Datafields Format, Example, Binary Command Table | Galil DMC-2X00

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 OE represents -500

Example

The command ST ABCS would be A1 00 01 07

where A1 is the command number for ST 00 specifies 0 data fields

01 specifies stop the coordinated axes S

07 specifies stop X (bit 0), Y (bit 1) and Z (bit 2) 20+21+23 =7

Binary Command Table

COMMAND	NO.	COMMAND	NO.	COMMAND	No.

reserved	80	reserved	ab	reserved	d6

KP	81	reserved	ac	reserved	d7

KI	82	reserved	ad	RP	d8

KD	83	reserved	ae	TP	d9
DV	84	reserved	af	TE	da

AF	85	LM	b0	TD	db

KF	86	LI	b1	TV	dc

PL	87	VP	b2	RL	dd

ER	88	CR	a3	TT	de

IL	89	TN	b4	TS	df

TL	8a	LE, VE	b5	TI	e0
MT	8b	VT	b6	SC	e1

CE	8c	VA	b7	reserved	e2

OE	8d	VD	b8	reserved	e3

FL	8e	VS	b9	reserved	e4

BL	8f	VR	ba	TM	e5

DMC-2X00

Chapter 5 Command Basics y 19

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Galil DMC-2X00 user manual Datafields Format, Example, Binary Command Table, Le, Ve

