Galil DMC-1700 Binary Command Format, Header Format, Datafields Format, A7 02 00 05 03 E8 FE 0C

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

05 specifies bit 0 is active for A axis and bit 2 is active for C axis (20 + 22=5) 03 E8 represents 1000

FE OC represents -500

DMC-1700/1800 Chapter 5 Command Basics • 81