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Galil DMC-2X00 user manual Command Summary

Models: DMC-2X00

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All of the command operands begin with the underscore character (_). For example, the value of the current position on the A axis can be assigned to the variable ‘V’ with the command:

V=_TPA

The Command Reference denotes all commands which have an equivalent operand as "Used as an Operand". Also, see description of operands in Chapter 7.

Command Summary

For a complete command summary, see Command Reference manual.

22 • Chapter 5 Command Basics

DMC-2X00

Image 77

Galil DMC-2X00 user manual Command Summary

Contents

By Galil Motion Control, Inc DMC-2x00Using This Manual Contents Connecting Hardware Communication Iv Contents DMC-2X00 Application Programming Troubleshooting 130 Contents y Index 210 Overview Electrical Specifications SpecificationsMechanical Specifications DMC- 2000 Family Part Number DefinitionEquipment Maintenance Environmental SpecificationsStandard Servo Motor with +/- 10 Volt Command Signal Overview of Motor TypesAmplifiers in Current Mode Stepper Motor with Step and Direction SignalsAmplifiers in Velocity Mode Overview of AmplifiersMicrocomputer Section DMC-2x00 Functional ElementsMotor Interface CommunicationSystem Elements General I/OMotor Amplifier DriverEncoder Watch Dog TimerThis page Left Blank Intentionally Getting Started Outline of the DMC-2000 Daughter Board DMC-2000 Daughter Board3B Outline of the DMC-2200 Daughter Board DMC-2200 Daughter BoardCABLE-USB-2M CABLE-USB-3M Elements You NeedRecommended System Elements of DMC-2100/DMC-2200 Standard Servo Motor Operation Installing the DMC-2x00Determine Overall Motor Configuration Master Reset and Upgrade Jumpers Install Jumpers on the DMC-2x00Sinusoidal Commutation Stepper Motor OperationConfigure DIP switches on the DMC-2000 Switch 10 USB Switch 4, 5 and 6 Main Serial Port Baud RateConfigure DIP switches on the DMC-2100 Configure DIP switches on the DMC-2200Connect AC Power to the Controller Install the Communications SoftwareCommunicating through the Main Serial Communications Port Establish Communications with Galil SoftwareCommunicating through the Ethernet Communicating through the Universal Serial Bus USBDetermine the Axes to be Used for Sinusoidal Commutation Sending Test Commands to the TerminalMake Connections to Amplifier and Encoder DMC-2X00 Connect Standard Servo Motors BGA CR Inverting the Loop PolarityICM-2900 Connect Sinusoidal Commutation Motors Example Sinusoidal Commutation Configuration using a DMCGetting Started DMC-2X00 SHA Tune the Servo System Connect Step MotorsSystem Set-up Design ExamplesInstructionInterpretation Instruction InterpretationMultiple Axes Profiled MoveIndependent Moves Position InterrogationVelocity Control Absolute PositionUsing the On-Board Editor Operation in the Buffer ModeOperation Under Torque Limit InterrogationLine # Instruction Interpretation Motion Programs with LoopsMotion Programs with Trippoints Linear Interpolation Control VariablesXQ #B AMALM ABC Circular InterpolationBGS VM ABThis page Left Blank Intentionally Overview Using Optoisolated InputsLimit Switch Input Abort Input Home Switch InputReset Input Wiring the Opto-Isolated InputsUncommitted Digital Inputs Opto-Isolation Common PointOptoisolated Inputs Using an Isolated Power SupplyBypassing the Opto-Isolation Analog InputsAmplifier Interface Auxiliary Encoder Inputs TTL InputsOutput Compare TTL OutputsGeneral Use Outputs Interfacing to