Manuel d'utilisation / d'entretien du produit DMC-1400 du fabricant Galil
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DMC-1400 Series DMC-1400 Series Command Reference Manual Rev. 2.8 By Galil Motion Control, Inc. Galil Motion Control, Inc. 3750 Atherton Road Rocklin, California 95765 Phone: (916) 626 0101 Fax: (916) 626-0102 Internet Address: support@galilmc.com URL: www.
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DMC-1400 Series Command Reference Contents ● i Contents CONTENTS ......................................................................................................................................................................... I OVERVIEW ...
ii • Contents DMC-1400 Series Comman d Reference BI ................................................................................................................................................. 38 BK .............................................
DMC-1400 Series Command Reference Contents ● iii ER ................................................................................................................................................ 86 ES ..............................................
iv • Contents DMC-1400 Series Comman d Reference MF ............................................................................................................................................. 139 MG ................................................
DMC-1400 Series Command Reference ● v @SQR[n] ........................................................................................................................ .......... 187 ST ................................................................
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Overview Controller Notation This command reference is a supplement to the Galil Motion Contro l User Manual. For proper controller operation, co nsult the Users Manual. T his manual describes com mands to be used with the Galil Econo Series Motion Controllers: DMC-1410, DMC-1411, DMC-1412, DMC-1414, DMC- 1415, DMC- 1416, DMC -1417, and DM C-1425.
2 ● Overview DMC-1400 Series Command Reference Arguments As arguments, some commands require actual values to be specified following the instruction. These commands are followed by lower case n where n is replaced by an actual value. A “?” returns the specified value for that axi s.
DMC-1400 Series Command Reference Overview ● 3 power up of the controller. If this value is set and saved in non-volatile memory, it will be restored upon reset until a master reset is given to the controller. The default for mat describes the form at for nume rical values, which are ret urned when th e command is interrogate d.
4 ● # DMC-1400 Series Command Reference # FUNCTION: Label (subroutine) DESCRIPTION: The # operator denotes the na me of a pro gram label (for exam ple #Move). La bels can be u p to seven characters long and are often used to implement subroutines or loops.
DMC-1400 Series Command Reference $ ● 5 $ FUNCTION: Hexadecim al DESCRIPTION: The $ operato r denotes that the followi ng string is in hexa decimal notation ARGUMENTS: $nnnnnnnn.
6 ● & | DMC-1400 Series Co mmand Reference & | FUNCTION: Bitwise Logical Operators AND and OR DESCRIPTION: The operators & and | are typica lly used with IF, JP, and JS to perform conditional jumps; however, they can also be use d to perform bitwise logical operations.
DMC-1400 Series Command Reference ( ) ● 7 ( ) FUNCTION: Parentheses (order of ope rations) DESCRIPTION: The parenthese s denote the order of m ath and logical o perations. Note tha t the controll er DOES NOT OBEY STANDARD OPERATOR PRECEDENCE. For example, multiplication is NOT evalu ated before addition.
8 ● ; DMC-1400 Series Command Referen ce ; FUNCTION: Semicolon (Co mmand Delim iter) DESCRIPTION: The semicolon operator allows multiple Galil command s to exist on a single line.
DMC-1400 Series Command Reference [ ] ● 9 [ ] FUNCTION: Square Brackets (Array In dex Operator) DESCRIPTION: The square brack ets are used to denote the array index fo r an array, or to denote an ar ray name.
10 ● + - * / DMC-1400 Series Command Reference + - * / FUNCTION: Math Operators DESCRIPTION: The addition, sub traction, m ultiplication, an d division operators are binary operators (they take two arg uments and ret urn one value ) us ed to perform mathematical operations on variables, constan ts, and operands.
DMC-1400 Series Command Reference <, >, =, <=, >=, <> ● 11 <, >, =, <=, >=, <> FUNCTION: Comparison Operat ors DESCRIPTION: The comparison operators are as follow.
12 ● = DMC-1400 Series Co mmand Reference = FUNCTION: Equals ( Assignment Ope rator) DESCRIPTION: The assignment ope rator is used fo r three reasons: (1) to define and initialize a variable (x = 0) before it is used (2) to assign a new value to a variable (x = 5) (3) to print a variable or array element (x= wh ich is equ ivalent to MG x).
DMC-1400 Series Command Reference AB ● 13 AB FUNCTION: Abort DESCRIPTION: AB (Abort) stops a motion instantly withou t a co ntrolled deceleration. If there is a progra m operating, AB also aborts the pro gram unless a 1 argum ent is specified.
14 ● @ABS[n] DMC-1400 Series Command Reference @ABS[n] FUNCTION: Absolute va lue DESCRIPTION: Takes the absolute value of the given number. Returns the value if positive, and returns -1 times the value if negativ e.
DMC-1400 Series Command Reference AC ● 15 AC FUNCTION: Acceleration DESCRIPTION: The Acceleration (AC) command se ts the linear acceleration rate for independent moves, such as PR, PA and JG moves. T he param eters input will be rounded down to the nearest factor of 1024.
16 ● @ACOS[n] DMC-1400 Series Command Reference @ACOS[n] FUNCTION: Inverse cosine DESCRIPTION: Returns in de grees the arc cosine of t he given num ber.
DMC-1400 Series Command Reference AD ● 17 AD FUNCTION: After Distance DESCRIPTION: The After Distance (AD) command is a trippoint used to control the timing of events. This command will hold up the ex ecution of the following command until one of the following conditions have been met: 1.
18 ● AF DMC-1400 Series Command Reference A F FUNCTION: Analog Feedback DESCRIPTION: The Analog Feedback (AF ) command is us ed to set an axis w ith analog feed back instea d of digital feedbac k (quadrature/p ulse dir).
DMC-1400 Series Command Reference AI ● 19 AI FUNCTION: After Input DESCRIPTION: The AI command is used in motion programs to wait until after the sp ecified input has occurred. If n is positive, it waits for the input to go high. If n is negative, it waits for n to go low.
20 ● AL DMC-1400 Series Command Reference AL FUNCTION: Arm Latch DESCRIPTION: The AL command enables the latching function (high speed position capture) of the controller. When the AL command is used to arm the position latch, the encod er position of the main encoder input will be captured upon a low going signal on Input 1.
DMC-1400 Series Command Reference AM ● 21 AM FUNCTION: After M ove DESCRIPTION: The AM command is a trippoint us ed to control the timing of events. This command will hold up execution of the follo wing commands until the current move on the specified axis or axes is completed.
22 ● @AN[n] DMC-1400 Series Com mand Reference @AN[n] FUNCTION: Read analog input DESCRIPTION: Returns the value of the given analog inpu t in volts ARGUMENTS: @AN[n] where n is an unsigned integer .
DMC-1400 Series Command Reference AO ● 23 AO FUNCTION: Analog Out DESCRIPTION: The AO command sets the analog output voltage of Modbus Devices connected via Ethernet.
24 ● AP DMC-1400 Series Command Reference AP FUNCTION: After Absolute Position DESCRIPTION: The After Position (AP) command is a trippoin t us ed to control the timing of events. This command will hold up the ex ecution of the following command until one of the following conditions have been met: 1.
DMC-1400 Series Command Reference AR ● 25 AR FUNCTION: After Relative Distance DESCRIPTION: The After Relative (AR) command is a trippoint used to control the timing of events. This command will hold up the ex ecution of the following command until one of the following conditions have been met: 1.
26 ● AS DMC-1400 Series Command Reference AS FUNCTION: At Speed DESCRIPTION: The AS command is a trippoint that occ urs wh en the generated motion profile has reached the specified speed. This command will ho ld up execution of the following command until the speed is reached.
