DMC Commands Flashcards

Question

**JP**

Answer 1

**Jump to a Program Location** ## Footnote The JP command causes a jump to a program location on a specified condition. The program location may be any program line number or label. A jump is taken if the specified condition is true. Multiple conditions can be used in a single jump statement. ``` JP #C ; ' Jump to #C unconditionally JP #POS1,(V1<5) ; ' Jump to label #POS1 if variable V1 is less than 5 JP #A,((V7*V8)=0) ; ' Jump to #A if V7 times V8 equals 0 JP #B,(@IN[1]=1) ; ' Jump to #B if input 1 = 1 ```

Answer 2

**Jump to Subroutine** ## Footnote The JS command allows the program to jump to a subroutine and return back after completion. This command is often used to call reusable code. ``` #main;' Program Main PR2000;SP4000;BGA;' make move AMA;' wait for move to complete JS#PULSE;' gosub to #PULSE PR-2000;SP-4000;BGA;' make move AMA;' wait for move to complete JS#PULSE;' gosub to #PULSE EN;' end of program #PULSE SB1;WT100;CB1;WT100;' turn on/off output1 EN;' end of subroutine - return to calling program ```

Answer 3

**IF Conditional Statement** ## Footnote The IF command is used in conjunction with an ENDIF command to form an IF conditional statement. The arguments consist of one or more conditional statements and each condition must be enclosed with parenthesis (). If the conditional statement(s) evaluates true, the command interpreter will continue executing commands which follow the IF command. If the conditional statement evaluates false, the controller will ignore commands until the associated ENDIF command or an ELSE command occurs in the program. ``` #A IF (_TPA<1000);' IF conditional statement based on a motor position MG "Motor is within 1000 counts of zero";' Message to be executed for true ENDIF;' End of IF conditional statement EN #input IF (@IN[1]=0);' IF conditional statement based on input 1 MG "Input 1 is Low";' Message to be executed if "IF" statement is true ENDIF;' End of IF conditional statement EN v1=@AN[1]*5;' some calculation for variable v1 IF((v1>25)&(@IN[4]=1));' Conditions based on V1 variable and input 4 status MG "Conditions met";' Message to be executed if "IF" statement is true ENDIF;' End of IF statement EN ```

Answer 4

**End of IF Conditional Statement** ## Footnote The ENDIF command is used to designate the end of an IF conditional statement. An IF conditional statement is formed by the combination of an IF and ENDIF command. An ENDIF command must always be executed for every IF command that has been executed. It is recommended that the user not include jump commands inside IF conditional statements since this causes re-direction of command execution. In this case, the command interpreter may not execute an ENDIF command. ``` IF (@IN[1]=0);' IF conditional statement based on input 1 IF (@IN[2]=0);' 2nd IF conditional statement executed if 1st IF conditional true MG "IN1 AND IN2 ARE ACTIVE";' Message if 2nd IF conditional is true ELSE;' ELSE command for 2nd IF conditional statement MG "ONLY IN1 IS ACTIVE";' Message if 2nd IF conditional is false ENDIF;' End of 2nd conditional statement ELSE;' ELSE command for 1st IF conditional statement IF (@IN[2]=0);' 3rd IF conditional statement executed if 1st IF conditional false MG "ONLY IN2 IS ACTIVE";' Message if 3rd IF conditional statement is true ELSE;' ELSE command for 3rd conditional statement MG "IN1 AND IN2 INACTIVE";'Message if 3rd IF conditional statement is false ENDIF;' End of 3rd conditional statement ENDIF;' End of 1st conditional statement ```

Answer 5

**ELSE Function for Conditional IF Statement** ## Footnote The ELSE command is an optional part of an IF conditional statement. The ELSE command must occur after an IF command and it has no arguments. It allows for the execution of a command only when the argument of the IF command evaluates False. If the argument of the IF command evaluates false, the controller will skip commands until the ELSE command. If the argument for the IF command evaluates true, the controller will execute the commands between the IF and ELSE command. ``` IF (@IN[1]=0);' IF conditional statement based on input 1 IF (@IN[2]=0);' 2nd IF conditional statement executed if 1st IF conditional true MG "IN1 AND IN2 ARE ACTIVE";' Message if 2nd IF conditional is true ELSE;' ELSE command for 2nd IF conditional statement MG "ONLY IN1 IS ACTIVE";' Message if 2nd IF conditional is false ENDIF;' End of 2nd conditional statement ELSE;' ELSE command for 1st IF conditional statement IF (@IN[2]=0);' 3rd IF conditional statement executed if 1st IF conditional false MG "ONLY IN2 IS ACTIVE";' Message if 3rd IF conditional statement is true ELSE;' ELSE command for 3rd conditional statement MG "IN1 AND IN2 INACTIVE";'Message if 3rd IF conditional statement is false ENDIF;' End of 3rd conditional statement ENDIF;' End of 1st conditional statement ```

