Galil Motion Control DMC-40x0 Series Installation manual

DMC-40x0
COMMAND
REFERENCE
Manual Rev. 1.0e
By Galil Motion Control, Inc.
Galil Motion Control, Inc.
270 Technology Way
Rocklin, California 95765
Phone: [phone]
Fax: [phone]
Internet Address: [email protected]
URL: www.galilmc.com
Rev 2/08

ARRAYS CONTROL FEEDBAC
K
MATH PROGRAM STEPPER
DA deallocate DV dual loop AF analog feedback @ABS[n] |n| BK breakpoint KS smoothing
_
DA arrays left FA accel feedfwd AL arm latch @ACOS[n] arccos DL download LC low current
DM define FV speed feedfwd
_
AL latch occurred? @ASIN[n] arcsin
_
DL labels left MT motor type
_
DM space left IL integrator limit CE configure @ATAN[n] arctan ED edit QS query error
LA list KD derivative gain OA off on failure @COM[n] bit not ELSE if else YA drive pulses/step
QD download KI integral gain OC output compare @COS[n] cosine EN end YB motor steps/rev
QU print/upload KP proportional gain
_
OC first pulse? @FRAC[n] fraction ENDIF if endif YC encoder cts/rev
RA record MO motor off OT failure @INT[n] integer HX halt thread YR correction
RC begin
_
MO motor off? OV failure voltage @RND[n] round IF conditional YS maintenance
RC recordin
g
?NB notch width RL read latch
@
SIN
[
n
]
sine JP for/while loo
p
VECTOR
RD data NF notch frequency
_
RL latch position @SQR[n] x^0.5 JS jump subroutine AV wait for arc length
_
RD address NZ notch zero TD tell dual @TAN[n] tangent ^L^K lock
_
AVS arc length
[ ] index OF offset TP tell position + add LL list labels CA 2nd vector
COMMUNICATE PL low
p
ass TV tell velocit
y
- subtrac
t
LS lis
t
CR circle
CW unsolicited bi
t
SH servo here GEAR * multi
p
l
y
LV list variables CS clear se
q
uence
DR data record TE tell error GA axes / divide NO (') comment
_
CS segment
EI axis interrupt TK peak torque GD distance % modulus
_
NO threads running ES elliptical scale
EO echo TL torque limit GM gantry mode ( ) parenthesis PW password LE linear end
IN user input TM sample time
_
GP phase & and RE return error
_
LE total arc length
LZ leading zeros TT tell torque GR ratio | or REM fast comment LI linear point
MG messa
g
eECAM HOME $ hexadecimal RI return interru
p
t LM linear axes
PF position format EA master DE define dual < less than SL single step
_
LM buffer space
QZ record info EB enable DP define position > greater than TB tell status byte TN tangent scale
UI user interrupt EC counter FE find home only = assign / equal TR debug trace
_
TN 1st position
VF variable format EG engage slave FI find index only <= less or equal UL upload VA acceleration
ZA DR variable EM modulus HM home >= greater or equal
_
UL variables left VD deceleration
DH DHCP Enable EP master
_
HM home input <> not equal XQ execute VE vector end
CONTOUR E
Q
disen
g
a
g
e HV home velocit
y
MOTION X
Q
current line # VM vector axes
CD data ET table INFO AC acceleration ZS zero stac
k
VM velocit
y
CM axes EW widen segment
_
BN serial number BG begin
_
ZS stack level VP vector point
_
CM buffer full EY cycle count
_
BV axes
_
BG in motion? #AUTO; EN
_
VP last point
DT delta time EEPROM ^R^V firmware rev DC deceleration #AUTOERR; EN VR VS multi
p
lie
r
^R^S master rese
t
I/O IP increment
p
osition ; command delimite
r
VS s
p
eed
BN
b
urn
@
AN
[
x
]
analo
g
in IT s curve # subroutine
BP
b
urn
p
ro
g
ra
m
@
IN
[
x
]
di
g
ital in JG
j
o
g
TIME
BV burn variables @OUT[x] digital PA position absolute AT wait reference
RS reset AI wait for input
_
PA last target TIME clock
ERRORS A
Q
analo
g
confi
g
PR
p
osition relative WT wai
t
AB abor
t
CB clear di
g
ital ou
t
_
PR relative tar
g
e
t
SINE DRIVE
_
AB abort input CN configure PT position tracking BA axes
BL reverse soft limit CO extended I/O RP desired position
_
BA 2nd DAC axis
_
ED program line II input interrupt SP speed BB hall offset
_
ED1 thread OB output bit ST stop BC calibration
ER maximum TE OP output port ~a axis variable
_
BC hall state
FL forward soft limi
t
SB set di
g
ital ou
t
MOTION WAIT BD de
g
rees
LD limit disable TI tell input byte AD distance (RP) BI hall inputs
_
LF forward limit TS tell switches AM complete (RP) BM magnetic cycle
_
LR reverse limit #ININT; RI1 AP position (TP) BO DAC offset
OE off on erro
r
AR distance
(
RP
)
BS setu
p
SC stop code AS at speed (SP) BZ find zero
SD switch decel MC complete (TP)
_
BZ distance to zero
TC tell code MF forward
(
TP
)
#CMDERR; EN1 MR reverse (TP)
#LIMSWI; RE1 TW MC timeout
#POSERR; RE1
#AMPERR;RE1
#MCTIME; EN1