DMC-1400 Series Command Reference @ASIN[n] ● 27 @ASIN[n] FUNCTION: Inverse sine DESCRIPTION: Returns in de grees the arc sine of the given num ber. ARGUMENTS: @A SIN[n] where n is a signed num ber in the range -1 to 1.
28 ● AT DMC-1400 Series Command Reference AT FUNCTION: At Time DESCRIPTION: The AT command is a trippoint which is used to ho ld up execution of the next command until after the specified time has el apsed. The time is measured with respect t o a defined reference time.
DMC-1400 Series Command Reference @ATAN[n] ● 29 @ATAN[n] FUNCTION: Inverse tangent DESCRIPTION: Returns in degrees the arc tangent of the given nu m ber.
30 ● #AUTO DMC-1400 Series Comma nd Reference #AUTO FUNCTION: Subrout ine to run automat ically upon power up DESCRIPTION: #AUTO de notes code t o run autom atically whe n power is applied to t he control ler, or a fter the controller is reset.
DMC-1400 Series Command Reference #AUTOERR ● 31 #AUTOERR FUNCTION: Automatic subroutine for notifica tion of EEPROM checksum errors DESCRIPTION: #AUTOERR will run cod e upon power up if data in the EEPROM has been corrupted.
32 ● AV DMC-1400 Series Command Reference A V FUNCTION: After Vector Distance DESCRIPTION: The AV command is a trippoint which is used to ho ld up execution of the next command during coordinated moves such as VP,CR or LI. This trippoint occur s when the path distance of a sequence reaches the specified va lue.
DMC-1400 Series Command Reference BA ● 33 B A FUNCTION: Brushl ess Axis DESCRIPTION: The BA command sets the contro ller up for sinusoidal commutation of the axis. Th is command enables the se cond DAC for us e as the second phas e of commutatio n. ARGUMENTS: BAX w here X specifies sinusoidal comm utation for the axis.
34 ● BB DMC-1400 Series Command Reference BB FUNCTION: Brushl ess Phase Begi ns DESCRIPTION: The BB function describes the position offset between the Hall transition point and θ = 0, for sinusoidally commutated motor. This command must be saved in non-vo latile m emory to be effective upon reset.
DMC-1400 Series Command Reference BC ● 35 B C FUNCTION: Brushless Calibration DESCRIPTION: The function BC monitors the status of the Hall sensors of a sinusoidally commutated motor, and upon transition, replaces the estimated value of a commutated phase by an exact value.
36 ● BD DMC-1400 Series Command Reference BD FUNCTION: Brushless De grees DESCRIPTION: This command sets the commu tation 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.
DMC-1400 Series Command Reference BG ● 37 BG FUNCTION: Begin DESCRIPTION: The BG command starts a motion. When Used as an Op erand, the BG command will return a 1 if there is a commanded motion in progress , a 0 otherwi se.
38 ● BI DMC-1400 Series Com mand Reference B I FUNCTION: Brushl ess Inputs DESCRIPTION: The BIx indicates the starting number for the input lines to which the Hall sensors have been wired for sinusoidally co mm utated motors. These inputs must be the general use inputs (bits 1-7).
B K FUNCTION: Breakpoint DESCRIPTION: For debuggi ng. Cause s the co ntroller to pause exec ution of t he given threa d at the gi ven program l ine number (whi ch is n ot executed) . All othe r threads c ontinue r unning. Only one breakpoi nt may be arm ed at any ti me.
40 ● BL DMC-1400 Series Command Reference BL FUNCTION: Reverse Soft ware Limit DESCRIPTION: The BL command sets the reverse software limit. If t his limit is exceeded during a commanded motion, the motion will decelerate to a st op. Reverse motion beyond this limit is not permitted .
DMC-1400 Series Command Reference BM ● 41 BM FUNCTION: Brushl ess Modul o DESCRIPTION: The BM comm and defines the length of the ma gnetic cycle in e ncoder counts. ARGUMENTS: BM x where x is a decimal valu e between 1 and 1000000 with a resolution of 1/10 that represents th e magnetic cycles of the brushless motor.
42 ● BN DMC-1400 Series Command Reference BN FUNCTION: Burn DESCRIPTION: The BN command saves certain controller parameters in non-volatile EEPROM memory. This command typically takes 1 second to execute and must not be interrupted. The controller returns a: when the Burn is complete.
DMC-1400 Series Command Reference BO ● 43 BO FUNCTION: Brushl ess Offset DESCRIPTION: The BOx sets a fixed offset on the DAC' s of a sinusoidally comm utated motor. This may be used to offset any bias in the am plifier, or can be used for phase initializatio n.
44 ● BP DMC-1400 Series Command Reference B P FUNCTION: Burn Program DESCRIPTION: : The BP command saves th e application prog ram in non-volatile EEPROM mem ory. This command ty pically ta kes up to 10 sec onds to execut e and m ust not be int errupted.
DMC-1400 Series Command Reference BS ● 45 BS FUNCTION: Brushl ess Setup DESCRIPTION: The command BS tests the wiring of a sinus oida lly commutated brushless m otor. If no Hall sensors are connected, the function tests the wi rin g of the DAC' s.
46 ● BV DMC-1400 Series Command Reference BV FUNCTION: Burn Variables and Array DESCRIPTION: The BV command saves the defin ed variables and arrays in non-volatile EEPROM memory. This command typically takes up to 2 seconds to execute and must not be interrupted.
DMC-1400 Series Command Reference BZ ● 47 B Z FUNCTION: Brushl ess Zero DESCRIPTION: The BZ comm and is whe n the contr oller is con figured f or sinusoidal comm utation. This command drives the motor to zero magnetic phase and th en sets the commutation phase to zero.
48 ● CB DMC-1400 Series Command Reference CB FUNCTION: Clear Bit DESCRIPTION: The CB command clears one of three bits on the outpu t port sets the output to logic 0. The CB and SB (Set Bit) instructions can be used to con trol the state of output lines.
DMC-1400 Series Command Reference CC ● 49 CC FUNCTION: Configure Communicat ions Port 2 DESCRIPTION: : The CC comm and configures baud rate, handshake, ec ho, and daisy c hain feature s for the AUX SERIAL PORT, refe rred to as Po rt 2. This c ommand m ust be given before usi ng the MG, IN or CI comm ands wi th Port 2.
50 ● CD DMC-1400 Series Command Reference CD FUNCTION: Contour Data DESCRIPTION: The CD command specifies the incremental position. Th e units of the command are in quadrature counts fo r servo m ode, steps for stepper m ode. Thi s comma nd is used o nly in the Contour Mode (CM ).
DMC-1400 Series Command Reference CE ● 51 CE FUNCTION: Config ure Encode r DESCRIPTION: The CE command configures the encoder input s to t he quadrature t ype or the p ulse and direction type.
52 ● CF DMC-1400 Series Command Reference CF FUNCTION: Configure DESCRIPTION: The CF command is used to specify the co mm unication port to which unsolicited responses are sent. By default, the DMC-1415/1416/1425 will send unso licited responses to the serial port.
DMC-1400 Series Command Reference CI ● 53 CI FUNCTION: Comm unication Inter rupt DESCRIPTION: The CI command configures a pr ogram interr upt based on charact e rs received on either Port 1, the MAIN serial port, or Por t 2, the AUX serial port. An interru pt causes program flow to jump to the #COMINT subroutine labe l.
54 ● CM DMC-1400 Series Com mand Reference CM FUNCTION: Cont ouring Mode DESCRIPTION: The Contour Mode is initiated by the instruction CM. This mode allows the generation of an arbitrary motion trajector y. The C D command specifies the po sition increment, and the DT command specifies th e tim e interval.
DMC-1400 Series Command Reference #CMDERR ● 55 #CMDERR FUNCTION: Command error automatic subroutin e DESCRIPTION: Without #CM DERR define d, if an err or (see TC comm and) occur s in an appli cation program running on the Galil controller, the program (all threads) will stop.