Answer 6

**Read Digital Input** ## Footnote The @IN operand returns the value of the given digital input (either 0 or 1). ``` MG @IN[1] 1.0000 x = @IN[1] ; ' assign value of digital input 1 to variable x = ? ; ' print value 1.000 JP #LOOPER,(@IN[2]=1) ; ' Jump to #LOOPER if input 2 = 1 ```

Answer 7

**Read Digital Output** ## Footnote Returns the value of the given digital output (either 0 or 1) ``` MG @OUT[1] ; ' print value of digital output 1 1.0000 x = @OUT[1] ; ' assign state of digital output 1 to a variable ```

Answer 8

**Analog Input Query** ## Footnote The @AN[] operator returns the value of the given analog input in volts. ``` MG @AN[1] ; 'print analog input 1.7883 a1 = @AN[1] ; 'assign value of analog input 1 to variable ```

Answer 9

**Abort** ## Footnote The AB command issues an abort to controller operation. AB stops motion on all axes instantly without a controlled deceleration. If there is a program operating, AB can also be specified to abort the program and all running threads. The command, AB, will shut off the motors for any axis in which the off on error function is enabled (see command "OE"). ``` AB1; ' stop motion without aborting program AB0; ' stop motion and program execution ```

Answer 10

**Jog** ## Footnote The JG command sets the jog mode and the jog slew speed of the axes. To stop motion use ST command. ``` JG 4000,-2000; ' Set jog mode and slew speeds BG; ' Begin motion WT1000; ' Wait 1000 msec JGB= -4000; 'Change slew speed on B ```

Answer 11

**After Distance** ## Footnote The AD command is a trippoint to block command execution until a given distance is traversed. This is a profiled trippoint which means it depends on the motion profiler and not the actual motor encoder. AD can only be used when there is commanded motion on the axis. ``` #A DP 0,0;' Zero position PR 10000,20000;' Specify position relative moves BG ;' Begin motion AD 5000;' After A reaches 5000 MG "Halfway to A";TP A;' Send message AD ,10000;' After B reaches 10000 MG "Halfway to B";TP B;' Send message EN ```

Answer 12

**After Absolute Position** ## Footnote The AP command will hold up the execution of the following command until the actual motor position crosses the specified position. This trippoint does not rely on the profiler, but on actual encoder position. ``` #test DP0;' Define zero JG 1000;' Jog mode (speed of 1000 counts/sec) BG A;' Begin move AP 2000;' After passing the position 2000 V1=_TPA;' Assign V1 A position MG "Position is", V1;' Print Message ST;' Stop motion EN;' End of Program ```

Answer 13

**Proportional Gain Constant** ## Footnote KP designates the proportional constant in the controller filter. The proportional gain outputs a control signal proportional to the amount of error. Affects the stiffness of the motor. ``` :KP 12,14,16,20;' set a,b,c,d axis proportional term :KPC= 8;' set C proportional term only :KPC=? ; ' interrogate for C proportional term 8.0 //controller response :KP?,?,?,? ; ' interrogate for A,B,C,D values 12.0,14.0,8.0,20.0 //controller response ```

Answer 14

**Derivative Gain Constant** ## Footnote KD designates the derivative constant in the control filter. The derivative gain outputs a voltage based on the rate of change of the error. Affects the damping (overshoot, undershoot) of the motor. ``` :KD 60,72,55,81;' set a,b,c,d axis derivative term :KDC= 65;' set C derivative term only :KDC=? ; ' interrogate for C derivative term 65.0 //controller response :KD?,?,?,? ; ' interrogate for A,B,C,D values 60.0,72.0,65.0,81.0 //controller response ```

Answer 15

**Integrator Gain Constant** ## Footnote The KI command sets the integral gain of the control loop. The integrator term will reduce the position error at rest to zero. ``` :K1 7,14,8,1;' set a,b,c,d axis derivative term :KIC= 2.1;' set C derivative term only :KDC=? ; ' interrogate for C derivative term 2.1 //controller response :KD?,?,?,? ; ' interrogate for A,B,C,D values 7.0,14.0,2.1,1.0 //controller response ```

Answer 16

**After Relative Distance** The AR command is a trippoint used to control the timing of events. This command will hold up the execution of the following command until one of the following conditions have been met: 1. The commanded motor position crosses the specified relative distance from either the start of the move or the last AR or AD command. 2. The motion profiling on the axis is complete. 3. If in jog (JG) mode, the commanded motion is in the direction which moves away from the specified position. ``` #A;' Program A DP 0;' Set position to zero JG 50000;' Specify jog speed BG A;' Begin motion #B;' Label AR 25000;' After passing 25000 counts of relative distance on A-axis MG "Passed";TPA;' Send message on A-axis JP #B;' Jump to Label #B EN;' End Program ```

