables a h must be used for local variables Other variable names remain global 3 Each thread has its own stack therefore subroutines are reentrant In other words multiple threads can be running the same subroutine simultaneously at various stack depths 4 Support for recursion Although the subroutine stack is only 16 deep recursion is possible A stack depth of 16 is sufficient for many recursive tasks E G recursing axes handles and thread status 5 Parameter passing A calling command can explicitly specify the inputs to a subroutine The subroutine can pass one value back to the calling command More returns are possible with pass by reference and array passing Constants Variables and Arrays may be passed up a subroutine stack Variables may be passed by value or by reference If passed by value a copy is made in the subroutine stack leaving the original variable unchangeable If passed by reference the original variable s value will be changed when the subroutine writes to i
284. tion can be specified for one axis by specifying 2nd 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 except the imaginary M and N axes A value of N for the parameter p turns off tangent function Operand Usage _VMn contains instantaneous commanded vector velocity for the specified coordinate system S or T Usage Usage and Default Details Usage Value No In a Program Yes Command Line Yes Default Value AB Related Commands CR Circle VP Vector Mode VE Vector End BG Begin Sequence Examples A Program Label VM AB Specify motion plane VP 1000 2000 Specify vector position 1000 2000 VP 2000 4000 Specify vector position 2000 4000 CR 1000 0 360 Specify arc VE Vector end BGS Begin motion sequence AMS Wait for vector motion to complete E End Program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 341 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference 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 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 342 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notatio
285. transmits one data bit from shift registers on the encoder There are two items required when connecting an SSI encoder to a DMC 40x0 special SSI firmware and the controller SSI option Clocking in SSI data has a timing overhead which may be non negligible In the event that clocking in data may have a negative effect on servo performance e g using multiple encoders with a lowered TM sample rate the controller will respond with an error mode See AUTOERR for more information This error mode is very rare and is expected to occur only in development Arguments Sin si0 sit si2 si3 lt p gt q where n The axis designator XYZW or ABCDEFGH Each axis must be set individually si0 0 is for NO SSI 1 is for SSI to replace MAIN encoder data 2 is for SSI to replace AUX encoder data sil Total of Bits of SSI A positive number designates No Rollover A negative number will cause the controller to act as an incremental encoder allowing the encoder to count past the max value of the encoder Note when the controller is powered down the rollover values are lost si2 of Single Turn Bits si3 of Status Bits ie Error Bits Positive designates status bits as trailing the SSI data Negative designates status bits as leading the SSI data p is an integer in the range of 4 26 and indicates the clock frequency given the following formula SSI Clock Freq CLK 2 p 1 CLK 20Mhz q 1 For Binary encoding 2 for Gray Cod
286. ts local variable This is similar but not exactly analogous to a C pointer A variable passed by reference is automatically dereferenced the variable pointer is not exposed to the user Following the C syntax a by reference pass is accomplished with the ampersand amp in the invoking call When passing a variable by reference do not allocate any new variables in the called subroutine Arrays can be passed in the stack though only by reference No amp is used when passing arrays by reference is assumed To pass an array use its name in quotations Arrays to be passed must have names that are 6 characters or less The number of elements in an array is returned by reading index 1 e g array 1 To return a value on the stack write the value in the EN command upon ending the subroutine Arguments file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 205 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference JS destination param1 param2 param8 condition where destination is a label integer or variable and is defined as the line number where code shall jump if condition is true param param8 are optional parameters to pass to the subroutine s stack referenced from within the subroutine as a h respectively condition is an optional conditional statement using a logical operator The logical operators are lt less than or equal to gt greater than equal to lt less t