56 ● CN DMC-1400 Series Command Reference CN FUNCTION: Configure DESCRIPTION: The CN command configures the pola rity of the limit switches, the home switch and the latch input.
DMC-1400 Series Command Reference CO ● 57 C O FUNCTION: Configure Out puts DESCRIPTION: The CO command configures the extende d I/O in bloc ks of 8. ARGUMENTS: C O n where n is a decim al value which represents a binary number. Ea ch bit of the binary n umber represents one block of ext ended I/ O.
58 ● @COM[n] DMC-1400 Series Comma nd Reference @COM[n] FUNCTION: Bitwise complement DESCRIPTION: Performs the bitwise com plement (NOT) operat ion to the given number ARGUMENTS: @COM[n] where n is a signed integer in the range -2147483647 to 2147483647.
DMC-1400 Series Command Reference #COMINT ● 59 #COMINT FUNCTION: Comm unication inte rrupt aut omatic sub routine DESCRIPTION: #COMINT can be c onfigured by the CI com ma nd to run either when any character or a carriage return is receive d on the auxiliary se rial port.
60 ● @COS[n] DMC-1400 S eries Command Reference @COS[n] FUNCTION: Cosine DESCRIPTION: Returns the co sine of the gi ven angle i n degrees ARGUMENTS: @COS[n] where n is a signed number in degr ees in the range -2147483648 to 2147483647 .
DMC-1400 Series Command Reference CR ● 61 C R FUNCTION: Circle DESCRIPTION: The CR command specifies a 2-dimensional arc segment of radius, r, starting at angl e, θ , and traversing over angle ∆ θ . A positive ∆ θ denotes counterclockwise traverse, negative ∆ θ denotes clockwi se.
62 ● CS DMC-1400 Series Command Reference C S FUNCTION: Clear Se quence DESCRIPTION: The CS command will remove VP, CR or LI commands stored in a motion sequence for the coordinate sy stem. A fter a seque nce has been e xecuted, the CS comm and is not necessary to put in a new sequence.
DMC-1400 Series Command Reference CW ● 63 CW FUNCTION: Copyright information / Data Adjustment bit on/off DESCRIPTION: The CW command has a dual u sage.
64 ● DA DMC-1400 S eries Command Reference DA FUNCTION: Deallocate the Va riables & Arrays DESCRIPTION: The DA command frees the array and/or vari able memory space. In t his command, more than one array or variable ca n be specified for mem ory de-allocation.
DMC-1400 Series Command Reference DC ● 65 DC FUNCTION: Deceleration DESCRIPTION: The Deceleration command (DC) se ts the linear deceleration rate for i ndependent moves such as PR, PA and JG moves. The parameters will be rounded down to the nearest factor of 1024 and have un its of counts per second squared.
DE FUNCTION: Dual (Auxiliary) Encoder Positio n DESCRIPTION: The DE n command defines the position of the auxiliary encoder. The DE n command defi nes the encoder posi tion when used wi th stepper m otors. Note: The auxiliary encoder is not av ailable for the stepper axis.
DMC-1400 Series Command Reference DL ● 67 DL FUNCTION: Download DESCRIPTION: The DL comm and transfers a data file from the host comput er to the DM C-14XX. Instructions in the file will be accepted as a datastream without line numbers. The file is terminated using <control> Z, <control> Q, <control> D, or .
68 ● DM DMC-1400 Series Com mand Reference DM FUNCTION: Dimensi on DESCRIPTION: The DM comm and defines a single dim ensional array with a nam e and n tota l elements. The first element of the defined array starts with element number 0 and th e last elem ent is at n-1.
DP FUNCTION: Define Position DESCRIPTION: The DP command sets the current motor position and current co mm and positions to a user specified value. The units are in quadratur e counts. Th is command will set both the TP and RP values. The DP comm and sets the co mmanded refe rence posi tion in ste pper mode .
70 ● DT DMC-1400 Series Command Reference DT FUNCTION: Delta Time DESCRIPTION: The DT command sets the time interval for Contou ring Mode. Sending the DT command once will set the time interval for all following co ntour data until a new DT command is sent.
DMC-1400 Series Command Reference DV ● 71 DV FUNCTION: Dual Velocity (Dual Loop) DESCRIPTION: The DV function changes the operation of the PID servo filter. It causes the KD (derivative) term to oper ate on the d ual encoder i nstead of the main encode r.
72 ● EA DMC-1400 Series Command Reference E A FUNCTION : Choose ECAM master DESCRIPTION : The EA command selects the master axis for the electronic cam mode. Any axis m ay be chosen. Note: This command is only used with the DMC-1425. All other Econo series controllers use the auxiliary encoder as the master automatically.
DMC-1400 Series Command Reference EB ● 73 EB FUNCTION: Enable ECAM DESCRIPTION: The EB function enables or disables the cam mode. In this mode, the starting position of the master axis is specified within the cycle. When the EB command i s given, the mast er axis is m odularized.
74 ● EC DMC-1400 Series Command Reference E C FUNCTION: ECAM Counter DESCRIPTION: The EC functi on sets the i ndex into t he ECAM t able. This com mand is only useful when entering ECA M table values without inde x values and is most useful when sendin g commands i n binary.
DMC-1400 Series Command Reference ED ● 75 ED FUNCTION: Edit DESCRIPTION: Using Galil DOS Termi nal Software: The ED command puts the controller into the Edit subsystem .
76 ● EG DMC-1400 Series Command Reference EG FUNCTION : ECAM go (engage) DESCRIPTION: The EG command engages an ECAM operation at a specified position of the m aster encoder. If a value is specified outside of the master’s range, the slave will engage immediately.
DMC-1400 Series Command Reference EI ● 77 EI FUNCTION: Enable Interrupts DESCRIPTION: The EI command enables an ISA, PC/104 or PCI bus interrupt on cond itions such as motion complete or excess positional error. The conditio ns are selected by the parameter m where m is the bit mask for the selected conditions as shown below.
78 ● ELSE DMC-1400 Series Com mand Reference ELSE FUNCTION : Else function for use with IF condition al statement DESCRIPTION : The ELSE command is an optio nal part of an IF conditional statement. The ELSE command must occur after a n IF command and it has no ar guments.
DMC-1400 Series Command Reference EM ● 79 EM FUNCTION : Cam cycles DESCRIPTION : The EM command is part of the ECAM mode. It is used to defi ne the change in position over one complete cycle of t he master. The field fo r the master axis is th e cycle of the m aster position.
80 ● EN DMC-1400 Series Command Reference EN FUNCTION: End DESCRIPTION: The EN command is us ed to designate the end of a program or subroutine. If a subroutine was called by t he JS comm and, the EN com mand ends the subrouti ne and returns program flow to the point just after the JS command.
DMC-1400 Series Command Reference EN ● 81 EXAMPLES: #A Program A PR 500 Move X axis forward 500 counts BGX Pause the program until the X ax is completes the motion AMX Move X axis forward 1000 count.
82 ● ENDIF DMC-1400 Series Com mand Reference E N D I F FUNCTION: End of IF conditional statement DESCRIPTION: The ENDIF command is used to designate the en d of an IF conditi onal statement. An IF conditional statement is formed by the co m bination of an IF and ENDIF command .
DMC-1400 Series Command Reference EO ● 83 EO FUNCTION: Echo DESCRIPTION: The EO comm and turns the ec ho on or off. If the echo is off, characters input over t he bus will not be echo ed back. ARGUMENTS: EO n where n=0 or 1. 0 tu rns echo of f, 1 turns ec ho on.