Answer 17

**At Speed** ## Footnote The AS command is a trippoint that occurs when the generated motion profile has reached the specified speed. This command will hold up execution of the following command until the commanded speed has been reached. The AS command will operate after either accelerating or decelerating. ``` PR 100000;' Specify position SP 10000;' Specify speed BG A;' Begin move AS A;' After speed is reached MG "At Speed";' Print Message ```

Answer 18

**Burn** ## Footnote The BN command saves certain board parameters in non-volatile EEPROM memory. Once written to the memory, all parameters which can be burned will persist through a software reset (RS command), hardware reset (reset button) or power cycle. This command typically takes 1 second to execute and must not be interrupted. The controller returns a colon (:) when the Burn is complete. All parameters which have been burned into memory can be restored to their factory defaults through a master reset. ``` AC10000,20000;' set accel SP4000,-2000;' set speed KP6.5,10;' set proportional gain BN;' burn parameters : //controller returns a colon when Burn is complete ```

Answer 19

**Burn Program** ## Footnote The BP command saves the application program in non-volatile EEPROM memory. This command may take several seconds to execute and must not be interrupted. The controller returns a : when the Burn is complete. ``` #A SB1;' set bit 1 WT1000;' wait 1000 msec CB1;' clear bit 1 EN;' end of program BP;' burn program to memory : //controller returns a colon when Burn is complete ```

Answer 20

**Burn Variables and Arrays** ## Footnote The BV command saves the controller variables and arrays in non-volatile EEPROM memory. This command typically takes up to 2 seconds to execute and must not be interrupted. The controller returns a : when the Burn is complete. ``` BV;' burn in variables : //controller returns a colon when Burn is complete ```

Answer 21

**Message** ## Footnote The MG command is used to send strings, operands, variables, and array values to a specified destination. ``` MG _TPA ; ' print position of A -4000 total= 1234.5322 ; 'Assign value to variable MG "The answer is...",total{F4.2} The answer is... 1234.53 ```

Answer 22

**Tell Torque** ## Footnote The TT command reports the value of the motor command analog output signal, which is a number between -9.9982 and 9.9982 volts. ``` TTA ; ' Report torque on A -0.2843 v1=_TTA ; ' Assigns value of TTA to variable ```

Answer 23

The ER command sets the magnitude of the position errors for each axis that will trigger an error condition. When the limit is exceeded, the Error output will go low (true) and the controller's red light will be turned on. If the Off On Error (OE1) command is active, the motors will be disabled. ## Footnote ``` ER 200,300,400,600;' Set error limits on A,B,C,D axes ER ,1000;' Sets the B-axis error limit to 1000, leave the A-axis error limit unchanged. ER ?,?,?,?;' Return A,B,C and D values 200,1000,400,600 ER ?;' Return A value 200 V1=_ERA;' Assigns V1 value of ERA MG V1;' Returns ## Footnote V1 200 ```

Answer 24

**Off-On-Error** ## Footnote The OE command sets the Off On Error function for the controller. The OE command causes the controller to shut off the motor command if a position error exceeds the limit specified by the ER command, an abort occurs from either the abort input or on AB command, or an amplifier error occurs based on the description of the TA command. ``` OE 1,1,1,1;' Enable OE on all axes OE 0;' Disable OE on A-axis, other axes remain unchanged OE ,,1,1;' Enable OE on C-axis and D-axis, other axes remain unchanged OE 1,0,1,0;' Enable OE on A and C-axis, Disable OE on B and D axis MG _OEA;' Query A axis OE setting 1.0000 ```

Answer 25

**Motor Type** ## Footnote The MT command selects the type of the motor and the polarity of the drive signal. Motor types include standard servomotors, which require a voltage in the range of +/- 10 Volts, and stepper motors, which require step and direction signals. The polarity reversal inverts the analog signals for servomotors, or inverts logic level of the pulse train for step motors. ``` MO; 'turn all motors off MT 1,-1,2,2; 'Configure A as servo, B as reverse servo, C and D as steppers ```

Answer 26

**Configure Encoder** ## Footnote The CE command configures the encoder to quadrature type or pulse and direction type. It also allows inverting the polarity of the encoders which reverses the direction of the feedback. The configuration applies independently to the main axes encoders and the auxiliary encoders. `CE 0, 3, 6, 2;' configure encoders`

Answer 27

**Configure** ## Footnote The CN command configures the polarity of the limit switches, home switches, latch inputs, the selective abort function, and the program termination behavior of the abort input. ``` #test CN -1;' Limit switches are active low JGA= 100; BG A;' Start a slow jog move WT1000; ' Wait 1000 msec CN 1;' Cause a limit fault by inverting the limit polarity EN #LIMSWI;' Automatic sub will automatically launch on limit detection MG "Limit Switch Routine" WT100 CN -1;' Return to correct polarity RE ```

Answer 28

**Trace** ## Footnote The TR command causes each instruction in a program to be sent out the communications port prior to execution. The trace command is useful in debugging programs. ``` TR1 ; ' turn on trace mode TR0 ; ' turn off trace mode ```