DMC-40x0 Command Reference Table of Contents • i
Table of Contents
Table of Contents........................................................................................................................................................................i
Overview..................................................................................................................................................................................... 1
Controller Notation .................................................................................................................................................................1
Servo and Stepper Motor Notation:.........................................................................................................................................1
Trippoints ................................................................................................................................................................................1
Command Descriptions ...........................................................................................................................................................2
Parameter Arguments ..........................................................................................................................................................2
Direct Command Arguments...............................................................................................................................................3
Interrogation ........................................................................................................................................................................3
Operand Usage ....................................................................................................................................................................3
Usage Description................................................................................................................................................................3
Default Description..............................................................................................................................................................4
Resetting the Controller to Factory Default.........................................................................................................................4
# ...........................................................................................................................................................................................5
$ ...........................................................................................................................................................................................6
& | ........................................................................................................................................................................................7
^a, ^b, ^c, ^d, ^e, ^f, ^g, ^h..................................................................................................................................................8
( ) .........................................................................................................................................................................................9
;..........................................................................................................................................................................................10
[ ] .......................................................................................................................................................................................11
+ - * / % .............................................................................................................................................................................12
<, >, =, <=, >=, <>.............................................................................................................................................................13
=.........................................................................................................................................................................................14
~.........................................................................................................................................................................................15
AB .....................................................................................................................................................................................16
@ABS[n]...........................................................................................................................................................................17
AC .....................................................................................................................................................................................18
@ACOS[n] ........................................................................................................................................................................19
AD .....................................................................................................................................................................................20
AF......................................................................................................................................................................................21
AG .....................................................................................................................................................................................22
AI.......................................................................................................................................................................................23
AL...................................................................................................................................................................................... 24
AM.....................................................................................................................................................................................25
#AMPERR.........................................................................................................................................................................26
@AN[n].............................................................................................................................................................................27
AO .....................................................................................................................................................................................28
AP......................................................................................................................................................................................29
AQ .....................................................................................................................................................................................30
AR .....................................................................................................................................................................................31
AS......................................................................................................................................................................................32
@ASIN[n] .........................................................................................................................................................................33
AT...................................................................................................................................................................................... 34
@ATAN[n]........................................................................................................................................................................35