84 ● EP DMC-1400 Series Command Reference EP FUNCTION : Cam table master interval and phase shift DESCRIPTION: The EP command defines th e ECAM table master interval and phase shift. The interval m is the difference in master position between table entries.
DMC-1400 Series Command Reference EQ ● 85 EQ FUNCTION : ECA M quit (d isengag e) DESCRIPTION: The EQ command disengag es an electronic cam slav e axis at the specified master position. If a value is specified outside of the master’s range, the slave will disengag e immediately.
86 ● ER DMC-1400 Series Command Reference ER FUNCTION: Error Lim it DESCRIPTION: The ER command sets the magnitud e of the positio n error that will trigger an error condition. When the limit is exceeded, the Error ou tput will go low (true). If the Off-On-Error (OE1) command is active, the motors will be disabled.
DMC-1400 Series Command Reference ES ● 87 E S FUNCTION: Ellipse Scale DESCRIPTION: The ES comm and divides the resoluti on of one of the axes in a vecto r mode (VM ). This function all ows for t he generat ion of circ ular motion when encode r resolut ions differ .
88 ● ET DMC-1400 Series Comma nd Reference ET FUNCTION : Electronic cam table DESCRIPTION: The ET command sets the ECAM tab le entries for the slave axis.
DMC-1400 Series Command Reference FA ● 89 FA FUNCTION: Acceleration Feedforward DESCRIPTION: The FA command sets the acceleration feedforwar d coefficient, or returns the previou sly set value.
90 ● FE DMC-1400 Series Comman d Reference FE FUNCTION: Find Edge DESCRIPTION: The FE command moves a motor until a transition is seen on the hom ing input fo r 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).
DMC-1400 Series Command Reference FI ● 91 FI FUNCTION: Find Index DESCRIPTION: The FI and BG commands move the motor until an enco der index pulse is detected. The controller looks for a transition from low to high. When the transition is detected, motion stops and the position is defined as zero.
92 ● FL DMC-1400 S eries Command Reference FL FUNCTION: Forwar d Software Lim it DESCRIPTION: The FL command sets the forward soft ware pos ition lim it. If this limit is exceeded during motion, the m otor will decelerate to a stop . Forward motion beyond this limit is not permitted.
DMC-1400 Series Command Reference @FRAC[n] ● 93 @FRAC[n] FUNCTION: Fractional part DESCRIPTION: Returns the fracti onal part of the given number ARGUMENTS: @FRAC [n] n is a signed num ber in the range -2147483648 to 2147483647.
94 ● FV DMC-1400 Series Comman d Reference FV FUNCTION: Velocity Feedforward DESCRIPTION: The FV command sets the velocity feedforward coe fficient, or returns the pre viously set value. This coefficient generates an output bias signal in proportion to the commanded velocity.
DMC-1400 Series Command Reference GA ● 95 G A FUNCTION: Master Axis for Gearing DESCRIPTION: The GA command specifies the m aster axes for electronic gearing. Note: This command is only valid for the DMC-1425. All other Econo series controllers must us e the auxiliary encoder as the master.
96 ● GN DMC-1400 Series Command Referen ce G N FUNCTION: Gain DESCRIPTION: The GN command sets the gain of the con trol loop or ret urns the prev iously set value. It fits in the z-transform control equatio n as follows: D(z) = GN(z-ZR)/z ARGUMENTS: GN n w here n is an unsigned in teger in the range 0 to 2047 decimal.
DMC-1400 Series Command Reference GM ● 97 G M FUNCTION: Gant ry mode DESCRIPTION: The GM comm and specifies t he axes in whi ch the gearin g function is perform ed in the Gant ry mode. In this mode, the gearing will not stop by the ST command or by limit switches.
98 ● GR DMC-1400 Series Command Referen ce GR FUNCTION: Gear Ratio DESCRIPTION: GR specifies the Gear Ratios for t he slave axis in the electronic gear ing mode. The ma ster axis for the DMC-1425 is specified with th e GA comm and. For all 141X cont rollers, t he master axis need not be set.
DMC-1400 Series Command Reference HM ● 99 HM FUNCTION: Home DESCRIPTION: The HM command perform s a three-stage homing sequence for servo systems and two st age sequence for stepp er m otor operation.
HX FUNCTION: Halt Execution DESCRIPTION: The HX command halts the execu tion of any of the two programs that may be running independently in m ultitasking.
DMC-1400 Series Command Reference IA ● 101 I A FUNCTION: IP Address DESCRIPTION: The IA command assigns the cont roller with an IP add ress. The IA command may also be used to specify th e time out value. This is only applicable when using the TCP/IP protocol .
102 ● IF DMC-1400 Series Command Reference I F FUNCTION: IF conditional statement DESCRIPTION: The IF command is used in conjun ction with an ENDIF command to form an IF conditional statement.
DMC-1400 Series Command Reference IH ● 103 IH FUNCTION: Open Internet Handle DESCRIPTION: The IH command is used when th e DMC-1415, DMC-1416 or DMC-1425 is operated as a master (also known as a client). This comm and opens a hand le and connects to a slave.
104 ● IH DMC-1400 Series Com mand Reference _Ihh4 contains a 1 if waiting for a slave resp onse contains 2 if transm ission is successful contai ns 3 if tr ansmission er ror occurs contains 4 if tra.
DMC-1400 Series Command Reference II ● 105 II FUNCTION: Input Interrupt DESCRIPTION: The II command enables the interrupt fun ction for the specified inputs. This function triggers when the controller sees a logic change from high to low on a specified input.
106 ● II DMC-1400 Series Command Reference EXAMPLES: #A Program A II 1 Specif y interrupt on input 1 JG 5000 Specify jog speed BG Begin motion #LOOP;JP #LOOP Loop EN End Program #ININT Interrupt sub.
DMC-1400 Series Command Reference IL ● 107 IL FUNCTION: Integrator Limit DESCRIPTION: The IL command limits the effect of the integr at or function in the filter to a certain voltage. For example, IL 2 limits the output of the integrator to the +/-2 Volt range.
108 ● IN DMC-1400 Series Com mand Reference IN FUNCTION: Input Variable DESCRIPTION: The IN command allows a variable to be i npu t from a keyboard. When th e IN comma nd is executed in a program, the pr ompt m essage is displayed . The operat or then e nters the variable val ue followed by a carriage ret urn.
DMC-1400 Series Command Reference IN ● 109 EXAMPLES: Operator specifies leng th of material to be cut in in ches and speed in inches/sec (2 pitch lea d screw, 2000 count s/rev enc oder).
110 ● @IN[n] DMC-1400 Series Comman d Reference @IN[n] FUNCTION: Read digital inpu t DESCRIPTION: Returns the value of the given dig ital input (either 0 or 1) ARGUMENTS: @IN[n] where n is an unsign.
DMC-1400 Series Command Reference #ININT ● 111 #ININT FUNCTION: Input interrupt auto m atic subrou tine DESCRIPTION: #ININT runs upon a st ate transit ion of digi tal input s 1 to 8 a nd is con figured wi th II. #I NINT runs in thread 0 and requires something runn ing in thread 0 to be active.
112 ● @INT[n] DMC-1400 S eries Command Reference @INT[n] FUNCTION: Integer part DESCRIPTION: Returns the integer pa rt of the gi ven num ber. Note that the m odulus operat or can be implemented with @INT (see example below). ARGUMENTS: @INT [n] n is a signed num ber in the range -2147483648 to 2147483647.
DMC-1400 Series Command Reference IP ● 113 IP FUNCTION: Increment Pos ition DESCRIPTION: The IP command allows for a chang e in the command position while the m otor is moving. This comm and does not re quire a BG. T he command has three effects dependi ng on the motion bei ng executed.