Answer 29

**Find Edge** ## Footnote The FE command moves a motor until a transition is seen on the home input for that axis. The direction of motion depends on the initial state of the homing input (use the CN command to configure the polarity of the home input). Once the transition is detected, the motor decelerates to a stop. This command is useful for creating custom homing sequences. ``` FECD; ' Find edge on C and D BGCD; ' Begin motion C and D ```

Answer 30

**Find Index** ## Footnote The FI and BG commands move the motor until an encoder index pulse (Z-channel) is detected. ``` #home JG -2000 ; ' Set the speed and direction for the first phase of the FI move HV 500; ' Set the speed for the second phase of the FI move FI A; ' Queue up a find edge move on the A axis - direction of phase 2 is opposite of phase 1 BG A; ' Begin FI move on A axis AM A; ' After the move has finished on axis A MG "FI done"; ' Output a message indicating the FI move is complete EN ```

Answer 31

**Home** ## Footnote The HM command performs a three stage homing sequence for servo systems and a two stage sequence for stepper motors. ``` HM; ' Set Homing Mode for all axes BG; ' Home all axes HMA; ' Set Homing Mode for axis A BGA; ' Home only the A-axis ```

Answer 32

**Homing Velocity** ## Footnote The HV command sets the slew speed for the FI final move to the index and all but the first stage of HM. ``` HVA=1000; ' set homing speed HMA; ' home to home switch then index BGA; ' begin motion AMA; ' wait for motion complete ```

Answer 33

**Halt Execution** ## Footnote The HX command halts the execution of any program that is running.The parameter n specifies the thread to be halted. ``` XQ #A; ' Execute program #A, thread zero XQ #B,3; ' Execute program #B, thread three HX0; ' Halt thread zero HX3; ' Halt thread three ```

Answer 34

**Master Axis for Gearing** ## Footnote The GA command specifies the master axes for electronic gearing. Multiple masters for gearing may be specified. A slave axis may have only one master. The masters may be the main encoder input, auxiliary encoder input, or the commanded position of any axis. The master may also be the commanded vector move in a coordinated motion of LM or VM type. When the master is a simple axis, it may move in any direction and the slave follows. When the master is a commanded vector move, the vector move is considered positive and the slave will move forward if the gear ratio is positive, and backward if the gear ratio is negative. The slave axes and ratios are specified with the GR command and gearing is turned off by the command GR0. ``` #gear MO B;' Turn off servo to B motor GA B,,B;' Specify master axis as B on A and C GR .25,,-5;' Specify A and C gear ratios SH B;' Enable B axis PRB= 1000;BG B;' Move B axis 1000 counts ' A axis will be commanded to move 250 counts positive ' C axis will be commanded to move -5000 counts EN;' End program ```

Answer 35

**Gear Ratio** ## Footnote GR specifies the Gear Ratios for the geared axes in the electronic gearing mode. The master axis is defined by the GA command. ``` #gear MO B;' Turn off servo to B motor GA B,,B;' Specify master axis as B on A and C GR .25,,-5;' Specify A and C gear ratios SH B;' Enable B axis PRB= 1000;BG B;' Move B axis 1000 counts ' A axis will be commanded to move 250 counts positive ' C axis will be commanded to move -5000 counts EN;' End program ```

Answer 36

**Gantry Mode** ## Footnote The GM command specifies the axes in which the gearing function is performed in the Gantry mode. In this mode, the geared slaves will not be stopped by the ST command or by limit switches. ``` GA DA;' Set master for A axis to the A axis Aux encoder input GM 1;' Enable Gantry Mode on A axis GR 1;' Set Gear Ratio to 1 WT 1000 ST;' Axis will still be in gearing mode WT 1000 GM 0;' Disable Gantry Mode (Axis still gearing) WT 1000 ST;' Will clear gearing mode EN ```

Answer 37

**Increment Position** ## Footnote The IP command allows for a change in the command position while the motor is moving. This command does not require a BG. ``` #CORRECT AC 100000; ' Set acceleration JG 10000; BGA; ' Jog at 10000 counts/sec rate WT 1000; ' Wait 1000 msec IP 10; ' Move the motor 10 counts instantaneously STA; ' Stop Motion EN ```

Answer 38

**Amplifier Gain** ## Footnote The AG command sets the amplifier current/voltage gain for the Galil internal amplifiers. ``` MO;' Turn motor off MT 1;' Set the A axis as a servo AG 2;' Sets the highest amplifier gain for A axis on servo amplifier ```

Answer 39

**Torque Limit** ## Footnote The TL command sets the limit on the motor command output. This limit is designed to prevent over current to motors with lower current rating than the drive. To convert motor command output (V) to actual motor current (A), use the following equation: Motor Current (A) = Motor Command (V) \* Amplifier Gain (A/V). ``` TL 5.0, 9.9982 ; ' limit A to 5.0 volts; B set to max 9.9982 volts TL ?,?;' return torque limits 5.0 , 9.9982 //controller response ```

