Galil DMC-2X00 user manual Command Syntax Binary, Header 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 motion. 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

18 • Chapter 5 Command Basics DMC-2X00