114 ● IT DMC-1400 Series Command Reference IT FUNCTION: Inde pendent T ime Const ant - Sm oothing F unction DESCRIPTION: The IT command filters the acceleration a nd d eceleration functions in independent m oves of JG, PR, PA type to produce a smooth velocity profile.
DMC-1400 Series Command Reference IV ● 115 IV FUNCTION: Interrogate Interrupt DESCRIPTION: The IV command interrogates an d clears the interrupt. When an interrup t occurs, the IV command is sent from the host PC. The mean ing is read and the interrupt cond ition is cleared.
116 ● JG DMC-1400 Series Command Reference JG FUNCTION: Jog DESCRIPTION: The JG command sets the jog mode. The para meters following the JG set the slew speed and direction of m otion. Use of the question m a rk returns the previously entered value or default value.
DMC-1400 Series Command Reference JP ● 117 JP FUNCTION: Jump t o Program Location DESCRIPTION: The JP command causes a jump to a program lo cation on a specified condition. T he program location may be any program line number or label. The conditio n is a conditional statement which uses a logical operator such as equal to or less than.
118 ● JS DMC-1400 Series Command Reference JS FUNCTION: Jump to Subroutine DESCRIPTION: The JS command will ch ange the sequential order of execution of commands in a program. If the jump is taken, program execution will continu e at the line specified by the destination parameter, whi ch can be eit her a line num ber or label.
DMC-1400 Series Command Reference KD ● 119 KD FUNCTION: Derivat ive Constant DESCRIPTION: KD designates the derivative constant in the c ontroller filter. The filte r transfer function is D(z) = 4 ⋅ KP + 4 ⋅ KD(z-1)/z + KIz/2 (z-1) Fo r further details on the filter see the section Theory of Operation in the product manual.
KI FUNCTION: Integrator DESCRIPTION: The KI command sets the integr al gain of t he control loop. It fits in the contro l equation as follows: D(z) = 4 ⋅ KP + 4 ⋅ KD(z-1)/z + KI z/2(z-1) Th e integrator term will reduce the position error at rest to zero.
KP FUNCTION: Proportional Constant DESCRIPTION: KP designates the proportional constan t in the co ntroller filter. The filte r transfer function is D(z) = 4 ⋅ KP + 4 ⋅ KD(z-1)/z + KI z/2(z-1) For further details see the section Th eory of Operation in the product manual.
KS FUNCTION: Step M otor Sm oothing DESCRIPTION: The KS param eter smoot hes the freque ncy of the st ep motor pulses. Larg er values of K S 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 ou tput of the m otion profiler.
L A FUNCTION: List Arrays DESCRIPTION: The LA command returns a list of all arrays in memory. The listing will be in alph abetical order. The size of each array will be included next to each array name in square brackets.
124 ● LE DMC-1400 Series Com mand Reference L E FUNCTION: Linear I nterpolati on End DESCRIPTION: LE Signifies the end of a l inear interpol ation seque n ce. It follows the last LI specification in a linear sequence. After the LE specification, the c ontroller issues commands to decelerate the motors to a stop.
DMC-1400 Series Command Reference _LF* ● 125 _LF* FUNCTION: Forward Limit Switch Operand (K eyword) DESCRIPTION: The _LF operand contains the state of the forward limit switch for the specified axis. The operand is specified as: _LFn whe re n is the specifie d axis.
126 ● LI DMC-1400 Series Command Reference L I FUNCTION: Linear Interpolation Distance DESCRIPTION: The LI x,y command speci fies the incremental dist ance of travel for each axis in the Linear Interpolation (LM) mode. LI parameters are relative distances given with respect to the current axis positions.
DMC-1400 Series Command Reference LI ● 127 EXAMPLES: LM XY Specify linear interpolation mode LI 1000,2000 Specify distance LE Last segment BGS Begin sequence.
128 ● #LIMSWI DMC-1400 S eries Command Reference #LIMSWI FUNCTION: Limit switch automatic subroutine DESCRIPTION: Without #LIMSWI defined, the controller will effectiv ely issue the STn on the axis when it’s limit switch is tripped. With #LIMSWI define d, the axis is still st oppe d, and in addition, code is executed.
DMC-1400 Series Command Reference LL ● 129 LL FUNCTION: List Labels DESCRIPTION: The LL command returns a listing of all of the program labels in memory.
130 ● LM DMC-1400 S eries Command Reference LM FUNCTION: Linear Int erpolation M ode DESCRIPTION: The LM command specifies the linear inte rpola tion mode and specifies the axes for linear interpolation. Only the DMC-1425 supp orts the linear interpolation mode.
DMC-1400 Series Command Reference _LR* ● 131 _LR* FUNCTION: Reverse Limit Switch Operand (Keywo rd) DESCRIPTION: *The _LR ope rand contai ns the state of the reverse limit swi tch.
132 ● LS DMC-1400 Series Com mand Reference LS FUNCTION: List DESCRIPTION: The LS comm and sends a listing o f the program memory. The listing will start with the line pointed to by the first paramete r, which ca n be either a line number or a la bel.
DMC-1400 Series Command Reference LV ● 133 LV FUNCTION: List Variables DESCRIPTION: The LV command returns a listing of all of the program labels in memory.
134 ● LZ DMC-1400 Series Command Reference LZ FUNCTION: Inhibit leading zeros DESCRIPTION: The LZ comm and is used for formatt ing the val ues returned fr om interro gation com mands or interrogation of variables and arrays. By enab ling the LZ function, all leading zeros of returned values will b e rem oved.
DMC-1400 Series Command Reference MB ● 135 MB FUNCTION: Modbus DESCRIPTION: The MB command is used to communicate with I/O devices using th e first two levels of the Modbus pr otocol. The format of t he command varies dependi ng on each function c ode.
136 ● MB DMC-1400 Series Command Referen ce n is the number of regi sters array[] will ho ld the response MBh = addr, 4, m, n, ar ray[] where m is the starting register number n is the number of regi sters array[] will ho ld the response MBh = addr, 5, m, n where m is the starting bit number n is 0 or 1 and represents th e coil set to off or on.
DMC-1400 Series Command Reference MC ● 137 M C FUNCTION: Motion Complete - "In Position" DESCRIPTION: The MC command is a trippoint used to con trol the timing of events. This command will hold up execution of the fo llowing commands until the current move is completed and the encoder reaches or p asses the specified po sition.
#MCTIME FUNCTION: MC command timeout automatic subroutine DESCRIPTION: #MCTIME runs when the MC command is used to wait for motion to be complete and the actual position TP does not reach or pass th e target _PA + _PR within the specified timeout TW.
DMC-1400 Series Command Reference MF ● 139 MF FUNCTION: Forward Motion to Position DESCRIPTION: The MF command is a trippoint used to control the timing of even ts. This comm and will hold up the executio n of the following command until the specified motor moves forward and crosses the position specified.
140 ● MG DMC-1400 Series Command Reference MG FUNCTION: Message DESCRIPTION: The MG comm and sends da ta out the b us. This can be used to al ert an operat or, send instructions or return a variable value. ARGUMENTS: M G {Pn},{Ex},{ U} "m", {^n}, V {Fm .
DMC-1400 Series Command Reference MO ● 141 MO FUNCTION: Motor Off DESCRIPTION: The MO command shuts off th e control algorithm. The controller will continue to m onitor the motor posi tion. T o turn the m otor back on use t he Servo He re command (SH).
142 ● MR DMC-1400 Series Command Referen ce MR FUNCTION: Reverse Motion to Position DESCRIPTION: The MR command is a trippoint used to con trol the timing of events. This command will hold up the executio n of the following command until the specified motor moves backward and crosses the position specifi ed.