Answer 40

**Brake Wait** ## Footnote The BW command sets the delay between when the brake is turned on (1) and when the amp is turned off (2). When the controller goes into a motor-off (MO) state, this is the time (in samples) between when the brake digital output changes state and when the amp enable digital output changes state. The brake is actuated immediately upon MO and the delay is to account for the time it takes for the brake to engage mechanically once it is energized electrically. The brake is released immediately upon SH. Typically used with Galil internal amplifiers. Outputs 1-8 are used for Axes A-H, where output 1 is the brake for axis A and output 2 is the brake for axis B and so on. ``` BW 100;' Set brake delay to 100 ms (TM1000) for the A axis EN ```

Answer 41

**Forward Motion to Position** ## Footnote The MF command will hold up the execution of the following command until the specified motor moves forward and crosses the position specified. Command references absolute position. ``` DP 0; 'Define zero JG 1000; 'Jog mode (speed of 1000 counts/sec) BG A; 'Begin move MF 2000; 'After passing the position 2000 v1= _TPA; 'Assign V1 A position MG "Position is",v1; 'Print Message ST A; 'Stop motion ```

Answer 42

**Reverse Motion to Position** ## Footnote The MR command will hold up the execution of subsequent DMC code until the specified axis moves backwards and crosses the position specified. Command references absolute position. ``` DP 0; 'Define zero JG -1000; 'Jog mode (speed of -1000 counts/sec) BG A; 'Begin move MR -3000; 'After passing the position -3000 v1= _TPA; 'Assign V1 A position MG "Position is",v1; 'Print Message ST A; 'Stop motion ```

Answer 43

**No Operation** ## Footnote The NO (or ') command performs no action in a sequence and can be used as a comment in a program. NO (or ') command lines are downloaded to the controller and do take some execution time. ``` #A; 'Program A NO; ' No operation NO This Program; ' No operation NO Does Absolutely; ' No operation NO Nothing; ' No operation EN; 'End of program ```

Answer 44

**Remark** ## Footnote REM is used for comment lines. The REM statement is NOT a controller command. Rather, it is recognized by Galil PC software, which strips away the REM lines before downloading the DMC file to the controller. REM differs from NO (or ') in the following ways: * NO (or ') comments are downloaded to the controller and REM comments are not. * NO (or ') comments take up execution time and REM comments don't; therefore, REM should be used for code that needs to run fast. * REM comments cannot be recovered when uploading a program but NO (or ') comments are recovered. Thus the uploaded program is less readable with REM. * NO (or ') comments take up program line space and REM lines do not. * REM comments must be the first and only thing on a line, whereas NO (or ') can be used to place comments to the right of code (after a semicolon) on the same line. ``` REM This comment will be stripped when downloaded to the controller 'This comment will be downloaded and takes some execution time SB1 ;'this comment is to the right of the code and will be downloaded to the controller ```

Answer 45

**Output Port** ## Footnote The OP command sets the output ports of the controller in a bank using bitmasks (ie: use OP to set multiple outputs in a bank with a single command). Arguments to the OP command are bit patterns (decimal or hex) to set entire banks (bytes) of digital outputs. Use SB, CB or OB to set bits individually. ``` OP $85;' Set outputs 1,3,8 and clear the others OP 0;' Clear all bits ```

Answer 46

**Arm Latch** ## Footnote The AL command enables the latch function (high speed main or auxiliary position capture) of the controller. When the position latch is armed, the main or auxiliary encoder position will be captured upon a rising or falling edge on the specified digital input. Use the CN command to configure the edge that the latch input will trigger on. The command RL returns the latched position. \_ALm contains the state of the specified latch. 0 = not armed, 1 = armed ``` #start AL A;' Arm A-axis latch JG 50000;' Set up jog move BG A;' Begin the move #loop;' Loop until latch has occurred JP #loop,(_ALA=1) RL A;' Transmit the latched position EN ```

Answer 47

**Report Latched Position** ## Footnote The RL command will return the last position captured by the latch. The latch must first be armed by the AL command and then the appropriate input must be activated. Each axis uses a specific general input for the latch input; see the AL command for information on latch inputs. ``` JG ,5000;' Set up to jog the B-axis BG B;' Begin jog AL B;' Arm the B latch, assume that after about 2 seconds, input goes low RL B;' Report the latch 10000 ```

Answer 48

**Tell Error Code** ## Footnote The TC command reports programming or command errors detected by the controller. The TC command returns a number between 1 and 255. This number is a code that reflects why a command was not accepted by the controller. This command is useful when the controller halts execution of a program or when the response to a command is a question mark. Refer to table in Command Reference for listing of error codes. ``` TC1; ' Tell error code with numerical code and human readable message 20 Begin not valid with motor off //controller response TC0 ; ' Tell error code with numerical code only 20 //controller response ```