Grayhill or OPTO-22 G4PB24 Error OutputExtended I/O of the DMC-2x00 Controller RS232 Ports IntroductionRS232 Main Port P1 Dataterm RS232 Auxiliary Port P2 DatasetRS422 Main Port P1 RS-232 ConfigurationRS422 Auxiliary Port P2 Baud Rate SelectionAddress Daisy-Chaining DMC-2000 onlyCommunication Protocols Ethernet Configuration DMC-2100/2200 onlyCommand Interpretation LED AddressingDMC-2X00 Communicating with Multiple Devices Multicasting Using Third Party SoftwareData Record Map Data RecordDMC-2X00 BIT Header Information Byte 0, 1 of HeaderBytes 2, 3 of Header Axis Switch Information 1 ByteGeneral Status Information 1 Byte Axis Status Information 2 ByteQZ Command Controller Response to CommandsGalil Software Tools and Libraries Unsolicited Messages Generated by ControllerImportant All DMC-2x00 commands are sent in upper case Command Syntax AsciiBG Abcdefgh BG AbcdBG D BG SHeader Format Command Syntax BinaryDatafields Format Binary Command TableExample LE, VEController Response to Data Summary of Interrogation Commands Interrogation CommandsInterrogating Current Commanded Values Interrogating the Controller=TPA Command SummaryThis page Left Blank Intentionally Example Application Mode of Motion Commands VS,VA,VD Independent Axis PositioningGA, GD GP, GROperand Summary Independent Axis Command Summary Independent AxisMultiple Move Sequence ExamplesAbsolute Position Movement 20000 Position Tracking15000 10000 5000 Time ms 100Example Motion Command Description PT1Motion ExamplePosition vs. Time msec Motion Velocity vs.Time Motion Velocity cts/sec vs. Time msec with IT Motion Trip PointsIndependent Jogging Command Summary Position Tracking ModeCommand Summary Jogging Joystick Jogging Jog in X onlyAS a #JOYSpecifying Linear Segments Linear Interpolation ModeSpecifying the Coordinate Plane Specifying Vector Speed for Each Segment Additional CommandsChanging Feed Rate #ALTLinear Interpolation Motion Command Summary Linear InterpolationOperand Summary Linear Interpolation LM CD Linear MovePosition D Multiple Moves Vector Mode Linear and Circular Interpolation MotionSpecifying Vector Segments Command Summary Coordinated Motion Sequence Compensating for Differences in Encoder ResolutionTrippoints Tangent MotionOperand Operand Summary Coordinated Motion SequenceTangent Axis BG ABC Coordinated MotionAM ABC SB0Ramped Gearing Electronic GearingVelocity cts/sec vs. Time msec Ramped Gearing Electronic Gearing Over a Specified Interval Command Summary Electronic GearingMO Z GA Z, ZElectronic Gearing Gantry ModeSimple Master/Slave GA,A Electronic CamDMC-2X00 3000 2250 1500 2000 4000 6000 Master a Command Description Command Summary Electronic CAMElectronic CAM Operand Summary Electronic CAMSpecifying Contour Segments Contour ModeDT0CD0 336 288 240 192 Time msCMA Command Description CM Abcdefgh Command Summary Contour ModeGeneral Velocity Profiles Generating an Array#POINTS Contour ModeRecord and Playback Example Teach Record and Play-BackSinusoidal Motion Example Virtual AxisEcam master example Stepper Motor Operation Monitoring Generated Pulses vs. Commanded PulsesSpecifying Stepper Motor Operation Stepper Motor SmoothingMotion Complete Trip point Using an Encoder with Stepper MotorsCommand Summary Stepper Motor Operation Operand Summary Stepper Motor Operation Stepper Position Maintenance Mode SPMExample SPM Mode Setup Error LimitCorrection SHX#MOTION Example Error CorrectionExample Friction Correction Dual Loop Auxiliary Encoder Backlash Compensation Additional Commands for the Auxiliary EncoderContinuous Dual