Galil DMC-4040 - Page 5

GalilTools (Windows and Linux) ................................................................................. 63
Creating Custom Software Interfaces ........................................................................... 65
HelloGalil – Quick Start to PC programming ........................... 65
GalilTools Communication Libraries ....................................... 65
ActiveX Toolkit ........................................................................ 66
DMCWin Programmers Toolkit ............................................... 66
Galil Communications API with C/C++ ................................... 67
Galil Communications API with Visual Basic ........................ 67
DOS, and QNX tools .................................................................................................... 69
Chapter 5 Command Basics 70
Introduction ................................................................................................................... 70
Command Syntax - ASCII ............................................................................................ 70
Coordinated Motion with more than 1 axis .............................. 71
Command Syntax – Binary (advanced) ........................................................................ 72
Binary Command Format ......................................................... 72
Binary command table .............................................................. 73
Controller Response to DATA ...................................................................................... 74
Interrogating the Controller .......................................................................................... 74
Interrogation Commands .......................................................... 74
Summary of Interrogation Commands ...................................... 75
Interrogating Current Commanded Values. .............................. 75
Operands ................................................................................... 75
Command Summary ................................................................. 75
Chapter 6 Programming Motion 76
Overview ....................................................................................................................... 76
Independent Axis Positioning ....................................................................................... 78
Command Summary - Independent Axis .................................. 78
Operand Summary - Independent Axis .................................... 78
Independent Jogging ..................................................................................................... 80
Command Summary - Jogging ................................................ 80
Operand Summary - Independent Axis .................................... 81
Position Tracking .......................................................................................................... 81
Example - Motion 2: ............................................................... 83
Example Motion 4 ................................................................... 84
Trip Points ................................................................................. 85
Command Summary – Position Tracking Mode ..................... 86
Linear Interpolation Mode ............................................................................................ 86
Specifying Linear Segments ..................................................... 86
Command Summary - Linear Interpolation .............................. 88
Operand Summary - Linear Interpolation ................................ 88
Example - Linear Move ............................................................ 89
Example - Multiple Moves ....................................................... 90
Vector Mode: Linear and Circular Interpolation Motion ............................................. 91
Specifying the Coordinate Plane ............................................... 91
Specifying Vector Segments ..................................................... 91
Additional commands ............................................................... 92
Command Summary - Coordinated Motion Sequence ............. 94
Operand Summary - Coordinated Motion Sequence ................ 94
Electronic Gearing ........................................................................................................ 95
Ramped Gearing ........................................................................................................... 96
Example – Electronic Gearing Over a Specified Interval ......... 97
Command Summary - Electronic Gearing ................................ 98
Example - Simple Master Slave ................................................ 98
Example - Electronic Gearing ................................................... 98
Example - Gantry Mode ............................................................ 98
Electronic Cam .............................................................................................................. 99
Command Summary - Electronic CAM ................................... 103
Operand Summary - Electronic CAM ...................................... 103
Example - Electronic CAM ...................................................... 103
PVT Mode ..................................................................................................................... 105
Specifying PVT Segments ........................................................ 105
Exiting PVT Mode .................................................................... 105
Error Conditions and Stop Codes ............................................. 105
Additional PVT Information ..................................................... 105
Command Summary – PVT ...................................................... 106
PVT Examples .......................................................................... 106
DMC-40x0 Contents • iv