Contents

DMC-2x00 By Galil Motion Control, Inc Using This Manual Contents Connecting Hardware Communication Iv Contents DMC-2X00 Application Programming Troubleshooting 130 Contents y Index 210 Overview Mechanical Specifications SpecificationsElectrical Specifications DMC- 2000 Family Part Number Definition Standard Servo Motor with +/- 10 Volt Command Signal Environmental SpecificationsEquipment Maintenance Overview of Motor Types Amplifiers in Velocity Mode Stepper Motor with Step and Direction SignalsAmplifiers in Current Mode Overview of Amplifiers Motor Interface DMC-2x00 Functional ElementsMicrocomputer Section Communication Motor General I/OSystem Elements Amplifier Driver Watch Dog Timer Encoder This page Left Blank Intentionally Getting Started DMC-2000 Daughter Board Outline of the DMC-2000 Daughter Board DMC-2200 Daughter Board 3B Outline of the DMC-2200 Daughter Board Elements You Need CABLE-USB-2M CABLE-USB-3M Recommended System Elements of DMC-2100/DMC-2200 Standard Servo Motor Operation Installing the DMC-2x00Determine Overall Motor Configuration Sinusoidal Commutation Install Jumpers on the DMC-2x00Master Reset and Upgrade Jumpers Stepper Motor Operation Configure DIP switches on the DMC-2000 Configure DIP switches on the DMC-2100 Switch 4, 5 and 6 Main Serial Port Baud RateSwitch 10 USB Configure DIP switches on the DMC-2200 Install the Communications Software Connect AC Power to the Controller Establish Communications with Galil Software Communicating through the Main Serial Communications Port Communicating through the Universal Serial Bus USB Communicating through the Ethernet Sending Test Commands to the Terminal Determine the Axes to be Used for Sinusoidal Commutation Make Connections to Amplifier and Encoder DMC-2X00 Connect Standard Servo Motors Inverting the Loop Polarity BGA CR ICM-2900 Example Sinusoidal Commutation Configuration using a DMC Connect Sinusoidal Commutation Motors Getting Started DMC-2X00 SHA Connect Step Motors Tune the Servo System InstructionInterpretation Design ExamplesSystem Set-up Instruction Interpretation Independent Moves Profiled MoveMultiple Axes Position Interrogation Absolute Position Velocity Control Operation Under Torque Limit Operation in the Buffer ModeUsing the On-Board Editor Interrogation Line # Instruction Interpretation Motion Programs with LoopsMotion Programs with Trippoints XQ #B Control VariablesLinear Interpolation AMA BGS Circular InterpolationLM ABC VM AB This page Left Blank Intentionally Overview Using Optoisolated InputsLimit Switch Input Home Switch Input Abort Input Uncommitted Digital Inputs Wiring the Opto-Isolated InputsReset Input Opto-Isolation Common Point Using an Isolated Power Supply Optoisolated Inputs Bypassing the Opto-Isolation Analog InputsAmplifier Interface TTL Inputs Auxiliary Encoder Inputs Output Compare TTL OutputsGeneral Use Outputs Interfacing to Grayhill or OPTO-22 G4PB24 Error OutputExtended I/O of the DMC-2x00 Controller RS232 Main Port P1 Dataterm IntroductionRS232 Ports RS232 Auxiliary Port P2 Dataset RS422 Auxiliary Port P2 RS-232 ConfigurationRS422 Main Port P1 Baud Rate Selection Daisy-Chaining DMC-2000 only Address Communication Protocols Ethernet Configuration DMC-2100/2200 onlyCommand Interpretation Addressing LED DMC-2X00 Communicating with Multiple Devices Using Third Party Software Multicasting Data Record Data Record Map DMC-2X00 Header Information Byte 0, 1 of Header BIT General Status Information 1 Byte Axis Switch Information 1 ByteBytes 2, 3 of Header Axis Status Information 2 Byte Controller Response to Commands QZ Command Unsolicited Messages Generated by Controller Galil Software Tools and Libraries Command Syntax Ascii Important All DMC-2x00 commands are sent in upper case BG D BG AbcdBG Abcdefgh BG S Command Syntax Binary Header Format Example Binary Command TableDatafields Format LE, VE Controller Response to Data Interrogating Current Commanded Values Interrogation CommandsSummary of Interrogation Commands Interrogating the Controller Command Summary =TPA This page Left Blank Intentionally Example Application Mode of Motion Commands GA, GD Independent Axis PositioningVS,VA,VD GP, GR Command Summary Independent Axis Operand Summary Independent Axis Multiple Move Sequence ExamplesAbsolute Position Movement 15000 10000 Position Tracking20000 5000 Time ms 100 Command Description PT1 Example Motion Example Motion Position vs. Time msec Motion Velocity vs.Time Motion Trip Points Velocity cts/sec vs. Time msec with IT Motion Independent Jogging Command Summary Position Tracking ModeCommand Summary Jogging AS a Jog in X onlyJoystick Jogging #JOY Specifying Linear Segments Linear Interpolation