Galil Motion Control DMC-40x0 Series User Manual

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
e
ECAM 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

Galil Motion Control DMC-40x0 Series Specifications

General

Brand	Galil Motion Control
Model	DMC-40x0 Series
Category	Controller
Language	English