ii iTable of Contents DMC-40x0 Command Reference
AU .....................................................................................................................................................................................36
#AUTO ..............................................................................................................................................................................37
#AUTOERR ......................................................................................................................................................................38
AV .....................................................................................................................................................................................39
AW ....................................................................................................................................................................................40
BA .....................................................................................................................................................................................41
BB......................................................................................................................................................................................42
BC......................................................................................................................................................................................43
BD .....................................................................................................................................................................................44
BG .....................................................................................................................................................................................45
BI .......................................................................................................................................................................................46
BK .....................................................................................................................................................................................47
BL......................................................................................................................................................................................48
BM.....................................................................................................................................................................................49
BN .....................................................................................................................................................................................50
BO .....................................................................................................................................................................................51
BP ......................................................................................................................................................................................52
BR......................................................................................................................................................................................53
BS ......................................................................................................................................................................................54
BV .....................................................................................................................................................................................55
BW.....................................................................................................................................................................................56
BZ......................................................................................................................................................................................57
CA .....................................................................................................................................................................................58
CB......................................................................................................................................................................................59
CC......................................................................................................................................................................................60
CD .....................................................................................................................................................................................61
CE......................................................................................................................................................................................63
CF ......................................................................................................................................................................................64
CI .......................................................................................................................................................................................65
CM.....................................................................................................................................................................................66
#CMDERR ........................................................................................................................................................................67
CN .....................................................................................................................................................................................68
CO .....................................................................................................................................................................................69
@COM[n]..........................................................................................................................................................................70
#COMINT .........................................................................................................................................................................71
@COS[n]...........................................................................................................................................................................72
CR......................................................................................................................................................................................73
CS ......................................................................................................................................................................................74
CW.....................................................................................................................................................................................75
DA .....................................................................................................................................................................................76
DC .....................................................................................................................................................................................77
DE...................................................................................................................................................................................... 78
DH .....................................................................................................................................................................................79
DL...................................................................................................................................................................................... 80
DM.....................................................................................................................................................................................81
DP......................................................................................................................................................................................82
DR .....................................................................................................................................................................................83
DT...................................................................................................................................................................................... 84
DV .....................................................................................................................................................................................86
EA...................................................................................................................................................................................... 87
EB......................................................................................................................................................................................88
EC......................................................................................................................................................................................89
ED...................................................................................................................................................................................... 90
EG...................................................................................................................................................................................... 91
EI .......................................................................................................................................................................................92
ELSE..................................................................................................................................................................................94

DMC-40x0 Command Reference Table of Contentsiiii
EM .....................................................................................................................................................................................95
EN...................................................................................................................................................................................... 96
ENDIF ...............................................................................................................................................................................97
EO...................................................................................................................................................................................... 98
EP ......................................................................................................................................................................................99
EQ.................................................................................................................................................................................... 100
ER....................................................................................................................................................................................101
ES ....................................................................................................................................................................................102
ET ....................................................................................................................................................................................103
EW...................................................................................................................................................................................104
EY.................................................................................................................................................................................... 105
FA....................................................................................................................................................................................106
FE ....................................................................................................................................................................................107
FI .....................................................................................................................................................................................108
FL ....................................................................................................................................................................................109
@FRAC[n] ......................................................................................................................................................................110
FV....................................................................................................................................................................................111
GA ...................................................................................................................................................................................112
GD ...................................................................................................................................................................................113
GM................................................................................................................................................................................... 114
_GP.................................................................................................................................................................................. 115
GR ...................................................................................................................................................................................116
HM................................................................................................................................................................................... 117
HS....................................................................................................................................................................................118
HV ...................................................................................................................................................................................119
HX ...................................................................................................................................................................................120
IA..................................................................................................................................................................................... 121
ID..................................................................................................................................................................................... 122
IF .....................................................................................................................................................................................123
IH..................................................................................................................................................................................... 124
II ......................................................................................................................................................................................126
IK..................................................................................................................................................................................... 128
IL .....................................................................................................................................................................................129
IN..................................................................................................................................................................................... 130
@IN[n].............................................................................................................................................................................131
#ININT ............................................................................................................................................................................132
@INT[n] ..........................................................................................................................................................................133
IP .....................................................................................................................................................................................134
IT .....................................................................................................................................................................................135
JG..................................................................................................................................................................................... 136
JP .....................................................................................................................................................................................137
JS .....................................................................................................................................................................................138
KD ...................................................................................................................................................................................140
KI..................................................................................................................................................................................... 141
KP....................................................................................................................................................................................142
KS....................................................................................................................................................................................143
LA.................................................................................................................................................................................... 144
LB....................................................................................................................................................................................145
LC....................................................................................................................................................................................146
LD.................................................................................................................................................................................... 147
LE ....................................................................................................................................................................................148
_LF ..................................................................................................................................................................................149
LI .....................................................................................................................................................................................150
#LIMSWI ........................................................................................................................................................................151
<control>L<control>K ....................................................................................................................................................152
LL ....................................................................................................................................................................................153