DMC-1400 Series Command Reference MT ● 143 MT FUNCTION: Motor Type DESCRIPTION: The MT command selects the type of the m otor and the pola rity of the driv e signal. Motor types include standard servo motors which require a voltage in the rang e of +/- 10 Volts, and step m otors which requi re pulse and direction si gnals.
144 ● NB DMC-1400 S eries Command Reference N B FUNCTION: Notc h Bandwi dth DESCRIPTION: The NB command sets real part of the notch poles ARGUMENTS: NB n,n or NBX=n where n is ranges from 0 Hz to 1 16 () ⋅ TM USAGE: While Moving Yes Default Value 0.
N F FUNCTION: Notch Freq uency DESCRIPTION: The NF command sets the freque ncy of the notch filter, which is placed in series with the PID compensation. ARGUMENTS: NF n,n or NFX=n where 1 4 () ⋅ TM where TM is the update ra te (default TM is 1 msec).
NO FUNCTION: No Operation DESCRIPTION: The NO command perform s no action in a se quence, but ca n be used as a comme nt in a program. After the NO, characters can be gi ven to form a program comment up to the maximum line length o f the cont roller. This helps to document a program.
DMC-1400 Series Command Reference NZ ● 147 N Z FUNCTION: Notch Zero DESCRIPTION: The NZ command sets the real part of the notch zero. ARGUMENTS: NZ n,n or NZX=n where n is ranges from 1 Hz to 1 16 () ⋅ TM n = ? Returns the value of the Notch filter zero for the specified axis.
OB FUNCTION: Output Bit DESCRIPTION: The OB n, logical expressi on command defi nes output bit n as either 0 or 1 dependin g on the result from the logical e xpression.
DMC-1400 Series Command Reference OC ● 149 O C FUNCTION: Output Compare DESCRIPTION: The OC comm and allows the generatio n of outp ut pulses ba sed on one o f the mai n encoder positions.
150 ● OE DMC-1400 Series Com mand Reference OE FUNCTION: Off on Error DESCRIPTION: The OE command causes the controller to shut off the motor comman d if the position error exceeds the limit specified by the ER command or an abort occurs from either the a bort input or an AB command.
DMC-1400 Series Command Reference OF ● 151 OF FUNCTION: Offset DESCRIPTION: The OF comm and sets a bias voltage in t he motor com mand output or returns a p reviousl y set value. This can be used to co unteract gravit y or an offset in an am plifier.
152 ● OP DMC-1400 Series Com mand Reference O P FUNCTION: Output Port DESCRIPTION: The OP comm and sends dat a to the out put ports of the cont roller.
DMC-1400 Series Command Reference OP ● 153 EXAMPLES: OP 0 Clear Output Port – all bits OP 7 Set outputs 1,2 and 3 MG _OP0 Returns the first parameter "m" (DMC-1415/1416/1425 only) MG _OP.
154 ● @OUT[n] DMC-1400 Series Com mand Reference @OUT[n] FUNCTION: Read digit al output DESCRIPTION: Returns the val ue of the given digita l output (either 0 o r 1) ARGUMENTS: @IN[n] where n is an .
DMC-1400 Series Command Reference P1CD P2CD ● 155 P1CD P2CD FUNCTION: Serial port 1 or serial port 2 code DESCRIPTION: DMC-21x2/ 3: P1CD returns the status o f the seri al port when in the operator .
156 ● P1CH P2CH DMC-1400 Series Command Reference P1CH P2CH FUNCTION: Serial port 1 or serial port 2 c haracter DESCRIPTION: P1CH returns the last character sent to the serial port when in the opera.
DMC-1400 Series Command Reference P1NM P2NM ● 157 P1NM P2NM FUNCTION: Serial port 1 or serial port 2 number DESCRIPTION: P1NM and P2 NM convert fr om ASCII (e. g. “1234”) t o binary so that a num ber can be stored into a variable and math can be performed on it.
158 ● P1ST P2ST DMC-1400 Series Command Reference P1ST P2ST FUNCTION: Serial port 1 or serial port 2 string DESCRIPTION: P1ST returns the last string (followed by carriage return) sent to the se ria.
DMC-1400 Series Command Reference #POSERR ● 159 #POSERR FUNCTION: Position error automatic sub routine DESCRIPTION: The factory default behavior of the Galil controller upon a p osition error (TE > ER) is to do nothing more than turn on the red light.
160 ● PA DMC-1400 S eries Command Reference PA FUNCTION: Position Absolute DESCRIPTION: The PA command will set the final destination of the nex t move. The position is referenced to the absolu te zero. If a ? is used, then the current destination (current command position if not moving, destination if in a m ove) is ret urned.
DMC-1400 Series Command Reference PF ● 161 PF FUNCTION: Position Format DESCRIPTION: The PF command allows the user to format the positio n numbers such as those returned by TP. The num ber of digits of integers a nd the num ber of digit s of fractions can be selected with this command.
162 ● PR DMC-1400 S eries Command Reference PR FUNCTION: Position Relative DESCRIPTION: The PR comma nd sets the inc remental di stance and directi on of the ne xt move. The move is referenced with respect to the current position. If a ? is used, then the curren t incremental distance is retu rned (even i f it was set by a PA comm and).
DMC-1400 Series Command Reference QD ● 163 QD FUNCTION: Download Array DESCRIPTION: The QD command transf ers array data from the host computer to the DMC-1400. QD array[],start,end requires that the array name be specified along with t he first element of the array and last element of the array.
164 ● QR DMC-1400 Series Comman d Reference Q R FUNCTION: Data Record DESCRIPTION: The QR command causes the controller to return a record of information regarding controller status. This status inform ation include s 4 bytes of header info rmation a nd specific bl ocks of information as speci fied by the comm a nd arguments.
DMC-1400 Series Command Reference QU ● 165 QU FUNCTION: Upload A rray DESCRIPTION: The QU command transf ers array data from the DMC-1400 to a host co mputer. QU requires that the array name be s pecified along with th e first elem ent of the array and last elem ent of the array.
166 ● QZ DMC-1400 S eries Command Reference Q Z FUNCTION: Return Data Record info rmation DESCRIPTION: The QZ command is an interrog ation command that returns information regarding the Data Record (DMC-1415/1416 /1425). The controller’s response to this command will b e the return of 4 integers separated by commas.
DMC-1400 Series Command Reference RA ● 167 RA FUNCTION: Record Array DESCRIPTION: The RA command selects one or two arrays for automatic data capture. The selected arrays must have bee n dimensi oned by the DM comm and. The data t o be captured i s specified by the RD c ommand and time i nterval by t he RC comm and.
168 ● RC DMC-1400 S eries Command Reference RC FUNCTION: Record DESCRIPTION: The RC comm and begin s recording for the Aut omatic Recor d Array Mo de (RA). RC 0 stops recording. ARGUMENTS: RC n,m where n is an int eger 1 thr u 8 and speci fies 2 n sampl es between re cords.
DMC-1400 Series Command Reference RD ● 169 RD FUNCTION: Record Data DESCRIPTION: The RD command specifies the data type t o be captured for the Record Array (RA) mode .
170 ● RE DMC-1400 S eries Command Reference RE FUNCTION: Return from Error Routine DESCRIPTION: The RE command is used to end a position error handling subroutine or limit switch handling subroutine. The error handling subroutine be gins with the #POSERR label.
DMC-1400 Series Command Reference REM ● 171 REM FUNCTION: Remark DESCRIPTION: REM is used for comments. Th e REM statement is NOT a controller command. Rather, it is recognized by Galil PC software, which strips away the REM lines before do wnloading the DMC file to the controller.
172 ● RI DMC-1400 Series Com mand Reference RI FUNCTION: Return from Interrupt Routine DESCRIPTION: The RI command is used to end the interrupt subroutine beginning with the lab el #ININT. An RI at the end of this routine caus es a return t o the main pr ogram.
