Galil DMC-1400 CW

DMC-1400 Series Command Reference CW ● 63

FUNCTION: Copyright information / Data Adjustment bit on/off

DESCRIPTION:

The CW command has a dual usage. The CW command will return the copyright information

when the argument, n is 0. Otherwise, the CW command is used as a communications

enhancement for use by the Servo Design Kit software. When turned on, the communication

enhancement sets the MSB of unsolicited, returned ASCII characters to 1. Unsolicited ASCII

characters are those characters which are returned from the controller without being directly

queried from the terminal. This is the case when a program has a command that requires the

controller to return a value or string.

ARGUMENTS: CW n,m where

n is a number, either 0,1 or 2:

0 Causes the controller to return the copyright information

1 Causes the controller to set the MSB of unsolicited returned characters to 1

2 Causes the controller to not set the MSB of unsolicited characters.

“?” returns the copyright information for the controller

m is 0 or 1 (optional)

0 Causes the controller to pause program execution when output FIFO is full

until FIFO no longer full.

1 Causes the controller to continue program execution when output FIFO is

full - output characters after FIFO is full will be lost.

USAGE:

While Moving Yes* Default Value

In a Program Yes Default Format

Command Line Yes

Can be Interrogated No

Used as an Operand Yes

Controller Usage ALL

OPERAND USAGE:

_CW contains the value of the data adjustment bit. 1 =on, 2 = off

*Note: The CW command can cause garbled characters to be returned by the controller. The default

state of the controller is to disable the CW command, however, the Galil Servo Design Kit software

and terminal software may sometimes enable the CW command for internal usage. If the controller is

reset while the Galil software is running, the CW command could be reset to the default value which

would create difficulty for the software. It may be necessary to re-enable the CW command. The CW

command status can be stored in EEPROM.

*Note 2: The CW, 1 Command should not be used with the DMC-1415 or DMC-1425. These

controllers have only a 1 byte UART and are subsequently always seen as full.

*Note 3: Specifying both fields of the CW command is not valid. If CW, 2,1 is issued, for instance, the

controller will not recognize the second field. Instead, the user must issue CW2 & CW,1 individually.