iv iTable of Contents DMC-40x0 Command Reference
LM ...................................................................................................................................................................................154
_LR.................................................................................................................................................................................. 155
LS ....................................................................................................................................................................................156
LU.................................................................................................................................................................................... 157
LV.................................................................................................................................................................................... 158
LZ ....................................................................................................................................................................................159
MB...................................................................................................................................................................................160
MC...................................................................................................................................................................................162
#MCTIME .......................................................................................................................................................................163
MF ...................................................................................................................................................................................164
MG...................................................................................................................................................................................165
MO...................................................................................................................................................................................166
MR...................................................................................................................................................................................167
MT ...................................................................................................................................................................................168
MW..................................................................................................................................................................................169
NB ...................................................................................................................................................................................170
NF....................................................................................................................................................................................171
NO (‘ apostrophe also accepted).....................................................................................................................................172
NZ.................................................................................................................................................................................... 173
OA ...................................................................................................................................................................................174
OB ...................................................................................................................................................................................175
OC ...................................................................................................................................................................................176
OE.................................................................................................................................................................................... 177
OF....................................................................................................................................................................................178
OP....................................................................................................................................................................................179
OT.................................................................................................................................................................................... 180
@OUT[n].........................................................................................................................................................................181
OV ...................................................................................................................................................................................182
PA....................................................................................................................................................................................183
PF..................................................................................................................................................................................... 184
P2CD ...............................................................................................................................................................................185
P2CH ...............................................................................................................................................................................186
P2NM ..............................................................................................................................................................................187
P2ST ................................................................................................................................................................................188
PL ....................................................................................................................................................................................189
#POSERR ........................................................................................................................................................................190
PR ....................................................................................................................................................................................191
PT ....................................................................................................................................................................................192
PW ...................................................................................................................................................................................193
QD ...................................................................................................................................................................................194
QH ...................................................................................................................................................................................195
QR ...................................................................................................................................................................................196
QS....................................................................................................................................................................................197
QU ...................................................................................................................................................................................198
QZ.................................................................................................................................................................................... 199
RA ...................................................................................................................................................................................200
RC....................................................................................................................................................................................201
RD ...................................................................................................................................................................................202
RE....................................................................................................................................................................................203
REM ................................................................................................................................................................................204
RI .....................................................................................................................................................................................205
RL....................................................................................................................................................................................206
@RND[n] ........................................................................................................................................................................207
RP ....................................................................................................................................................................................208
RS ....................................................................................................................................................................................209
<control>R<control>S.....................................................................................................................................................210

DMC-40x0 Command Reference Table of Contentsiv
<control>R<control>V ....................................................................................................................................................211
SA....................................................................................................................................................................................212
SB ....................................................................................................................................................................................213
SC ....................................................................................................................................................................................214
SD....................................................................................................................................................................................215
SH....................................................................................................................................................................................216
@SIN[n] ..........................................................................................................................................................................217
SL ....................................................................................................................................................................................218
SM ...................................................................................................................................................................................219
SP..................................................................................................................................................................................... 220
@SQR[n]......................................................................................................................................................................... 221
ST ....................................................................................................................................................................................222
TA.................................................................................................................................................................................... 223
@TAN[n].........................................................................................................................................................................224
TB....................................................................................................................................................................................225
TC....................................................................................................................................................................................226
#TCPERR ........................................................................................................................................................................228
TD.................................................................................................................................................................................... 229
TE ....................................................................................................................................................................................230
TH.................................................................................................................................................................................... 231
TI .....................................................................................................................................................................................232
TIME ...............................................................................................................................................................................233
TK.................................................................................................................................................................................... 234
TL ....................................................................................................................................................................................235
TM ...................................................................................................................................................................................236
TN.................................................................................................................................................................................... 237
TP ....................................................................................................................................................................................238
TR....................................................................................................................................................................................239
TS ....................................................................................................................................................................................240
TT ....................................................................................................................................................................................241
TV.................................................................................................................................................................................... 242
TW...................................................................................................................................................................................243
TZ ....................................................................................................................................................................................244
UI..................................................................................................................................................................................... 245
UL.................................................................................................................................................................................... 247
VA ...................................................................................................................................................................................248
VD ...................................................................................................................................................................................249
VE.................................................................................................................................................................................... 250
VF....................................................................................................................................................................................251
VM................................................................................................................................................................................... 252
VP....................................................................................................................................................................................253
VR ...................................................................................................................................................................................254
VS....................................................................................................................................................................................255
VV ...................................................................................................................................................................................256
WH ..................................................................................................................................................................................257
WT...................................................................................................................................................................................258
XQ ...................................................................................................................................................................................259
YA ...................................................................................................................................................................................260
YB ...................................................................................................................................................................................261
YC ...................................................................................................................................................................................262
YR ...................................................................................................................................................................................263
YS....................................................................................................................................................................................264
ZA.................................................................................................................................................................................... 265
ZS ....................................................................................................................................................................................266
Index .......................................................................................................................................................................................267

vi iTable of Contents DMC-40x0 Command Reference
This Page is Left Blank Intentionally