287. ts to process buffer to empty WT 16 1 wait for 1 DT time segment 2 4 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 145 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference JP Wait CM lt gt 511 r REM contour example for C nti CM AB DE l CD 100 200 CD 400 200 CD 200 100 CD 300 50 AI 1 DT 8 CD 0 0 0 0 0 Wait WT 16 1 JP Wait _CM lt gt 511 EN End program pre loading of contour buffer Define label Contl Specify Contour Mode Pause Contour Countour Countour Countour Countour Wait for Data p Data p Data p Data p Analog Set positive DT End of Contour Mode re loaded in re loaded in re loaded in re loaded in input 1 to go low start contour mode fer Sequence to Buf to allow pre load of buffer buffer buffer buffer buffer Wait for all segments to process buffer to empty wait for 1 DT time segment End program 2 4 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 146 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Burn burnable with BN Dual Velocity Dual Loop Full 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 cas
288. ubroutine for EEPROM error Examples On startup this code will create a 50 duty cycle square wave on output 1 with a period of 1 second AUTO Start on powerup OBL Set bit 1 WT500 Wait 500msec CBi Clear bit 1 WT500 Wait 500msec JP AUTO Jump back to AUTO file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 17 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference AUTOERR oto J EEPROM checksum error and Serial Encoder timeout error Automatic Subroutine Full Description All firmware versions and controllers AUTOERR will run code upon power up if data in the EEPROM has been corrupted The EEPROM is considered corrupt if the checksum calculated on the bytes in the EEPROM do not match the checksum written to the EEPROM The type of checksum error can be queried with _RS Use EN to end the routine SER firmware AUTOERR will also run if the time to acquire serial position data exceeds 90 of the hardware sample loop This type of error is very rare and should never occur in normal operation In the event of a serial position acquisition timeout the following will occur a The controller will reset b The controller servo loop will not run TM will be set to zero c TC1 will return 143 TM timed out d The automatic subroutine AUTOERR will run if present e The Error output will be set When using serial encoders SSI or BiSS the AUTOERR should follow t
289. ue for KI The OA command works like the OE command if OA is set to 1 and an encoder failure occurs the axis goes into the motor off MO state and the stop code SC is set to 12 The encoder failure detection will shut the motor off regardless of profiling status but the stop code is not updated unless the axis is executing a profiled move at the time of the detection of the encoder failure If included in the application program and OE is set to 1 for the particular axis POSERR will run when an encoder failure is detected Arguments OAn n n n n n n n where nis Oor 1 with 1 enabling this feature returns the last value set Operand Usage _OAn contains the OA value for the specified axis Usage Usage and Default Detail Controller Usage DMC 4xxx DMC 18x6 Related Commands OT Off on encoder failure time OV Off on encoder failure voltage Examples setup OTX 10 Set time to 10 milliseconds OVX 5 Set voltage to 5 OAX 1 Enabl ncoder detection feature REM POSERR example for checking to see if encoder failure occured REM The stop code will only update of the profilier is running at the time REM the encoder failure is detected POSERR a 0 I file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 242 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference IF _TE a lt _ER a amp _OE a amp _OA a MG possible encoder failure on
290. uld be low when there is no active alarm error gt Waning Dies active Sule sel with S1 Consult the encoder documentation for the Alarm bit definition Note The encoder manufacturer may name the Error and Warning bits differently Consult the encoder documentation for the naming convention Galil defines the Warning bit as the bit directly preceeding the CRC The Error bit is defined as the bit directly preceeding the Warning bit See table 1 Usage Usage and Default Details While Moving Default Value Related Commands TP Tell Position TD Tell Dual Encoder SI Configure the special Galil SSI feature SY Serial encoder BiSS active level SERERR Serial Encoder Error Automatic Subroutine DF Dual Feedback DV feedback swap AUTOERR EEPROM checksum error and Serial Encoder timeout error Automatic Subroutine DF Dual Feedback DV feedback swap file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 300 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Examples Configuration for 26 bit Renishaw Resolute single turn encoder SYA 0 Warning and Alarm bits are active low SSA 1 26 27 0 lt 14 The 27 includes the Resolute single leading zero bit Configuration for 36 bit Hengstler multi turn encoder SYA 3 Warning and Alarm bits are active high SSB 1 19 36 5 lt 14 19 bits single turn 12 bits multi turn 5 zero padding bits file Cl Documents
291. uments 20and 20Settings Andy Desktop Temp 4Kcom index html 24 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference LIMSWI ee Burn not burnable Limit switch automatic subroutine Full Description Without LIMSWI defined the controller will effectively issue the STn on the axis when it s limit switch is tripped With LIMSWI defined the axis is still stopped and in addition code is executed LIMSWI is most commonly used to turn the motor off when a limit switch is tripped see example below For LIMSWI to run the switch corresponding to the direction of motion must be tripped forward limit switch for positive motion and negative limit switch for negative motion LIMSWI interrupts thread 0 when it runs Use RE to terminate the LIMSWI subroutine Arguments N A Operand Usage N A Usage Usage and Default Details Related Commands _LFn State of forward limit switch _LRn State of reverse limit switch LD Limit Disable Examples ain print a messag very second MG Main WT1000 P Main H 4 LIMSWI runs when a limit switch is tripped F _LFX 0 _LRX 0 G x DCX 67107840 STX AMX MOX ELSE IF _LFY 0 _LRY 0 MG y DCY 67107840 H file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 25 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference STY AMY OY DIF ENDIE E
