KP? Return gain of A axis
KP ,,? Return gain of C axis.
KP ?,?,?,? Return gains of all axes.
Many other parameters such as KI, KD, FA, can also be interrogated. The command reference denotes all
commands which can be interrogated.
Example 10 - Operation in the Buffer Mode
The instructions may be buffered before execution as shown below.
Instruction Interpretation
PR 600000 Distance
SP 10000 Speed
WT 10000 Wait 10000 milliseconds before reading the next instruction
BG A Start the motion
Example 11 - Using the On-Board Editor
Motion programs may be edited and stored in the controller’s on-board memory. When the command, ED is given
from the Galil DOS terminal (such as DMCTERM), the controllers editor will be started.
The instruction
ED Edit mode
moves the operation to the editor mode where the program may be written and edited. The editor provides the line
number. For example, in response to the first ED command, the first line is zero.
Line # Instruction Interpretation
000 #A Define label
001 PR 700 Distance
002 SP 2000 Speed
003 BGA Start A motion
004 EN End program
To exit the editor mode, input <cntrl>Q. The program may be executed with the command.
XQ #A Start the program running
If the ED command is issued from the Galil Windows terminal software (such as SmartTERM), the software will
open a Windows based editor. From this editor a program can be entered, edited, downloaded and uploaded to the
controller.
Example 12 - Motion Programs with Loops
Motion programs may include conditional jumps as shown below.
Instruction Interpretation
#A Label
DP 0 Define current position as zero
V1=1000 Set initial value of V1
#LOOP Label for loop
PA V1 Move A motor V1 counts
BG A Start A motion
AM A After A motion is complete
DMC-40x0 User Manual Chapter 2 Getting Started • 28
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