Answer 49

**Stop Code** ## Footnote The SC command returns a number indicating why a motor has stopped. Refer to table in Command Reference for listing of stop codes. ``` JG10000;' Set jog speed BGA;' Start jogging SCA;' Return Stop Code 0 //Controller Response - Axis is running in independent mode STA;' Stop motion on A SCA;' Return Stop COde 4 //Controller Response - Axis is stopped by ST command ```

Answer 50

**Tell Switches** ## Footnote The TS command returns information including axis-specific IO status, error conditions, motor condition and state. The value returned by this command is decimal and represents an 8 bit value (decimal value ranges from 0 to 255). Refer to table in Command Reference for listing of status bit codes. V1=TSB;' Assigns value of TSB to the variable V1 V1=?;' Interrogate value of variable V1 15 // Controller Response - Decimal value corresponding to bit pattern 00001111 *Y axis not in motion (bit 7 - has a value of 0)* *Y axis error limit not exceeded (bit 6 has a value of 0)* *Y axis motor is on (bit 5 has a value of 0)* *Y axis forward limit is inactive (bit 3 has a value of 1)* *Y axis reverse limit is inactive (bit 2 has a value of 1)* *Y axis home switch is high (bit 1 has a value of 1)* *Y axis latch is not armed (bit 0 has a value of 1)*

Answer 51

**Tell Amplifier Error Status** ## Footnote The TE command returns the error status of Galil internal amplifiers. The value is decimal and represents an 8 bit value. Bit 7 is the most significant bit. Bit 0 is the least significant bit. Refer to table in Command Reference for listing of error codes. ``` TA1 1 //bit 0 means Hall error for A axis TA0 8 //bit 3 means under voltage error for amp ```

Answer 52

**Tell Status Byte** ## Footnote TThe TB command returns status information from the controller as a decimal number. Each bit of the status byte denotes an active condition when the bit is set (high): Refer to table in Command Reference for listing of status bit codes. ``` TB;' Tell status information 129 //Executing program and echo on (2^7 + 2^0 = 128 + 1 = 129) ```

Answer 53

**Tell Dual Encoder** ## Footnote The TD command returns the current position of the dual (auxiliary) encoder input. When operating with stepper motors, the TD command returns the number of counts that have been output by the controller. ``` TD ; ' Return A,B,C,D aux encoder positions 200, -10, 0, -110 //controller response TDA ; ' Return the A aux encoder position 200 //controller response dual=_TDA ; ' Assign value of TDA to variable ```

Answer 54

**Tell Ethernet Handle** ## Footnote The TH command returns a list of data pertaining to the Galil's Ethernet connection. This list begins with the IP address and Ethernet address (physical address), followed by the status of each handle indicating connection type and IP address. ``` TH CONTROLLER IP ADDRESS 10,51,0,87 ETHERNET ADDRESS 00-50-4C-08-01-1F IHA TCP PORT 1050 TO IP ADDRESS 10,51,0,89 PORT 1000 IHB TCP PORT 1061 TO IP ADDRESS 10,51,0,89 PORT 1001 IHC TCP PORT 1012 TO IP ADDRESS 10,51,0,93 PORT 1002 IHD TCP PORT 1023 TO IP ADDRESS 10,51,0,93 PORT 1003 IHE TCP PORT 1034 TO IP ADDRESS 10,51,0,101 PORT 1004 IHF TCP PORT 1045 TO IP ADDRESS 10,51,0,101 PORT 1005 IHG AVAILABLE IHH AVAILABLE ```

Answer 55

**Tell Inputs** ## Footnote The TI command returns the state of the inputs in banks of 8 bits, or 1 byte. The value returned by this command is decimal and represents an 8 bit value (decimal value ranges from 0 to 255). Each bit represents one input where the LSB is the lowest input number and the MSB is the highest input bit. ``` TI1 ; ' Tell input state on bank 1 8 //Bit 3 is high, others low TI0 0 //All inputs on bank 0 low input1=_TI1 ; ' Assign value of Bank 1 inputs to variable input1=? 8.0000 //controller response ```

Answer 56

**Output Bit** ## Footnote The OB command allows variable control of an output bit based on logical expressions. The OB command defines output bit n as either 0 or 1 depending on the result from the logical expression. ``` OB 1, pos;' If pos<>0, Bit 1 is high. ' If pos=0, Bit 1 is low OB 2, @IN[1]&@IN[2];' If Input 1 and Input 2 are both high, then Output 2 is set high OB 3, count[1];' If the element 1 in the array is zero, clear bit 3 OB n, count[1];' If element 1 in the array is zero, clear bit ```

Answer 57

**Tell Velocity** ## Footnote The TV command returns the actual velocity of the axes in units of encoder count/s. The value returned includes the sign bit for direction. ``` TVA;' Returns the A-axis velocity 3420 vela=_TVA;' Assigns value of A-axis velocity to the variable VELA ```