292. ump to offset i itl Increment Counter JP loop i lt 3 Loop through 3 states EN 1 spell Subroutine containing various words G One EN Prints One if this line is called i 1 G Two EN Prints Two if this line is called i 2 G Three EN Prints Three if this line is called i 3 REM Controller responds with REM One R R EM Two EM Three file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 207 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit Kon Burn burnable with BN Derivative Constant Full Description KD designates the derivative constant in the control filter The filter transfer function is D z KP 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 nnn 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 Operand Usage _KDn contains the value of the derivative constant for the specified axis Usage Usage and Default Details While Moving No RIO Related Commands KI Integrator KP Proportional Examples KD 100 200 300 400 25 Specify KD KD Return KD 2100 00 200 00 300 00 400 25 Note KD now has four time more resolution as prior controllers and thus for the same value is
293. verride the global CF setting Ex Sends the message out the Ethernet handle x where x is A B C D E F G or H Pn Sends the message out the Serial port n where n is 1 or 2 denoting Main or Auxilary where equipped file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 232 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Routing options should be placed at the beginning of the message right after MG Printing to the LCD Lx Sends the message to the LCD where x is 1 or 2 for the top or bottom line of the LCD The message cannot be more than 8 characters when sent to the LCD screen excess characters will not be shown The LU command must be set to 0 for user messages sent to the LCD to appear When outputting to the LCD using multiple variables use L1 and L2 before the variable in order to direct it to a specific line number See Example Below Operand Usage N A Usage Usage and Default Details Usage While Moving No RIO In a Program Command Line Related Commands CF Configure Unsolicited Messages Handle Examples Message command displays ASCII string MG Good Morning Displays the string with the content of variable Total in format of 4 digits before and 2 digits after the decimal point MG The Answer is Total F4 2 Message command sends any ASCII character MG 13 10 48 055 displays carriage return line feed and the characters 0 and 7
294. ving the DC command can only be specified while in the jog mode Related Commands AC Acceleration PR Position Relative PA Position Absolute SP Speed JG Jog SD Limit Switch Deceleration Examples PR 10000 Specify position AC 2000000 Specify acceleration rate DC 1000000 Specify deceleration rate SP 5000 Specify slew speed BG Begin motion file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 134 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Note The DC command may be changed during the move in JG move but not in PR or PA move file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 135 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Explicit amp Implicit DE En not burnable Dual Auxiliary Encoder Position Full 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 n is a signed integers in the range 2147483648 to 2147483647 decimal n 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 DE 0 This will define the TP or encoder po
295. will be accepted as a data stream without line numbers The file is terminated using lt control gt Z lt control gt Q lt control gt D or DO NOT insert spaces before each command If no parameter is specified downloading a data file will clear 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 It is recommended to use the program download functions available through the GalilTools software and drivers rather than directly using the DL command Arguments DLn where n noargument 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 Operand Usage When used as an operand DL gives the number of available labels 510 maximum Usage Usage and Default Details Related Commands Examples DL Begin download A PR 4000 BGA Data AMA MG DONE Data EN Data lt control gt Z End download file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 140 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only DM Prenas Jow Burn not burnable Dimension Full Description The
296. 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 When the geared motors must be coupled strongly to the master use the gantry mode GM When gearing is used in a gantry application gearing off of the commanded position is recommended Arguments GA n n n n n n n n or GAA n where n can be A B C D E F G H M or N The value of n is used to set the specified main encoder axis as the gearing master and M and N represents the virtual axes 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 n can 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 n returns the GA setting Operand Usage N A Usage Usage and Default Details Related Commands GR Gear Ratio GM Gantry Mode Examples REM setup gearing where B axis is master for A and C axes G