DMC-40x0 Command Reference Parameter Arguments • 1
Overview
Controller Notation
This command reference is a supplement to the Galil User Manual. For proper controller operation, consult
the Users Manual. This command reference describes commands for Galil Accelera Series Motion
Controller: DMC-40x0. Commands are listed in alphabetical order.
Please note that all commands may not be valid for every controller. To identify the controllers for which
the command is applicable, please review the Usage Section of the command description.
Servo and Stepper Motor Notation:
Your motion controller has been designed to work with both servo and stepper type motors. Installation
and system setup will vary depending upon whether the controller will be used with stepper motors, or
servo motors. To make finding the appropriate instructions faster and easier, icons will be next to any
information that applies exclusively to one type of system. Otherwise, assume that the instructions apply to
all types of systems. The icon legend is shown below.
Attention!: Pertains to servo motor use.
Attention!: Pertains to stepper motor use.
Trippoints
The controller provides several commands that can be used to make logical decisions, or “trippoints,” based
on events during a running program. Such events include: the completion of a specific motion, waiting for
a certain position to be reached, or simply waiting for a certain amount of time to elapse.
When a program is executing on the controller, each program line is executed sequentially. However,
when a trippoint command is executed, the program halts execution of the next line of code until the status
of the trippoint is cleared. Note that the trippoint only halts execution of the thread from which it is
commanded while all other independent threads are unaffected. Additionally, if the trippoint is
commanded from a subroutine, execution of the subroutine, as well as the main thread, is halted.
Since trippoint commands are used as program flow instructions during a running program, they should not
be implemented directly from the command line of the terminal. Sending a trippoint command directly
from the command line might cause an interruption in communications between the host PC and the
controller until the trippoint is cleared.

2 ●Parameter Arguments DMC-40x0 Command Reference
As a brief introduction, the following table lists the available commands and their basic usages:
AD after distance
AI after input
AM after move
AP after absolute position
AR after relative position
AS at speed
AT at time relative to a reference time
AV after vector distance
MC motion complete and “in position”
MF after motion forward
MR after motion reverse
WT wait for time
Command Descriptions
Each executable instruction is listed in the following section in alphabetical order. Below is a description
of the information which is provided for each command.
The two-letter Opcode for each instruction is placed in the upper left corner. Below the opcode is a
description of the command and required arguments.
Axes Arguments
Some commands require the user to identify the specific axes to be affected. These commands are
followed by uppercase X,Y,Z, W or A,B,C,D,E,F,G and H. No commas are needed and the order of axes is
not important. Do not insert any spaces prior to any command. For example, STX; AMX is invalid
because there is a space after the semicolon. The proper syntax for commands requires that the command
argument be separated from the command by a single space. When an argument is not required and is not
given, the command is executed for all axes.
Valid syntax
SH A Servo Here, A only
SH ABD Servo Here, A,B and D axes
SH ACD Servo Here, A,C and D axes
SH ABCD Servo Here, A,B, C and D axes
SH BCAD Servo Here, A,B,C and D axes
SH ADEG Servo Here, A,D,E and G axes
SH H Servo Here, H axis only
SH Servo Here, all axes
Parameter Arguments
Some commands require numerical arguments to be specified following the instruction. In the argument
description, these commands are followed by lower case n,n,n,n,n,n,n,n, where the letter, n, represents the

DMC-40x0 Command Reference Direct Command Arguments • 3
value. Values may be specified for any axis separately or any combination of axes. The argument for each
axis is separated by commas. Examples of valid syntax are listed below.
Valid syntax
AC n Specify argument for A axis only
AC n,n Specify argument for A and B only
AC n,,n Specify argument for A and C only
AC n,n,n,n Specify arguments for A,B,C,D axes
AC n,n,n,n Specify arguments for A,B,C,D
AC ,n,,,n Specify arguments for B and E axis only
AC ,,,n,n Specify arguments for E and F
Where n is replaced by actual values.
Direct Command Arguments
An alternative method for specifying data is to set data for individual axes using an axis designator
followed by an equals sign. The * symbol can be used in place of the axis designator. The * defines data
for all axes to be the same. For example:
PRB=1000 Sets B axis data at 1000
PR*=1000 Sets all axes to 1000
Interrogation
Most commands accept a question mark (?) as an argument. This argument causes the controller to return
parameter information listed in the command description. Type the command followed by a ? for each axis
requested. The syntax format is the same as the parameter arguments described above except '?' replaces
the values.
PR ? The controller will return the PR value for the A axis
PR ,,,? The controller will return the PR value for the D axis
PR ?,?,?,? The controller will return the PR value for the A,B,C and D axes
PR ,,,,,,,? The controller will return the PR value for the H axis
PR*=? The controller will return the PR value for all axes
Operand Usage
Most commands have a corresponding operand that can be used for interrogation. The Operand Usage
description provides proper syntax and the value returned by the operand. 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’
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
Usage Description
The Usage description specifies the restrictions on proper command usage. The following provides an
explanation of the command information provided:
"While Moving":