Loop = Main Encoder Second EncoderSampled Dual Loop Motion Smoothing#DUALOOP DE0Using the IT and VT Commands Trapezoidal velocity and smooth velocity profiles Using the KS Command Step Motor SmoothingHoming Home Sensor Home Switch High Speed Position Capture The Latch Function Command Summary Homing OperationOperand Summary Homing Operation Input FunctionAL B #LATCH#WAIT JP #WAIT,ALB=1Application Programming Using the DOS Editor to Enter Programs DMC-2000 onlyED #BEGIN Edit Mode CommandsProgram Format Using Labels in ProgramsSpecial Labels #STARTCommenting Programs No CommandREM Half Circle Motion VP 0,3000 REM TOP Line REM CommandExecuting Programs Multitasking Debugging Programs Trace Commands DMC-2100/2200 onlyRAM Memory Interrogation Commands Error Code CommandStop Code Command Event Triggers & Trippoints Program Flow CommandsAS a B C D E F G H Command FunctionDMC-2x00 Event Triggers Example- Set Output after Distance Example- Multiple Move SequenceExample- Repetitive Position Trigger Example Start Motion on InputExample Change Speed along Vector Path Example Set Output when At SpeedConditional Jumps Example- Define Output Waveform Using ATExample Multiple Move with Wait Logical operators Command Format JP and JSConditional Statements Multiple Conditional StatementsIf, Else, and Endif ExamplesJP#A #BEGINUsing the Else Command Using the if and Endif CommandsCommand Format IF, Else and Endif Nesting if Conditional StatementsAuto-Start Routine SubroutinesStack Manipulation Automatic Subroutines for Monitoring Conditions Example Limit SwitchExample Input Interrupt Example Position ErrorExample Motion Complete Timeout Example Command Error PAA=0 Example Command Error w/MultitaskingExample Communication Interrupt Example Ethernet Communication Error Mathematical Operators Mathematical and Functional ExpressionsBit-Wise Operators Operator FunctionResponse from command MG len6 S4 Functions VariablesAssigning Variable Values to Controller Parameters Programmable VariablesAssigning Values to Variables Operands Example Using Variables for JoystickDisplaying the value of variables at the terminal Special Operands KeywordsDefining Arrays ArraysAssignment of Array Entries TimeAutomatic Data Capture into Arrays Using a Variable to Address Array ElementsUploading and Downloading Arrays to On Board Memory Data Types for Recording Command Summary Automatic Data CaptureOperand Summary Automatic Data Capture Example Recording into an ArrayDeallocating Array Space Input of Data Numeric and StringInput of Data Example- Inputting Numeric DataKeyword Function Operator Data Entry ModeUsing Communication Interrupt Inputting String Variables Output of Data Numeric and StringFormatting Messages Sending MessagesSpecifying the Port for Messages Summary of Message Functions Using the MG Command to Configure TerminalsDisplaying Variables and Arrays Example Printing a Variable and an Array elementLZ0 0000000009Formatting Variables and Array Elements Local Formatting of Response of Interrogation CommandsLocal Formatting of Variables LZ1Converting to User Units Hardware I/ODigital Outputs AlphExample- Output Bit Example- Set Bit and Clear BitExample- Output Port Example Turn on output after moveExample Start Motion on Switch Example Using Inputs to control program flowInput Interrupt Function AI 1BGAExample Position Follower Point-to-Point Analog InputsTP AB ST ABExample Position Follower Continuous Move Configuring the I/O of the DMC-2x00PA VP #CONTSaving the State of the Outputs in Non-Volatile Memory Accessing Extended