ModeSpecifying the Coordinate Plane Changing Feed Rate Additional CommandsSpecifying Vector Speed for Each Segment #ALT Linear Interpolation Motion Command Summary Linear InterpolationOperand Summary Linear Interpolation Linear Move LM CD Position D Vector Mode Linear and Circular Interpolation Motion Multiple Moves Specifying Vector Segments Trippoints Compensating for Differences in Encoder ResolutionCommand Summary Coordinated Motion Sequence Tangent Motion Operand Operand Summary Coordinated Motion SequenceTangent Axis AM ABC Coordinated MotionBG ABC SB0 Electronic Gearing Ramped Gearing Velocity cts/sec vs. Time msec Ramped Gearing MO Z Command Summary Electronic GearingElectronic Gearing Over a Specified Interval GA Z, Z Electronic Gearing Gantry ModeSimple Master/Slave Electronic Cam GA,A DMC-2X00 3000 2250 1500 2000 4000 6000 Master a Command Summary Electronic CAM Command Description Operand Summary Electronic CAM Electronic CAM Contour Mode Specifying Contour Segments DT0CD0 336 288 240 192 Time msCMA General Velocity Profiles Command Summary Contour ModeCommand Description CM Abcdefgh Generating an Array Contour Mode #POINTS Teach Record and Play-Back Record and Playback Example Sinusoidal Motion Example Virtual AxisEcam master example Specifying Stepper Motor Operation Monitoring Generated Pulses vs. Commanded PulsesStepper Motor Operation Stepper Motor Smoothing Motion Complete Trip point Using an Encoder with Stepper MotorsCommand Summary Stepper Motor Operation Stepper Position Maintenance Mode SPM Operand Summary Stepper Motor Operation Correction Error LimitExample SPM Mode Setup SHX Example Error Correction #MOTION Example Friction Correction Dual Loop Auxiliary Encoder Continuous Dual Loop Additional Commands for the Auxiliary EncoderBacklash Compensation = Main Encoder Second Encoder #DUALOOP Motion SmoothingSampled Dual Loop DE0 Using the IT and VT Commands Using the KS Command Step Motor Smoothing Trapezoidal velocity and smooth velocity profiles Homing Home Sensor Home Switch Operand Summary Homing Operation Command Summary Homing OperationHigh Speed Position Capture The Latch Function Input Function #WAIT #LATCHAL B JP #WAIT,ALB=1 Using the DOS Editor to Enter Programs DMC-2000 only Application Programming Edit Mode Commands ED #BEGIN Special Labels Using Labels in ProgramsProgram Format #START No Command Commenting Programs REM Half Circle Motion VP 0,3000 REM TOP Line REM CommandExecuting Programs Multitasking Trace Commands DMC-2100/2200 only Debugging Programs RAM Memory Interrogation Commands Error Code CommandStop Code Command Program Flow Commands Event Triggers & Trippoints AS a B C D E F G H Command FunctionDMC-2x00 Event Triggers Example- Repetitive Position Trigger Example- Multiple Move SequenceExample- Set Output after Distance Example Start Motion on Input Example Set Output when At Speed Example Change Speed along Vector Path Conditional Jumps Example- Define Output Waveform Using ATExample Multiple Move with Wait Conditional Statements Command Format JP and JSLogical operators Multiple Conditional Statements JP#A ExamplesIf, Else, and Endif #BEGIN Command Format IF, Else and Endif Using the if and Endif CommandsUsing the Else Command Nesting if Conditional Statements Auto-Start Routine SubroutinesStack Manipulation Example Limit Switch Automatic Subroutines for Monitoring Conditions Example Input Interrupt Example Position ErrorExample Motion Complete Timeout Example Command Error PAA=0 Example Command Error w/MultitaskingExample Communication Interrupt Example Ethernet Communication Error Bit-Wise Operators Mathematical and Functional ExpressionsMathematical Operators Operator Function Response from command MG len6 S4 Variables Functions Assigning Variable Values to Controller Parameters Programmable VariablesAssigning Values to Variables Displaying the value of variables at the terminal Example Using Variables for JoystickOperands Special Operands Keywords Assignment of Array Entries ArraysDefining Arrays Time Automatic Data Capture into Arrays Using a Variable to Address Array ElementsUploading and Downloading Arrays to On Board Memory Operand Summary Automatic Data Capture Command Summary Automatic Data CaptureData Types for Recording Example Recording into an Array Input of Data Input of Data Numeric and StringDeallocating Array Space Example- Inputting Numeric Data Operator Data Entry Mode Keyword Function Using Communication Interrupt Output of Data Numeric and String Inputting String Variables Formatting Messages Sending MessagesSpecifying the Port for Messages Displaying Variables and Arrays Using the MG Command to Configure TerminalsSummary of Message