DMC-1400 Series Command Reference RL ● 173 RL FUNCTION: Report Latched Position DESCRIPTION: The RL command will return the last position captured by the latch. The latch must first be armed by the AL c ommand and then a 0 m ust occur on the Input 1.
174 ● @RND[n] DMC-1400 Series Command Reference @RND[n] FUNCTION: Round DESCRIPTION: Rounds the gi ven num ber to the nearest inte ger ARGUMENTS: @RND[n] n is a signed num ber in the range -2147483648 to 2147483647.
DMC-1400 Series Command Reference RP ● 175 RP FUNCTION: Reference Position DESCRIPTION: This comm and returns the commanded reference po sition of t he motor.
RS FUNCTION: Reset DESCRIPTION: The RS command resets the state of the processor to its power-on con dition. The previously saved state of t he controll er, along with param eter values, and saved sequences a re restored. The RS-1 command resets the state of the proces sor to its factory default without modifying the EEROM .
DMC-1400 Series Command Reference <control>R<control>S ● 177 <control>R<control>S FUNCTION: Master Reset DESCRIPTION: The Master Reset command resets the DMC-140 0 to factory default settings and erases EEPROM.
178 ● <control>R< control>V DMC-1400 Series Command Reference <control>R<control>V FUNCTION: Revision Info rmation DESCRIPTION: The Revision Information c ommand causes the co ntr oller to return the fir mware revision information.
DMC-1400 Series Command Reference SA ● 179 S A FUNCTION: Send Com mand DESCRIPTION: SA sends a command from one Galil contro ller to anot her controller or IOC-7007 board over Eth ernet. Any command can be sent to another Galil card a nd will be interpreted by the card as a “local” command.
180 ● SA n DMC-1400 Series Command Reference SA n FUNCTION: Serial Address DESCRIPTION: SA assigns the address of a serial controller in a dais y-chain network. See Chapt er 4 in the DMC- 1412/1414 user manual for more information on daisy-chaining.
DMC-1400 Series Command Reference SB ● 181 SB FUNCTION: Set Bit DESCRIPTION: The SB comma nd sets one o f three bit s on the output port . Note: When using Mod bus devices (DMC-1415/1416/1425 ONLY),.
182 ● SC DMC-1400 S eries Command Reference SC FUNCTION: Stop C ode DESCRIPTION: The SC command allows the user to determine why a motor stop s. The controller responds with the stop code as follows.
DMC-1400 Series Command Reference SH ● 183 SH FUNCTION: Servo Here DESCRIPTION: The SH command tells the controller to use the current motor position as the command position and to en able servo control here. This command can be useful when the positio n of a m otor has been manually adjusted following a m otor off (MO) c ommand.
184 ● @SIN[n] DMC-1400 Series Command Reference @SIN[n] FUNCTION: Sine DESCRIPTION: Returns the sin e of the given angle in degree s ARGUMENTS: @SIN[n] where n is a signed number in degr ees in the range -2147483648 to 2147483647 .
DMC-1400 Series Command Reference SL ● 185 SL FUNCTION: Single Step DESCRIPTION: For debugging purposes. Single Step thro ugh the program after execution has paused at a breakpoint (BK). Opti onal argum ent allows use r to specif y the number o f lines to execute befo re pausing a gain.
186 ● SP DMC-1400 S eries Command Reference SP FUNCTION: Speed DESCRIPTION: This command sets the slew speed for inde pendent moves. The parameters input will be rounded d own to the nearest factor of 2 an d the units of the param eter are in cou nts per second.
@SQR[n] FUNCTION: Square Root DESCRIPTION: Takes the squa re root of the given num ber. If the num ber is negative, t he absolute value is taken first.
188 ● ST DMC-1400 Series Com mand Reference ST FUNCTION: Stop DESCRIPTION: The ST command stops commanded motion. The m o tor will come to a d ecelerated stop. ST sent from the host with no arguments will stop motion an d any programs that are running on the controller.
DMC-1400 Series Command Reference @TAN[n] ● 189 @TAN[n] FUNCTION: Tangent DESCRIPTION: Returns the tangent of the given an gle in degrees ARGUMENTS: @T AN[n] where n is a signed number in degr ees in the range -2147483648 to 2147483647 .
190 ● TB DMC-1400 S eries Command Reference TB FUNCTION: Tell Status Byte DESCRIPTION: The TB comma nd returns stat us informat ion from the controlle r as a decim al number.
DMC-1400 Series Command Reference TC ● 191 TC FUNCTION: Tell Error Code DESCRIPTION: The TC comma nd returns a n umber between 1 a nd 25 5. This number is a code that reflects why a command was not accepted by the cont roller.
192 ● TC DMC-1400 S eries Command Reference ECAM 28 S operand not valid 105 EB1 command must be given first 29 Not valid during coordinated move 110 No hall effect sensors detected 30 Sequence segme.
DMC-1400 Series Command Reference #TCPERR ● 193 #TCPERR FUNCTION: Ethernet communication error au tomatic subroutine DESCRIPTION: The following error (see TC) o ccurs when a command such as MG “he.
194 ● TD DMC-1400 S eries Command Reference TD FUNCTION: Tell Dual Encoder DESCRIPTION: This command returns the current positio n of the dual (auxiliary) encoder.
TE FUNCTION: Tell Error DESCRIPTION: This command returns the current position error of the motor. The range of possible error is +/-2147483647. The Tell Err or command is not valid for step motors since they operate open-lo op.
196 ● TH DMC-1400 S eries Command Reference T H FUNCTION: Tell Ha ndle Status DESCRIPTION: The TH command is used to request the con trollers’ handle status. Data returned from this command indicates the IP a ddress and Ethernet address of the cu rrent cont roller.
DMC-1400 Series Command Reference TI ● 197 TI FUNCTION: Tell Inputs DESCRIPTION: This command returns the state of all 7 general dig ital inputs or 3 inputs for the DMC-1425. Response is a decimal num ber whic h when conve rted to bi nary represe nts the status of all 7 digital in puts.
198 ● TIME* DMC-1400 S eries Command Reference TIME* FUNCTION: Time Operand (Keyword) DESCRIPTION: *The TIME op erand contains the value of t he in ternal free running, real time clock. The returned value rep resents the number of servo lo op updates and is based on the TM command.
DMC-1400 Series Command Reference TL ● 199 TL FUNCTION: Torque Limit DESCRIPTION: The TL command sets the limit o n the motor command output. For example, TL of 5 limits the motor c ommand output t o 5 volts . Maxim um output of the mot or comma nd is 9.
200 ● TM DMC-1400 S eries Command Reference TM FUNCTION: Update Tim e DESCRIPTION: The TM comma nd sets the sa mpling peri od of t he control l oop. Changi ng the sam pling period will uncalibrate the spe ed and acceleration param eters. A negative num ber turns off the servo loop.
DMC-1400 Series Command Reference TP ● 201 TP FUNCTION: Tell Position DESCRIPTION: This command returns the current position of the m otor ARGUMENTS: TP USAGE: While Moving Yes Default Value 0 In a .
202 ● TR DMC-1400 S eries Command Reference TR FUNCTION: Trace DESCRIPTION: The TR command causes each instruction in a program to be sent out the comm unications port prior to execution. TR1 enables this function and TR 0 disables it. The trace command is useful i n debuggi ng program s.
DMC-1400 Series Command Reference TS ● 203 TS FUNCTION: Tell Switches DESCRIPTION: TS returns the state of the Hom e switch, Fo rward and Reve rse Limi t switch, error c onditions, motion conditio n and motor state. The value returned by this command is decimal and represents an 8 bit value (decimal value ra nges from 0 to 255).
