Galil DMC-2X00 - Page 5

Chapter 4 Communication 47
Introduction .............................................................................................................................47
RS232 Ports ............................................................................................................................. 47
RS232 - Main Port {P1} DATATERM..................................................................... 47
RS232 - Auxiliary Port {P2} DATASET.............................................................. 47
*RS422 - Main Port {P1}..........................................................................................48
*RS422 - Auxiliary Port {P2}...................................................................................48
RS-232 Configuration ...............................................................................................48
Ethernet Configuration (DMC-2100/2200 only) ..................................................................... 50
Communication Protocols .........................................................................................50
Addressing.................................................................................................................51
Communicating with Multiple Devices..................................................................... 53
Multicasting............................................................................................................... 54
Using Third Party Software.......................................................................................54
Data Record ............................................................................................................................. 55
Data Record Map....................................................................................................... 55
Explanation of Status Information and Axis Switch Information..............................57
Notes Regarding Velocity and Torque Information .................................................. 59
QZ Command ............................................................................................................ 59
Controller Response to Commands .........................................................................................59
Unsolicited Messages Generated by Controller....................................................................... 60
Galil Software Tools and Libraries..........................................................................................60
Chapter 5 Command Basics 61
Introduction .............................................................................................................................61
Command Syntax - ASCII.......................................................................................................61
Coordinated Motion with more than 1 axis ............................................................... 62
Command Syntax - Binary ......................................................................................................63
Binary Command Format ..........................................................................................63
Binary Command Table ............................................................................................64
Controller Response to DATA ................................................................................................65
Interrogating the Controller .....................................................................................................66
Interrogation Commands...........................................................................................66
Summary of Interrogation Commands ...................................................................... 66
Interrogating Current Commanded Values................................................................ 66
Operands.................................................................................................................... 66
Command Summary..................................................................................................67
Chapter 6 Programming Motion 69
Overview ................................................................................................................................. 69
Independent Axis Positioning.................................................................................................. 70
Command Summary - Independent Axis ..................................................................71
Operand Summary - Independent Axis ..................................................................... 71
Examples ................................................................................................................... 72
Position Tracking..................................................................................................................... 73
Example.....................................................................................................................75
Example.....................................................................................................................76
Trip Points .................................................................................................................78
Command Summary – Position Tracking Mode ....................................................... 79
Independent Jogging................................................................................................................ 79
Command Summary - Jogging..................................................................................79
Operand Summary - Independent Axis ..................................................................... 79
Examples ................................................................................................................... 80
Linear Interpolation Mode.......................................................................................................81
DMC-2x00 Contentsy iii