Answer 58

**Forward Limit Switch Operand** ## Footnote The _LF operand contains the state of the forward limit switch input. ``` MG _LFA;' Display the status of the A axis forward limit switch ```

Answer 59

**Reverse Limit Switch Operand** ## Footnote The _LR operand contains the state of the reverse limit switch input. ``` MG _LRA;' Display the status of the A axis reverse limit switch ```

Answer 60

**Limit Disable** ## Footnote The LD command allows user to disable forward and/or reverse limit switches. ``` LDA=0;' enable both limits on A LD0,3:' enable both limits on A and disable both limits on B ```

Answer 61

**Limit Switch Automatic Subroutine** ## Footnote \#LIMSWI is an automatic sub for running user-defined code on a limit switch event. A limit switch event requires the following conditions. * Motion profiling in the direction of the given limit. I.E. RPm increasing for forward switch, RPm decreasing for reverse switch. * Limit switch toggles active, either a hardware or software limit. See CN for inverting the active sense of the limit swithes. Without #LIMSWI defined, the controller will issue ST on the axis when its limit switch is tripped during motion in the direction of the switch. With #LIMSWI defined, code is executed in addition to the stop. In lieu of a controlled stop, the motor can turn off and coast stop in the event of a limit switch event. See OE for this feature. ``` #LIMSWI ;' runs when a limit switch is tripped MG "Limit`` switch:"{N} IF ((_LFA = 0) | (_LRA = 0));' if either A forward or reverse limit is prohibiting motion MG "Axis A Limit Hit";' print message ENDIF IF ((_LFB = 0) | (_LRB = 0));' if either B forward or reverse limit is prohibiting motion MG "Axis B Limit Hit";' print message ENDIF RE1;' RE used to exit the #LIMSWI sub ```

Answer 62

**Forward Soft Limit** ## Footnote The FL command sets the forward software position limit. If this limit is exceeded during motion, motion on that axis will decelerate to a stop. Forward motion beyond this limit is not permitted. * When the forward software limit is activated, the automatic subroutine #LIMSWI will be executed if it is included in the program. ``` #test AC 1000000;DC 1000000;' Set Accel/Decel FL15000;' Forward Limit JG 5000;' Jog Forward BGA;' Begin AMA;' After Limit RPA;' Tell Position EN;' End ```

Answer 63

**Reverse Soft Limit** ## Footnote The BL command sets the reverse software limit. If this limit is exceeded during motion, motion on that axis will decelerate to a stop. Reverse motion beyond this limit is not permitted. * When the reverse software limit is activated, the automatic subroutine #LIMSWI will be executed if it is included in the program. ``` #test AC 1000000;DC 1000000;' Set Accel/Decel BL-15000;' Reverse Limit JG -5000;' Jog Reverse BGA;' Begin AMA;' After Limit RPA;' Tell Position EN;' End ```

Answer 64

**Limit Switch Deceleration** ## Footnote The SD command sets the linear deceleration rate of the motors when a limit switch has been reached. ``` #main PR 10000;' Specify position AC 2000000;' Specify acceleration rate DC 1000000;' Specify deceleration rate SD 5000000;' Specify Limit Switch Deceleration Rate SP 5000;' Specify slew speed EN ```

Answer 65

**Return from Error Routine** ## Footnote The RE command is used to end subroutines in application code. An RE at the end of these routines causes a return to the main program. Specific automatic error subroutines require the use of the RE command to end the code correctly. ``` #A JP #A EN #POSERR;' Begin Error Handling Subroutine MG "ERROR";' Print message SB1;' Set output bit 1 RE;' Return to main program and clear trippoint ``` ```

Answer 66

**Dimension Array** ## Footnote The DM command defines a single-dimensional array with a name and n total elements. The first element of the defined array starts with element number 0 and the last element is at n-1. ``` DM Pets[5],Dogs[2],Cats[3] ; ' Define arrays - Pets w/ 5 elements, Dogs w/ 2 , Cats w/ 3 DM Tests[100] ; ' Define dimension of array Tests with 100 elements ```

Answer 67

**Input Interrupt** ## Footnote The II command enables the input interrupt function for the specified inputs. The II command is used along with the #ININT subroutine to execute specific code when inputs specified by II are in the desired state. ``` II 1,1,,0;' Specify interrupt on input 1 only, and triggers when input 1 = 0 EN;' End Program #ININT;' Interrupt subroutine ' The code the user wants to run when II triggers goes here. WT100;' Debounce the input. RI 1;' Return to main program, re-enabling trip point. ' Specify RI 0 if it is not desired to re-enable trip points. ```