Functions Example Printing a Variable and an Array element 0000000009 LZ0 Local Formatting of Variables Local Formatting of Response of Interrogation CommandsFormatting Variables and Array Elements LZ1 Digital Outputs Hardware I/OConverting to User Units Alph Example- Output Port Example- Set Bit and Clear BitExample- Output Bit Example Turn on output after move Input Interrupt Function Example Using Inputs to control program flowExample Start Motion on Switch AI 1BGA TP AB Analog InputsExample Position Follower Point-to-Point ST AB PA VP Configuring the I/O of the DMC-2x00Example Position Follower Continuous Move #CONT Bit I/O Block Binary Decimal Value for Representation Accessing Extended I/OSaving the State of the Outputs in Non-Volatile Memory Argument Blocks Bits Description Interfacing to Grayhill or OPTO-22 G4PB24 Wire CutterExample Applications Table Controller JP #A BGS AMS AMCBGC AMC Speed Control by Joystick Position Control by Joystick Backlash Compensation by Sampled Dual-Loop BGA JP #B This page Left Blank Intentionally Hardware Protection Output Protection Lines Software Protection Input Protection Lines Programmable Position Limits Off-On-ErrorAutomatic Error Routine #AJP #AEN Limit Switch Routine Troubleshooting Installation Operation CommunicationStability Theory of Operation Level Operation of Closed-Loop Systems Velocity and Position Profiles System Modeling Functional Elements of a Motion Control System Current Drive Motor-AmplifierVoltage Drive Velocity Loop Elements of velocity loops Voltage Source DAC Digital Filter ZOH System Analysis Magnitude 200 2000 Rad/s System Design and Compensation Analytical Method Theory of Operation DMC-2X00 Equivalent Filter Form Stepper Control Electrical SpecificationsServo Control Input / Output Minimum Servo Loop Update Time Performance SpecificationsPower Normal Fast Update Rate Mode Connectors for DMC-2x00 Main Board DMC-2x00 Axes A-D High Density Connector DMC-2x00 Axes E-H High Density Connector DMC-2x00 Auxiliary Encoder 36 Pin High Density Connector DMC-2x00 Extended I/O 80 Pin High Density Connector +5V RS-232-Auxiliary Port Pin SignalRS-232-Main Port USB USB Out Cable Connections for DMC-2x00 Standard RS-232 SpecificationsPin Serial Connector Male, D-type Ethernet DMC-2x00 Serial Cable Specifications Pin Male computer Pin female controller Pin Female terminal Pin Male Controller Pin Female Computer Pin Female ControllerPin Male terminal Pin male controller Inputs Pin-Out Description for DMC-2x00Outputs Appendices DMC-2X00 Function If jumpered Jumper Description for DMC-2x00Jumper Label Dimensions for DMC-2x00 Accessories and Options DMCWIN16 DMCWIN32 SETUP16 SETUP32 KIT Block 4 PIN Label Description ICM-2900 Interconnect ModuleDescription Mocmdy ErrorPwmx Signy Xlatch ResetIN8 Ylatch +MBZ +MAZMAZ MBZ ICM-2900 Drawing ICM ICM-2908 Interconnect Module ICM-2908 Drawing ICM-2908 PCB Layout of the ICM-2900 ICM-1900 Interconnect Module FeaturesISO OUT Power Error Reset CMP Mocmdw Terminal Label DMC-2X00 100 101 102 103 104 105 106 107 MBW +INW AMP-19x0 Mating Power AmplifiersICM-1900 Drawing Standard Opto-Isolation and High Current Opto-isolation SpecificationsOpto-Isolated Outputs for ICM-2900 / ICM-1900 / AMP Laen Option Configuring the Amplifier Enable for ICM-2900 / ICMChanging the Amplifier Enable Voltage Level DMC-2000 ICM-1900 / ICM-2900 IOM-1964 Opto-Isolation Module for Extended I/O Overview Configuring Hardware Banks Figure A-7 Input Circuit High Power Digital Outputs Figure A-10 Standard Digital Outputs Figure A-12 Digital Inputs Figure A-14 Standard Digital Outputs High Power Digital OutputsRelevant DMC Commands Screw Terminal Listing DMC-2X00 PWROUT30 PWROUT32PWROUT31 PWROUT29 Connectors CB-50-100 Adapter Board Appendices DMC-2X00 JC6 50 PIN IDC J9 100 PIN High Density Connector CB-50-100 Drawing JC8 JC6 CB-50-80 Adapter Board Figure A-16 JC8 JC6 CB-50-80 Drawing CB-50-80 Outline CB-50-80 Layout TERM-1500 Operator Terminal Figure A-19 Specifications Hand-Held Figure A-20 Single Key Output Specifications Panel MountKeypad Maps Hand-Held Shift Key Output Keypad Map Panel Mount 6 columns x 5 rows Escape CommandsCursor Movement Commands Configuration Input/Output of Data DMC-2x00 Commands Default ConfigurationDefault Function Keys Function Keys Ordering Information Pin Modular ConnectorPin D Adaptor Male For P2 Coordinated Motion Mathematical Analysis Vs = Vx 2 + Vy Lk = Xk 2 + Yk Velocity Example- Communicating with OPTO-22 SNAP-B3000 CFGVALUE=$180 #CFGDOUTMODULE=2 NUMOFIO=4 Appendices DMC-2X00 DMC-2x00/DMC-1500 Comparison DMC-2x00 DMC-1500 List of Other Publications Training Seminars Warranty Contacting Us Index Limswi PID Poserr