297. x encoder register file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 137 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference DRAS Enable Dual Feedback Swap DV1 Enable Dual Loop mode SHX Enable servo with new configuration file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 138 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Burn burnable with BN DHCP Server Enable Full Description The DH command configures the DHCP or BOOT P functionality on the controller for Server IP addressing Arguments DHn where n 0 disables DHCP and enables BOOT P n disables BOOT P and enables DHCP n returns the current state of the setting Usage Usage and Default Details Operand Usage N A Related Commands IA IP Address Examples DH 1 Sets the DHCP function on IA assignment will no longer work IP address cannot be burned Controller will receive its IP address from the DHCP server on the network DH O Sets the DHCP function off and the Boot P function on file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 139 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only Bun not burnable Download Full Description The DL command transfers a data file from the host computer to the controller Instructions in the file
298. xis Usage Usage and Default Details Usage Value 7 N e Command Line Yes 000 Default Format 2 Related Commands Examples BM 60000 Set brushless modulo for B axis to be 60000 BMC 100000 3 Set brushless modulo for C axis to be 100000 3 33333 333 BM ppg 2a Interrogate the Brushless Module for the D axis Note Changing the BM parameter causes an instant change in the commutation phase file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 101 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference Full 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 Burn is complete PARAMETERS SAVED DURING BURN AC CE GR MT SM AF CN HV NB SP AG CO IA NF TK AQ CW IK NZ TL AU DC IL OA TM BA DH IT OE TR BB DV KD OF VA BI EO KI OP VD BL ER KP OT VF BM FA KS OV VS BO FL LC PF YA BR FV LD PL YB BW GA LZ PW YC CB GM MO SB Arguments N A Operand Usage _BN contains the serial number of the processor board Usage Usage and Default Details Usage In a Program ommand Line Controller Usage Default Value Default Format Related Commands Examples SBI Set bit 1 CB2 Clear bit 2 CW1 Set data adjustment bit BN Burn all parameter states file Cl Documents 20and 20Settings Andy Desktop
299. xis A first followed by a comma axis B next followed by a comma and so on Omitting an argument will result in two consecutive commas and doesn t change that axis current value Examples of valid syntax are listed below ACnn Specify argument for A and B only ACnn Specify argument for A and C only AC n n n n Specify arguments for A B C D axes 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 Accepts Axis Mask These commands require the user to identify the specific axes to be affected These commands are followed by uppercase X Y Z and W or A B C D E file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 3 of 358 5 24 2011 8 38 16 AM Galil Motion Control Command Reference F G and H In DMC code X Y Z W and A B C D are synonyms respectively No commas are used and the order of axes is not important When an argument is not required and is not given the command is executed for all axes Valid Syntax Description SHA ervo Here A only SHABD ervo Here A B and D axes sHacD ervo Here A C and D axes H ABCD ervo Here A B C and D axes H XYZW Identical to SH ABCD H BCAD ervo Here A B C and D axes H ADEG ervo Here A D E and G axes HH Servo Here Aony PEA D eel Nn n n ervo Here H axis only ervo Here all axes n l n Two Letter Only These commands have no options or arguments
300. xis performing ECAM file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 309 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Arguments TC n where n 0 Returns numerical code only n 1 Returns numerical code and human readable message n Returns the error code Operand Usage _TC contains the value of the error code Usage Usage Details While Moving Yes No RIO Default Value Default Format Related Commands Examples file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 310 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference GF32 Bad command LCL Tell error code 1 Unrecognized command file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 311 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Accepts Axis Mask TD Prenas mn Bun not burnable ell Dual Encoder Full Description The TD 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 have been output by the controller Arguments TD nnnnnnnnnn where n is 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 Operand Usage _TDn contain