4 ●Default Description DMC-40x0 Command Reference
Describes whether the command is valid while the controller is performing a motion.
"In a program":
Describes whether the command may be used as part of a user-defined program.
"Command Line":
Describes whether the command may be used as a direct command.
“Controller Usage”:
Identifies the controller models that can accept the command.
Default Description
In the command description, the DEFAULT section provides the default values for controller setup
parameters. These parameters can be changed and the new values can be saved in the controller's non-
volatile memory by using the command, BN. If the setup parameters are not saved in non-volatile
memory, the default values will automatically reset when the system is reset. A reset occurs when the
power is turned off and on, when the reset button is pushed, or the command, RS, is given.
Resetting the Controller to Factory Default
When a master reset occurs, the controller will always reset all setup parameters to their default values and
the non-volatile memory is cleared to the factory state. A master reset is executed by the command, <ctrl
R> <ctrl S> <Return> OR by powering up or resetting the controller with the MRST jumper on.
For example, the command KD is used to set the Derivative Constant for each axis. The default value for
the derivative constant is 64. If this parameter is not set by using the command, KD, the controller will
automatically set this value to 64 for each axis. If the Derivative Constant is changed but not saved in non-
volatile memory, the default value of 64 will be used if the controller is reset or upon power up of the
controller. If this value is set and saved in non-volatile memory, it will be restored upon reset until a
master reset is given to the controller.
The default format describes the format for numerical values which are returned when the command is
interrogated. The format value represents the number of digits before and after the decimal point.

DMC-40x0 Command Reference # • 5
#
FUNCTION: Label (subroutine)
DESCRIPTION:
The # operator denotes the name of a program label (for example #Move). Labels can be up to
seven characters long and are often used to implement subroutines or loops. Labels are
divided into (a) user defined and (b) automatic subroutines. User defined labels can be
printed with LL and the number of labels left available can be queried with MG _DL. The
automatic subroutines include #CMDERR, #LIMSWI, #POSERR, #ININT, #AUTO, and
#MCTIME. A label can only be defined at the beginning of a new line.
ARGUMENTS: #nnnnnnn where
nnnnnnn is a label name up to seven characters
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line No
Controller Usage ALL
RELATED COMMANDS:
LL List labels
DL Labels left
JP Jump statement
JS Jump subroutine
EXAMPLES:
#Loop; JP#Loop, x=10 ;'wait until x becomes 10
#Move
PRX=1000
BGX
;'define a subroutine to move the x axis
AMX
EN

6 ●$ DMC-40x0 Command Reference
$
FUNCTION: Hexadecimal
DESCRIPTION:
The $ operator denotes that the following string is in hexadecimal notation
ARGUMENTS: $nnnnnnnn.mmmm
n is up to eight hexadecimal digits (denoting 32 bits of integer)
m is up to four hexadecimal digits (denoting 16 bits of fraction)
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL
RELATED COMMANDS:
+ - * / % Multiply (shift left)
+ - * / % Divide (shift right)
MG {$8.4} Print in hexadecimal
EXAMPLES:
x = $7fffffff.0000 ;'store 2147483647 in x
y = x & $0000ffff.0000 ;'store lower 16 bits of x in y
z = x & $ffff0000.0000 / $10000 ;'store upper 16 bits of x in z