204 ● TT DMC-1400 Series Command Reference TT FUNCTION: Tell Torque DESCRIPTION: The TT command reports the value of the a nalog servo c ommand out put signal, which is a number betwee n -9.998 and 9. 998 volts. ARGUMENTS: TT USAGE: While Moving Yes Default Value --- In a Program Yes Default Format 1.
DMC-1400 Series Command Reference TV ● 205 TV FUNCTION: Tell Velocity DESCRIPTION: The TV command returns the actual velo city in units of quadrature count/s. The value returned includes the sign. ARGUMENTS: TV No argument will provid e t he auxiliary encoder position for all axes.
206 ● TW DMC-1400 Series Command Reference TW FUNCTION: Timeout for IN-Position (MC) DESCRIPTION: The TW n com mand sets t he timeout i n msec to declare a n error if the MC command is active and the motor is not at or beyond the actual position within n msec after the completion of the motion profile.
DMC-1400 Series Command Reference UI ● 207 UI FUNCTION: User Interrup t DESCRIPTION: The UI command causes an interrupt on the s elect ed IRQ line. There ar e 16 user interrupts where UI n , n = 0 thr ough 15. P rior to u sing the U I comma nd, one IR Q line m ust be jumpered on the DMC-141X.
208 ● UL DMC-1400 S eries Command Reference UL FUNCTION: Upload DESCRIPTION: The UL co mmand transfers data from the DMC-1 41X to a host computer. Program s are sent without line numbers. The Upload ed program will be followed by a <control>Z or a as an end of Text m arker.
DMC-1400 Series Command Reference VA ● 209 VA FUNCTION: Vector Acceleration DESCRIPTION: This command sets the acceleration rate of th e vector in a coordinated motion sequence. ARGUMENTS: VA n w here n is an unsigned integ er in the range 1024 to 68,431,360.
210 ● VD DMC-1400 S eries Command Reference VD FUNCTION: Vector Deceleration DESCRIPTION: This command sets the decele ration rate of th e vector in a coordinated motion sequence. ARGUMENTS: VD n w here n is an unsigned integer in t he range 1024 to 68431360.
DMC-1400 Series Command Reference VE ● 211 V E FUNCTION: Vector Sequence End DESCRIPTION: VE is require d to specify the end segment of a coordinate d move sequence . VE woul d follow the final VP or CR comm and in a sequence . VE is equi valent to t he LE comm and.
212 ● VF DMC-1400 Series Com mand Reference VF FUNCTION: Variable Form at DESCRIPTION: The VF comm and allows the variabl es and arrays to be for matted for n umber of digits before and after the decimal poi nt.
DMC-1400 Series Command Reference VM ● 213 V M FUNCTION: Coordinate d Motion Mode DESCRIPTION: T he VM comm and specifies th e coordinate d motion m ode and the pl ane of mot ion. This command is only used for th e DMC-1425 two axis controller. The motion is specified by t he instructions VP and CR, which specify linear and circular segments.
214 ● VP DMC-1400 S eries Command Reference V P FUNCTION: Vector Position DESCRIPTION: The VP comm and defines the target c oordinat es of a straight line segm ent in a 2 axi s motion sequence which have been selected by the VM command. The units are i n quadrature counts, and are a function of the vector scale factor set using the command VS.
DMC-1400 Series Command Reference VR ● 215 V R FUNCTION: Vector Speed Ratio DESCRIPTION: The VR sets a ratio to be used as a multiplier of the current vector speed. The vector speed can be set by t he command VS or the ope rators < and > used with CR , VP and LI commands.
216 ● VS DMC-1400 S eries Command Reference V S FUNCTION: Vector Speed DESCRIPTION: The VS command specifies the speed of the vector i n a coordinat ed motion sequence in either the LM or VM modes.
DMC-1400 Series Command Reference VT ● 217 VT FUNCTION: Vector Tim e Consta nt DESCRIPTION: The VT command filters the acceleration a nd decel eration functions in vector moves of VM, LM type to produce a smooth velocity profile.
218 ● WC DMC-1400 Series Command Reference WC FUNCTION: Wait for Con tour Data DESCRIPTION: The WC command acts as a flag i n the Contour Mode. After this command is executed, the controller does not receive a ny new data until th e internal contour data buffer is ready to accept new commands.
DMC-1400 Series Command Reference WH ● 219 W H FUNCTION: Which Handl e DESCRIPTION: The WH command is used to identify the handl e in which the comm and is executed. Th e command ret urns IHA t hrough IHF to indicat e on which ha ndle the com mand was executed.
220 ● WT DMC-1400 Series Command Reference WT FUNCTION: Wait DESCRIPTION: The WT command is a trippoint used to time events. After this command is executed, the controller will wait for the number of samples specified before executing the next command.
DMC-1400 Series Command Reference XQ ● 221 XQ FUNCTION: Execute Program DESCRIPTION: The XQ command begins ex ecution of a program residing in th e program memory of the controller. Execution will start at the lab el or line number specified. Up to two programs may be executed simultaneously to perform multitasking.
222 ● ZR DMC-1400 S eries Command Reference ZR FUNCTION: Zero DESCRIPTION: The ZR command sets the compensating zero by changing the KD value in the control loo p or returns the previou sly set value.
DMC-1400 Series Command Reference ZS ● 223 ZS FUNCTION: Zero Subroutine Stack DESCRIPTION: The ZS comm and is only valid in an ap plication p rogram and is used to avoid returning f rom an interrupt (either input or error). ZS alon e returns the stack to its original con dition.
224 ● ZS DMC-1400 Series Com mand Reference THIS PAGE LEFT BLANK INTENTIONALLY.
DMC-1400 Series Command Reference Index ● 225 Index Abort ........................................................... 13, 180, 181 Off-On-Error............................................................ 13 Acceleration .............................
226 ● Index DMC-1400 Series Command Reference Halt Abort ........................................................ 13, 180, 181 Off-On-Error............................................................ 13 Home Inputs ..................................
DMC-1400 Series Command Reference Index ● 227 Clear Sequence ........................................................ 62 Ellipse Scale ............................................................ 88 Vector Mo tion ...................................
Un point important après l'achat de l'appareil (ou même avant l'achat) est de lire le manuel d'utilisation. Nous devons le faire pour quelques raisons simples:
Si vous n'avez pas encore acheté Galil DMC-1400 c'est un bon moment pour vous familiariser avec les données de base sur le produit. Consulter d'abord les pages initiales du manuel d'utilisation, que vous trouverez ci-dessus. Vous devriez y trouver les données techniques les plus importants du Galil DMC-1400 - de cette manière, vous pouvez vérifier si l'équipement répond à vos besoins. Explorant les pages suivantes du manuel d'utilisation Galil DMC-1400, vous apprendrez toutes les caractéristiques du produit et des informations sur son fonctionnement. Les informations sur le Galil DMC-1400 va certainement vous aider à prendre une décision concernant l'achat.
Dans une situation où vous avez déjà le Galil DMC-1400, mais vous avez pas encore lu le manuel d'utilisation, vous devez le faire pour les raisons décrites ci-dessus,. Vous saurez alors si vous avez correctement utilisé les fonctions disponibles, et si vous avez commis des erreurs qui peuvent réduire la durée de vie du Galil DMC-1400.
Cependant, l'un des rôles les plus importants pour l'utilisateur joués par les manuels d'utilisateur est d'aider à résoudre les problèmes concernant le Galil DMC-1400. Presque toujours, vous y trouverez Troubleshooting, soit les pannes et les défaillances les plus fréquentes de l'apparei Galil DMC-1400 ainsi que les instructions sur la façon de les résoudre. Même si vous ne parvenez pas à résoudre le problème, le manuel d‘utilisation va vous montrer le chemin d'une nouvelle procédure – le contact avec le centre de service à la clientèle ou le service le plus proche.
