Galil DMC-2X00 user manual Interrogating the Controller, Interrogation Commands, Operands

Interrogating the Controller

Interrogation Commands

The DMC-2x00 has a set of commands that directly interrogate the controller. When the command is entered, the requested data is returned in decimal format on the next line followed by a carriage return and line feed. The format of the returned data can be changed using the Position Format (PF), Variable Format (VF) and Leading Zeros (LZ) command. See Chapter 7 and the Command Reference.

Summary of Interrogation Commands

RP	Report Command Position
RL	Report Latch
∧R ∧V	Firmware Revision Information
SC	Stop Code
TB	Tell Status
TC	Tell Error Code
TD	Tell Dual Encoder
TE	Tell Error
TI	Tell Input
TP	Tell Position
TR	Trace
TS	Tell Switches
TT	Tell Torque
TV	Tell Velocity

For example, the following example illustrates how to display the current position of the X axis:

TP A <return>	Tell position A
0000000000	Controllers Response
TP AB <return>	Tell position A and B
0000000000,0000000000	Controllers Response

Interrogating Current Commanded Values.

Most commands can be interrogated by using a question mark (?) as the axis specifier. Type the command followed by a ? for each axis requested.

PR ?,?,?,?	Request A,B,C,D values
PR ,?	Request B value only

The controller can also be interrogated with operands.

Operands

Most DMC-2x00 commands have corresponding operands that can be used for interrogation. Operands must be used inside of valid DMC expressions. For example, to display the value of an operand, the user could use the command:

MG ‘operand’ where ‘operand’ is a valid DMC operand

DMC-2X00 Chapter 5 Command Basics y 21