Answer 68

**Input Interrupt Automatic Subroutine** ## Footnote The #ININT subroutine is used to execute specific code when inputs specified by the II command are in the desired state. ``` II 1,1,,0;' Specify interrupt on input 1 only, and triggers when input 1 = 0 EN;' End Program #ININT;' Interrupt subroutine ' The code the user wants to run when II triggers goes here. WT100;' Debounce the input. RI 1;' Return to main program, re-enabling trip point. ' Specify RI 0 if it is not desired to re-enable trip points. ```

Answer 69

**Position Error Automatic Subroutine** ## Footnote \#POSERR is an automatic subroutine that runs user code when a position error event occurs. The factory default behavior of the Galil controller upon a position error (\_TEn \> \_ERn) is to drive the error signal low only, turning on the red error LED. If OE is set to 1, the motor whose position error (TE) equals or exceeds its threshold (ER) will be turned off (MO). #POSERR is used to run code upon a position error, for example to notify a host computer. ``` REM how to recover from position error on the A axis #POSERR ST; ' stop commanding motion to all axes AM; ' wait until motion is halted MO; ' disable all axes MG "Position error occurred"; ' send message indicating position error occured SHA; 'reenable A axis, position error is cleared EN ```

Answer 70

**IP Address** ## Footnote The IA command assigns the controller IP address and the TCP time out. The IP address can also be assigned via Galil software or from an external server. The controller defaults to DHCP and will receive an IP address from a DHCP server if present. To manually set an IP address over the serial connection, send DH0 to disable DHCP prior to setting the new IP address with IA. ``` IA 192,168,1,43;' Assigns the controller with IP address 1.168.1.43 //controller response IA < 500;' Sets the timeout value to 500 msec ```

Answer 71

**Subnet Mask** ## Footnote The SM command assigns a subnet mask to the controller. All packets sent to the controller whose source IP address is not on the subnet will be ignored by the controller. For example, for SM 255,255,0,0 and IA 10,0,51,1, only packets from IP addresses of the form 10.0.000.000 will be accepted. ``` SM 255,255,255,255;' Ignore all incoming Ethernet packets SM 0,0,0,0;' Process all incoming Ethernet packets ```

Answer 72

**Open IP Handle** ## Footnote The IH command is used when the controller is operated as a master (client) to open a handle and connect to a slave (server). ``` 'setting up a modbus handle MW1;' setup modbus wait IHE= 192,168,100,200<502>2;' setup a modbus handle to slave #wt;' wait for handle to be connected WT2;' before issuing a command JP#wt,_IHE2<>-2;' SB5003;' Set output 3 on slave WT1000;' 1 second wait MBE= ,5,3,0;' Clear output 3 using MB command EN ```

Answer 73

**Lock Program** ## Footnote ^L^K locks/unlockes user access to the application program. When locked, the ED, UL, LS, and TR commands will give privilege error #106. The application program will still run when locked. Once the program is unlocked, it will remain accessible until a lock command or a reset (with the locked condition burned in) occurs. Used in conjunction with PW password command. ``` PW test,test;' Set password to "test" ^L^K test,1;' Lock the program LS;' Attempt to list the program ? //controller response TC 1 106 Privilege violation //controller response :^L^K test,0;' Unlock the program ```

Answer 74

**Password** ## Footnote The PW command sets the password used to lock the controller. Locking the controller prevents interrogation of the controller program space. Used in conjunction with the ^L^K lock command. ``` PWtest,test;' set password to "test" ^L^K test,1;' lock the program PWapple,orange ; 'set passwords that do not match ? //invalid response from controller TC1 ; ' interrogate for error code 138 Passwords not identical //response from controller PWapple,apple ; ' correctly set password to "apple" ^L^K apple,1 ; ' lock the program ^L^K apple,0 ; ' unlock the program ```

Answer 75

**Reset** ## Footnote The RS command resets the state of the processor to its power-on condition. The previously saved state of the hardware, along with parameter values and saved program, are restored. Use ^R^S command for master reset.or use MRST hardware jumper method. ``` KP10; ' set proportional gain BN; ' burn to non-volatile memory RS: ' perform soft reset KP? ; ' interrogate for KP value 10 //controller response - value was saved ^R^S; ' perform master reset KP? ; ' interrogate for KP value 6.00 //controller response - factory default value ```

Answer 76

**Master Reset** ## Footnote The Master Reset command resets the controller to factory default settings and erases EEPROM. A master reset can also be performed by installing a jumper at the location labeled MRST and resetting the board (power cycle or pressing the reset button). Remove the jumper after this procedure. Use RS command for soft reset. ``` KP10; ' set proportional gain BN; ' burn to non-volatile memory RS; ' perform soft reset KP? ; ' interrogate for KP value 10 //controller response - value was saved ^R^S; ' perform master reset KP? ; ' interrogate for KP value 6.00 //controller response - factory default value ```

Answer 77

**List Variables** ## Footnote The LV command returns a listing of all of the program variables in memory. The listing will be in alphabetical order. LV is an interrogation command with no parameters. ``` :LV apple = 60.0000 banana = 25.0000 zebra = 37.0000 : ```