DMC-1000 Chapter 4 Communication • 39
2) Send User Interrupt when at speed
#I Label
PR 1000 Position
SP 5000 Speed
BGX Begin
ASX At speed
UI1 Send interrupt
EN End
This program sends an interrupt when the X axis is at its slew speed. After a 6 is written to address N
+ 1, the data EI will be read at address N + 1.
EI corresponds to UI1.
Controller Response to DATA
Most DMC-1000 instructions are represented by two characters followed by the appropriate
parameters. Each instruction must be terminated by a carriage return or semicolon.
Instructions are sent in ASCII, and the DMC-1000 decodes each ASCII character (one byte) one at a
time. It takes approximately .5 msec for the controller to decode each command. However, the PC
can send data to the controller at a much faster rate because of the FIFO buffer.
After the instruction is decoded, the DMC-1000 returns a colon (:) if the instruction was valid or a
question mark (?) if the instruction was not valid.
For instructions that return data, such as Tell Position (TP), the DMC-1000 will return the data
followed by a carriage return, line feed and : .
It is good practice to check for : after each command is sent to prevent errors. An echo function is
provided to enable associating the DMC-1000 response with the data sent. The echo is enabled by
sending the command EO 1 to the controller.
Galil Software Tools and Libraries
API (Application Programming Interface) software is available from Galil. The API software is
written in C and is included in the Galil COMM disks. They can be used for development under DOS
and Windows environments (16 and 32 bit Windows). With the API's, the user can incorporate
already existing library functions directly into a C program.
Galil has also developed a Visual Basic Toolkit. This provides VBXs and 16-bit and 32-bit OCXs for
handling all of the DMC-1000 communications including support of interrupts. These objects install
directly into the Visual Basic tool box and are part of the run-time environment. For more
information, contact Galil.
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