Galil Motion Control 2004catalog Page 24
DMC-1417
PCI Bus, 1 axis
Instruction Set
Motion
AB
Abort motion
AC
Acceleration
BG
Begin motion
CD
Contour data
CM
Contour mode
DC
Deceleration
DT
Contour time interval
EB
Enable cam mode
EG
Start cam motion
EM
Modulus for cam
EP
Master counts per table entry
EQ
ET
Cam table entry
FE
Find edge
FI
Find index
GR
Gear ratio
HM
Home
IP
Increment position
IT
Smoothing time constantindependent
JG
Jog mode
KS
Stepper smoothing
PA
Position absolute
PR
Position relative
SP
Speed
ST
Stop
Program Flow
AD
Wait for specified distance
AI
Wait for specified input
AM
Wait for motion complete
AP
Wait for absolute position
AR
Wait for relative distance
AS
Wait for "At Speed"
AT
Wait for elapsed time
EN
End program
HX
Halt task
IN
Input variable
II
Input interrupt
JP
Jump to program location
JS
Jump to subroutine
MG
Message
MC
Wait for "In Position"
MF
Forward motion past position
MR
Reverse motion past position
NO
No operation (comment)
RE
Return from error subroutine
RI
Return from interrupt
TW
Timeout for "In Position"
WC
Wait for contour data
WT
Wait for elapsed time
XQ
Execute program
ZS
Zero subroutine stack
Configuration
AL
Arm latch
BN
Save parameters in EEPROM
CB
Clear output bit
CE
Configure encoder type
CN
Configure switches
DA
Deallocate arrays
DE
Define dual encoder position
DL
Download program
DM
Dimension arrays
DP
Define position
ED
Edit mode
EI
Enable ISA/PCI interrupts
EO
Echo off
IV
Get interrupt
LS
List program
MO
Motor off
MT
Motor type
OB
Define output bit
OP
Output port
PF
Position format
QD
Download array
QU
Upload array
RA
Record array
RC
Record
RD
Record data
RS
Reset
^
R
^
S
Master reset
SB
Set output bit
UI
User interrupt
UL
Upload program
VF
Variable format
Control Filter Settings
DV
Dual velocity
FA
Acceleration feedforward
FV
Velocity feedforward
GN
Gain
IL
Integrator limit
KD
Derivative constant
KI
Integrator constant
KP
Proportional constant
OF
Offset
SH
Servo here
TL
Torque limit
TM
Sample time
Interrogation
LA
List arrays
LL
List labels
LS
List program
LV
List variables
RP
Report command position
Interrogation--continued
RL
Report latched position
^
R
^
V
Firmware revision
SC
Stop code
TB
Tell status
TC
Tell error code
TD
Tell dual encoder position
TE
Tell position error
TI
Tell input
TP
Tell position
TR
Trace program
TS
Tell switches
TT
Tell torque
TV
Tell velocity
Error and Limits
BL
Reverse software limit
ER
Position error limit
FL
Forward software limit
OE
Off on error
Arithmetic Functions
@SIN
Sine
@COS
Cosine
@ABS
Absolute value
@FRAC
Fraction portion
@INT
Integer portion
@RND
Round
@SQR
Square root
@IN
Return digital input
@OUT
Return digital output
+
Add
- Subtract
* Multiply
/
Divide
&
And
|
Or
( )
Parentheses
Brushless Motor
BA
Brushless axis
BB
Brushless phase
BC
Brushless calibration
BD
Brushless degrees
BI
Brushless inputs
BM
Brushless modulo
BO
Brushless offset
BS
Brushless setup
BZ
Brushless zero
CONTROLLERS
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PCI
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Galil Motion Control, Inc.