DMC-40x0 Command Reference & | • 7
& |
FUNCTION: Bitwise Logical Operators AND and OR
DESCRIPTION:
The operators & and | are typically used with IF, JP, and JS to perform conditional jumps;
however, they can also be used to perform bitwise logical operations.
ARGUMENTS: n & m or n | m where
n and m are signed numbers in the range -2147483648 to 2147483647.
For IF, JP, and JS, n and m are typically the results of logical expressions such as (x > 2)
“&” is also used to pass a variable by reference in a JS call. See JS.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL
RELATED COMMANDS:
@COM[n] Bitwise complement
IF If statement
JP Jump statement
JS Jump subroutine
EXAMPLES:
IF (x > 2) & (y = 4)
MG "true"
ENDIF
;'x must be greater than 2 and y equal to 4
;'for the message to print
:MG 1 | 2
3.0000
:
;'Bitwise operation: 01 OR 10 is 11 = 3
Pass By Reference Example:
value=5 ;'a value to be passed by reference
global=8 ;'a global variable
JS#SUM(&value,1,2,3,4,5,6,7) ;'note first arg passed by reference
MG value ;'message out value after subroutine.
MG _JS ;'message out returned value
EN
'
#SUM ;NO(* ^a,^b,^c,^d,^e,^f,^g)
^a=^b+^c+^d+^e+^f+^g+^h+global
EN,,^a
'notes:
'do not use spaces when working with ^
'If using global variables, they MUST be created before the subroutine is run
Executed program from program2.dmc
36.0000
36.0000

8 ●^a, ^b, ^c, ^d, ^e, ^f, ^g, ^h DMC-40x0 Command Reference
^a, ^b, ^c, ^d, ^e, ^f, ^g, ^h
FUNCTION: JS subroutine stack variable
DESCRIPTION:
Provides local subroutine access for up to 8 variables passed on the subroutine stack when using
the JS (jump to subroutine) command.
Passing values on the stack is advanced DMC programming, and is recommended for
experienced DMC programmers familiar with the concept of passing arguments by value and
by reference.
See the JS command for a full explanation of passing stack variables.
Notes:
1. Passing parameters has no type checking, so it is important to exercise good programming
style when passing parameters. See examples below for recommended syntax.
2. Do not use spaces in expressions containing ^.
3. Global variables MUST be assigned prior to any use in subroutines where variables are
passed by reference.
USAGE: Defaults:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage DMC-4000
RELATED COMMANDS:
MG Message
& | Pass by reference
JS Jump to subroutine
EXAMPLE:
#Add
JS#SUM(1,2,3,4,5,6,7,8) ;' call subroutine, pass values
MG_JS ;' print return value
EN
'
#SUM ;NO(^a,^b,^c,^d,^e,^f,^g,^h) syntax note for use
EN,,(^a+^b+^c+^d+^e+^f+^g+^h) ;' return sum
:Executed program from program1.dmc
36.0000
Note: For additional examples, see the “JS Subroutine Stack Variables (^a, ^b, ^c, ^d, ^e, ^f, ^g, ^h)”
section in the DMC-40x0 User Manual.

DMC-40x0 Command Reference ( ) • 9
( )
FUNCTION: Parentheses (order of operations)
DESCRIPTION:
The parentheses denote the order of math and logical operations. Note that the controller DOES
NOT OBEY STANDARD OPERATOR PRECEDENCE. For example, multiplication is
NOT evaluated before addition. Instead, the controller follows left-to-right precedence.
Therefore, it is recommended to use parenthesis as much as possible.
ARGUMENTS: (n) where
n is a math (+ - * /) or logical (& |) expression
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL
RELATED COMMANDS:
+ - * / % Math Operators
& | Logical Operators
EXAMPLES:
:MG 1 + 2 * 3
9.0000
:MG 1 + (2 * 3)
7.0000
:

10 ●; DMC-40x0 Command Reference
;
FUNCTION: Semicolon (Command Delimiter)
DESCRIPTION:
The semicolon operator allows multiple Galil commands to exist on a single line. It is used for the
following three reasons:
(1) To put comments on the same line as the command (BGX ;’begin motion)
(2) To compress DMC programs to fit within the program line limit (Note: use a compression
utility to do this. Do not program this way because it is hard to read.)
(3) To give higher priority to a thread. All commands on a line are executed before the thread
scheduler switches to the next thread.
ARGUMENTS: n; n; n; … where
n is a Galil command
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL
RELATED COMMANDS:
NO (‘ apostrophe also accepted) comment
EXAMPLES:
BGX; 'comment
PRX=1000;BGX;AMX ;'Save program line space
#High
a = a + 1; b = b + 1
JP#High
#Low
c = c + 1
d = d + 1
JP#Low
;'#High priority thread executes twice as fast as
;'#Low when run in parallel