I/OBit I/O Block Binary Decimal Value for Representation Argument Blocks Bits DescriptionInterfacing to Grayhill or OPTO-22 G4PB24 Wire CutterExample Applications JP #A Table ControllerBGS AMS AMCBGC AMC Speed Control by Joystick Backlash Compensation by Sampled Dual-Loop Position Control by JoystickBGA JP #B This page Left Blank Intentionally Output Protection Lines Hardware ProtectionInput Protection Lines Software ProtectionAutomatic Error Routine Off-On-ErrorProgrammable Position Limits #AJP #AENLimit Switch Routine Installation TroubleshootingOperation CommunicationStability Theory of Operation Level Velocity and Position Profiles Operation of Closed-Loop SystemsFunctional Elements of a Motion Control System System ModelingCurrent Drive Motor-AmplifierVoltage Drive Elements of velocity loops Velocity LoopVoltage Source Digital Filter DACZOH System Analysis Magnitude 200 2000 Rad/s Analytical Method System Design and CompensationTheory of Operation DMC-2X00 Equivalent Filter Form Servo Control Electrical SpecificationsStepper Control Input / OutputPower Performance SpecificationsMinimum Servo Loop Update Time NormalFast Update Rate Mode DMC-2x00 Axes A-D High Density Connector Connectors for DMC-2x00 Main BoardDMC-2x00 Axes E-H High Density Connector DMC-2x00 Extended I/O 80 Pin High Density Connector DMC-2x00 Auxiliary Encoder 36 Pin High Density Connector+5V RS-232-Main Port Pin SignalRS-232-Auxiliary Port USB USB OutPin Serial Connector Male, D-type Standard RS-232 SpecificationsCable Connections for DMC-2x00 EthernetPin Male computer Pin female controller DMC-2x00 Serial Cable SpecificationsPin 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 DMCWIN16 DMCWIN32 SETUP16 SETUP32 KIT Accessories and OptionsBlock 4 PIN Label Description ICM-2900 Interconnect ModuleDescription Pwmx ErrorMocmdy SignyIN8 ResetXlatch YlatchMAZ +MAZ+MBZ MBZICM ICM-2900 DrawingICM-2908 Interconnect Module ICM-2908 ICM-2908 DrawingPCB Layout of the ICM-2900 ISO OUT Power Error Reset CMP Mocmdw FeaturesICM-1900 Interconnect Module Terminal LabelDMC-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 Changing the Amplifier Enable Voltage Level Configuring the Amplifier Enable for ICM-2900 / ICMLaen Option DMC-2000 ICM-1900 / ICM-2900Overview IOM-1964 Opto-Isolation Module for Extended I/OFigure A-7 Configuring Hardware BanksInput Circuit Figure A-10 High Power Digital OutputsFigure A-12 Standard Digital OutputsFigure A-14 Digital InputsRelevant DMC Commands High Power Digital OutputsStandard Digital Outputs Screw Terminal ListingDMC-2X00 PWROUT31 PWROUT32PWROUT30 PWROUT29CB-50-100 Adapter Board ConnectorsAppendices DMC-2X00 JC6 50 PIN IDC J9 100 PIN High Density Connector JC8 JC6 CB-50-100 DrawingFigure A-16 CB-50-80 Adapter BoardJC8 JC6 CB-50-80 Outline CB-50-80 DrawingCB-50-80 Layout Figure A-19 TERM-1500 Operator TerminalFigure A-20 Specifications Hand-HeldKeypad Maps Hand-Held Specifications Panel MountSingle Key Output Shift Key OutputKeypad Map Panel Mount 6 columns x 5 rows Escape CommandsCursor Movement Commands Configuration Default Function Keys Default ConfigurationInput/Output of Data DMC-2x00 Commands Function KeysOrdering Information Pin Modular ConnectorPin D Adaptor Male For P2 Vs = Vx 2 + Vy Coordinated Motion Mathematical AnalysisLk = Xk 2 + Yk Velocity Example- Communicating with OPTO-22 SNAP-B3000 MODULE=2 #CFGDOUTCFGVALUE=$180 NUMOFIO=4Appendices DMC-2X00 DMC-2x00 DMC-1500 DMC-2x00/DMC-1500 ComparisonTraining Seminars List of Other PublicationsContacting Us WarrantyLimswi IndexPID Poserr