Galil DMC-1000 series Installation manual

DMC-1000, DMC-1500
COMMAND
REFERENCE
Manual Rev. 1.0g
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 6/06

DMC-1000/1500 Command Reference Overview •1
Overview
Controller Notation
This command reference is a supplement to Galil Motion Control User Manual. For proper controller
operation, consult the Users Manual. This manual describes commands to be used with the following
Galil Motion Controllers: DMC-1000, DMC-1500. Commands are listed in alphabetical order.
Please note that all commands may not be valid for every controller. The following symbol is used to
identify the controllers for which the command is applicable.
DMC-1000 DMC-1500
This symbol is placed at the top right corner of each command description. The DMC-1000 symbol
refers to all controllers from the DMC-1000 series (1-8 axes), the DMC-1500 symbol refers to all
controllers from the DMC-1500 series (1-8 axes). When the corresponding box entry is dark, the
command is not valid for that controller.
Removing Non-Applicable Commands:
Since there may be commands which are not applicable to your controller, you may use the following
table to identify and remove these pages:
Manual Pages Not Applicable to Specific Controllers:
CONTROLLER PAGE NO
DMC-1000 9,21,22,24,27,104
DMC-1500 47,105,142
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.

2 •Overview DMC-1000/1500 Command Reference
Attention: Pertains to servo motor use.
Attention: Pertains to stepper motor use.
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 right corner.
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. When no argument is given, the command is
executed for all axes.
Valid XYZW syntax
SH X Servo Here, X only
SH XYW Servo Here, X,Y and W axes
SH XZW Servo Here, X,Z and W axes
SH XYZW Servo Here, X,Y,Z and W axes
SH BCAD Servo Here, A,B,C and D axes (Note: ABCD IS the same as XYZW)
SH ADEG Servo Here, A,D,E and G axes (Note: AD is the same as XW)
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 x,y,z,w or a,b,c,d,e,f,g,h where the
lowercase letter represents the 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 x,y,z,w syntax
AC x Specify argument for x axis only
AC x,y Specify x and y only
AC x,,z Specify x and z only
AC x,y,z,w Specify x,y,z,w
AC a,b,c,d Specify arguments for a,b,c,d (Note: a,b,c,d are the same as x,y,z,w)
AC ,b,,,e Specify b and e axis only (Note: b and y axis are the same)
AC ,,,e,f Specify e and f (Note: e and z axis are the same)
Where x,y,z,w and a,b,c,d,e,f,g and h are replaced by actual values.

DMC-1000/1500 Command Reference Overview •3
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 defines data for all axes to be the same. For example:
PRY=1000 Sets Y 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 X axis
PR ,,,? The controller will return the PR value for the W 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
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 X axis can be assigned to the variable ‘V’ with the command:
V=_TPX
Usage Description
The Usage description specifies the restrictions on proper command usage. The following provides an
explanation of the command information provided:
"While Moving" states whether or not the command is valid while the controller is performing a
previously defined motion.
"In a program" states whether the command may be used as part of a user-defined program.
"Command Line" states whether the command may be used other than in a user-defined program.
"Can be Interrogated" states whether or not the command can be interrogated by using the ? as a
command argument.
"Used as an Operand" states whether the command has an associated operand.
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.

4 •Overview DMC-1000/1500 Command Reference
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 or dip switch 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-100/1500 Command Reference AB •5
DMC-1000 DMC-1500
AB
FUNCTION: Abort
DESCRIPTION:
AB (Abort) stops a motion instantly without a controlled deceleration. If there is a program
operating, AB also aborts the program unless a 1 argument is specified. The command
AB will shut off the motors for any axis in which the off-on-error function is enabled
(see command "OE" on page 102).
ARGUMENTS: AB n where
n = no argument or 1
1 aborts motion without aborting program, 0 aborts motion and program
AB aborts motion on all axes in motion and cannot stop individual axes.
USAGE: DEFAULTS:
While Moving Yes Default Value ---
In a Program Yes Default Format ---
Command Line Yes
Can be Interrogated No
Used as an Operand Yes
OPERAND USAGE:
_AB gives state of Abort Input.
RELATED COMMANDS:
SH Turns servos back on if they were shut-off by Abort and OE1.
EXAMPLES:
AB Stops motion
OE 1,1,1,1 Enable off-on-error
AB Shuts off motor command and stops motion
#A Label - Start of program
JG 20000 Specify jog speed on X-axis
BGX Begin jog on X-axis
WT 5000 Wait 5000 msec
AB1 Stop motion without aborting program
WT 5000 Wait 5000 milliseconds
SH Servo Here
JP #A Jump to Label A
EN End of the routine
Hint: Remember to use the parameter 1 following AB if you only want the motion to be aborted.
Otherwise, your application program will also be aborted.