301. xis to move 100 counts reaching an ending speed of 100c s in 510 samples PVX 200 200 50 Command X axis to move 200 counts reaching an ending speed of 200c s in 50 samples PVX 300 0 50 Command X axis to move 300 counts reaching an ending speed of Oc s in 50 samples PVY 300 0 50 Command Y axis to move 300 counts reaching an ending speed of Oc s in 50 samples PVY 0 Exit PVT mode on Y axis PVX 0 Exit PVT mode on X axis j When the PVT mode is exited the axis will be in the SH state 1 assuming position error is not exceeded etc BTXyY Begin PVT on X and Y axis AMXY Trip point will block until PVT motion on X AND Y is complete EN End program file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 265 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Implicit Notation Only PW erands one Burn burnable with BN assword Full Description The password can be set with the command PW password password where the password can be up to 8 alphanumeric characters The default value after master reset is a null string The password can only be changed when the controller is in the unlocked state L K The password is burnable but cannot be interrogated If you forget the password you must master reset the controller to gain access Arguments PWn n where nis a string from 0 to 8 characters in length Operand Usage N A Usage Usage and Default Details
302. xplicit amp Implicit ER reat e Burn burnable with BN rror Limit Full 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 and the controller s red light will be turned on If the Off On Error OE1 command is active the motors will be disabled For debugging purposes ERO and ER 1 can be used to turn the red LED on and off Arguments ER n n n n n n n n or ERA n where n is an unsigned number in the range 1 to 2147483647 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 Operand Usage _ERn contains the value of the Error limit for the specified axis Usage Usage and Default Details ommand Line Controller Usage Default Value Related Commands OE 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 2 2727 2 Return A B C and D values 200 100 400 600 ER Return A value 200 V1 _ERA Assigns V1 value of ERA V1 Returns V1 200 Hint The error limit specified by E
303. yload Byte Count 0x03 0x12 Format Header Fixed Byte Status Byte 1 16 bytes ek eae Me saat wel i Example OxDOFIDBE1 _ Axis A Profiled Motion Complete User Interrupt 1 Example Decoded Interrupt Packet Indicator Application Program Stopped Digital Input 1 is low 6 bytes in payload Arguments El m n h m is a 16 bit integer mask between 0 and 65535 and is used to select the interrupt condition s to be used 0 the default means don t interrupt and clears the queue when issued The conditions must be re enabled with EI after each occurrence Interrupt Bytes bit m 2 bit Hex decimal Status Byte Hex decimal 0001 1 DO 208 0002 2 D1 209 0004 4 D2 210 0008 8 D3 211 0010 16 D4 212 0020 32 D5 213 0040 64 D6 214 0080 128 D7 215 0100 256 D8 216 0200 512 C8 200 Condition PF Axis A profiled motion complete _BGA 0 PF Axis B profiled motion complete _BGB 0 PF Axis C profiled motion complete _BGC 0 PF Axis D profiled motion complete _BGD 0 PF Axis E profiled motion complete _BGE 0 fF Axis F profiled motion complete _BGF 0 Axis G profiled motion complete _BGG 0 PF Axis H profiled motion complete _BGH 0 PF All axes profiled motion complete _BGI 0 PF Excess position error _TEn gt __ERn Limit switch _LFn 0 Must be profiling motion in direction of activated limit switch for interrupt to occur Watchdog timer PCI o
304. ynchronizing 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 n is a signed numbers in the range 2147483648 to 2147483647 decimal n Returns the current position of the specified axis Operand Usage N A Usage Usage and Default Details Conti Uses Default Value Default Format 7 0 on 18x2 amp 21x3 PF on 18x6 amp 4xxx Related Commands PF Position Formatting Examples IP 50 50 counts with set acceleration and speed file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 200 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Syntax Explicit amp Implicit burnable with BN Independent Time Constant Smoothing Function Full 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 means no filtering and 0 004 means maximum filtering Note that the filtering results in longer motion time The use of IT will not effect the trippoints AR and AD The tripp
305. zero then tracing will be off for that thread For example if threads 3 and 4 are to be traced TR24 is issued Omiiting m traces all threads Operand Usage N A Usage Usage and Default Details Usage Value While Moving Yes In a Program Yes Command Line Yes Default Value Related Commands CF Configure port for unsolicited messages Examples Turn on trace during a program execution LS O MGTIME 1 WT1000 2 JPO 3 gt XO 18003461 0000 18004461 0000 file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 325 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference 18005461 0000 TR1 2 JPO 0 MGTIME 18006461 0000 1 WT1000 2 JPO 0 MGTIME 18007461 0000 1 WT1000 TRO 18008461 0000 18009461 0000 2ST file Cl Documents 20and 20Settings Andy Desktop Temp 4Kcom index html 326 of 358 5 24 2011 8 38 17 AM Galil Motion Control Command Reference Axis Mask not burnable Tell Switches O OO OSE Switches Full 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 Bit Status Bit7 Axis in motion if high Bit6 Axis error exceeds error limit if high Bit5 A motor

Galil Motion Control Command Reference

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