Galil Motion Control 2004catalog (Page 30)

DMC-20x0 and DMC-22x0 Series

Ethernet/RS232 and USB/RS232 Optima 1 8 axes

Instruction Set

Servo Motor

Analog feedback

Dual loop operation

Acceleration feedforward

Velocity feedforward

Integrator limit

Derivative constant

Integrator constant

Proportional constant

Notch bandwidth

NF Notch

frequency

NZ Notch

zero

OF Offset
PL

Pole

Servo here

TL Torque

limit

Sample time

Stepper Motor

Define encoder position

Define reference position

Stepper motor smoothing

Motor type

Report commanded position

Step counts output

Tell position of encoder

Brushless Motor

Brushless axis

Brushless phase

Brushless calibration

Brushless degrees

Brushless inputs

Brushless modulo

Brushless offset

Brushless setup

Brushless zero

I/O

Arm latch

Analog output

Clear bit

Communication Interrupt

Configure I/O points

Input interrupt

Define output bit

Output compare function

Output port

Set bit

@IN[x] State of digital input x
@OUT[x] State of digital output x
@AN[x] Value of analog input x

System Configuration

Burn parameters

Burn program

Burn variables and arrays

Configure auxiliary port

Configure encoder type

Configure serial port

Configure switches

Configure I/O points

Data adjustment bit

Define dual encoder position

Define position

Dual velocity (dual loop)

Enable interrupts

Echo off

Set IP address

Internet handle

Independent smoothing

Leading zeros format

ModBus

Motor off

Motor type

Position format

Download array

Upload array

Reset

Master reset

Variable format

Math Functions

@SIN[x]

Sine of x

@COS[x]

Cosine of x

@COM[x]

1's compliment of x

@ASIN[x]

Arc sine of x

@ACOS[x]

Arc cosine of x

@ATAN[x]

Arc tangent of x

@ABS[x]

Absolute value of x

@FRAC[x]

Fraction portion of x

@INT[x]

Integer portion of x

@RND[x]

Round of x

@SQR[x]

Square root of x

Interrogation

LA List arrays
LL List labels
LS List program
LV List variables
MG Message command
QR Data record
QZ

Return DMA information

Report data record command position

Report latch

Firmware revision information

Stop code

Tell status

Interrogation Commands (cont.)

Tell error code

Tell dual encoder

Tell error

Tell input

Tell position

Trace program

Tell switches

Tell torque

Tell velocity

Programming

Deallocate variables/arrays

Download program

Dimension arrays

Edit program

ELSE

Conditional statement

ENDIF End of cond.statement
EN

End program

Halt execution

If statement

Input variable

Jump

Jump to subroutine

No-operation--for remarks

Record array

Record interval

Record data

REM

Remark program

Upload program

Zero stack

Error Control

Backward software limit

Error limit

Forward software limit

Off-on-error function

Torque limit

Timeout for in-position

Trippoint

After distance

After input

After motion profiler

After absolute position

After relative distance

At speed

After time

After vector distance

Motion complete

After motion--forward

After motion--reverse

Wait for contour data

Wait for time

Independent Motion

Abort motion

Acceleration

Begin motion

Deceleration

Find edge

Find index

Home

Increment position

Smoothing time constant

Jog mode

Position absolute

Position relative

Speed

Stop

Contour Mode

Contour data

Contour mode

Contour time interval

Wait for contour data

ECAM/Gearing

ECAM master

Enable ECAM

ECAM table index

ECAM go

ECAM cycle

ECAM interval

Disengage ECAM

ECAM table entry

Master axis for gearing

Gantry mode

Gear ratio for gearing

Vector/Linear Interpolation

Define vector plane

Circular interpolation move

Clear motion sequence

Ellipse scaling

Linear interpolation end

Linear interpolation segment

Linear interpolation mode

Stop motion

TN Tangent
VA

Vector acceleration

Vector deceleration

Vector sequence end

Coordinated motion mode

Vector position

Vector speed ratio

Vector speed

Smoothing time constant--vector

CONTROLLERS

ETHERNET

www.galilmc.com

Galil Motion Control, Inc.

Galil Motion Control - 2004catalog (Page 30)