Galil DMC-13X8 Command Syntax Binary, Binary Command Format, Header Format, Datafields Format

Command Syntax – Binary

Some commands have an equivalent binary value. Binary communication mode can be executed much faster than ASCII commands. Binary format can only be used when commands are sent from the PC and cannot be embedded in an application program.

Binary Command Format

All binary commands have a 4 byte header and is followed by data fields. The 4 bytes are specified in hexadecimal format.

Header Format:

Byte 1 specifies the command number between 80 to FF. The complete binary command number table is listed below.

Byte 2 specifies the # of bytes in each field as 0,1,2,4 or 6 as follows:

00	No datafields (i.e. SH or BG)
01	One byte per field
02	One word (2 bytes per field)
04	One long word (4 bytes) per field
06	Galil real format (4 bytes integer and 2 bytes fraction)

Byte 3 specifies whether the command applies to a coordinated move as follows:

00	No coordinated motion movement
01	Coordinated motion movement

For example, the command STS designates motion to stop on a vector move, S coordinate system. The third byte for the equivalent binary command would be 01.

Byte 4 specifies the axis # or data field as follows Bit 7 = H axis or 8th data field

Bit 6 = G axis or 7th data field Bit 5 = F axis or 6th data field Bit 4 = E axis or 5th data field Bit 3 = D axis or 4th data field Bit 2 = C axis or 3rd data field Bit 1 = B axis or 2nd data field Bit 0 = A axis or 1st data field

Datafields Format

Datafields must be consistent with the format byte and the axes byte. For example, the command PR 1000,, -500 would be

A7 02 00 05 03 E8 FE 0C

where A7 is the command number for PR 02 specifies 2 bytes for each data field 00 S is not active for PR

USER MANUAL Chapter 5 Command Basics • 57