6 •AC DMC-1000/1500 Command Reference
DMC-1000 DMC-1500
AC
FUNCTION: Acceleration
DESCRIPTION:
The Acceleration (AC) command sets the linear acceleration rate of the motors for
independent moves, such as PR, PA and JG. The parameters input will be rounded down
to the nearest factor of 1024. The units are in counts per second squared. The
acceleration rate may be changed during motion. The DC command is used to specify
the deceleration rate.
ARGUMENTS: AC x,y,z,w ACX=x AC a,b,c,d,e,f,g,h where
x,y,z,w are unsigned numbers in the range in the range 1024 to 67107840
"?" returns the acceleration value for the specified axes.
USAGE: DEFAULTS:
While Moving Yes Default Value 25600
In a Program Yes Default Format 8.0
Command Line Yes
Can be Interrogated Yes
Used as an Operand Yes
OPERAND USAGE:
_ACx contains the value of acceleration for the specified axis.
RELATED COMMANDS:
DC Specifies deceleration rate.
FA Feedforward Acceleration
IT Smoothing constant - S-curve
EXAMPLES:
AC 150000,200000,300000,400000 Set X-axis acceleration to 150000, Y-axis to
200000 counts/sec2, the Z-axis to 300000
counts/sec2, and the W-axis to 400000
count/sec2.
AC ?,?,?,? Request the Acceleration
0149504,0199680,0299008,0399360 Return Acceleration
(resolution, 1024)
V=_ACY Assigns the Y acceleration to the variable V
Hint: Specify realistic acceleration rates based on your physical system such as motor torque rating,
loads, and amplifier current rating. Specifying an excessive acceleration will cause large following
error during acceleration and the motor will not follow the commanded profile. The acceleration
feedforward command FA will help minimize the error.

DMC-100/1500 Command Reference AD •7
DMC-1000 DMC-1500
AD
FUNCTION: After Distance
DESCRIPTION:
The After Distance (AD) command is a trippoint used to control the timing of events. This
command will hold up the execution of the following command until one of the
following conditions have been met:
1. The commanded motor position crosses the specified relative distance from the start of
the move.
2. The motion profiling on the axis is complete.
3. The commanded motion is in the direction which moves away from the specified
position.
The units of the command are quadrature counts. Only one axis may be specified at a time.
The motion profiler must be on or the trippoint will automatically be satisfied.
Note: AD will be affected when the motion smoothing time constant, IT, is not 1. See IT
command for further information.
ARGUMENTS: AD x or AD,y or AD,,z or AD,,,w ADX=x AD a,b,c,d,e,f,g,h where
x,y,z,w are unsigned integers in the range 0 to 2147483647 decimal.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Can be Interrogated No
Used as an Operand No
RELATED COMMANDS:
AD After distance for repetitive triggering
AV After distance for vector moves
EXAMPLES:
#A;DP0,0,0,0 Begin Program
PR 10000,20000,30000,40000 Specify positions
BG Begin motion
AD 5000 After X reaches 5000
MG "Halfway to X";TPX Send message
AD ,10000 After Y reaches 10000
MG "Halfway to Y";TPY Send message
AD ,,15000 After Z reaches 15000
MG "Halfway to Z";TPZ Send message
AD ,,,20000 After W reaches 20000
MG "Halfway to W";TPW Send message
EN End Program

8 •AD DMC-1000/1500 Command Reference
Hint: The AD command is accurate to the number of counts that occur in 2 msec. Multiply your
speed by 2 msec to obtain the maximum position error in counts. Remember AD measures
incremental distance from the start of a move on one axis.