Independent Motion Commands
AB
Abort motion
AC
Acceleration
BG
Begin motion
DC
Deceleration
FE
Find edge
FI
Find index
HM
Home
IP
Increment position
IT
Smoothing time constant
JG
Jog mode
PA
Position absolute
PR
Position relative
SP
Speed
ST
Stop
Contour Mode
CD
Contour data
CM
Contour mode
DT
Contour time interval
WC
Wait for contour data
ECAM/Gearing
EA
ECAM master
EB
Enable ECAM
EC
ECAM table index
EG
ECAM go
EM
ECAM cycle
EP
ECAM interval
EQ
Disengage ECAM
ET
ECAM table entry
GA
Master axis for gearing
GM
Gantry mode
GR
Gear ratio for gearing
Vector/Linear Interpolation
CA
Define vector plane
CR
Circular interpolation move
CS
Clear motion sequence
ES
Ellipse scaling
LE
Linear interpolation end
LI
Linear interpolation segment
LM
Linear interpolation mode
ST
Stop motion
TN Tangent
VA
Vector acceleration
VD
Vector deceleration
VE
Vector sequence end
VM
Coordinated motion mode
VP
Vector position
VR
Vector speed ratio
VS
Vector speed
VT
Smoothing time constant--vector
DMC-21x2 and DMC-21x3 Series
Ethernet/RS232 Econo 1 8 axes
Instruction Set
Servo Motor
AG*
Set AMP-20540 gain
AU*
Set current loop gain
AW* Report AMP-20540 bandwidth
DV Dual velocity
FA Acceleration feedforward
FV Velocity feedforward
IL Integrator limit
KD Derivative constant
KI Integrator constant
KP Proportional constant
NB Notch bandwidth
NF Notch frequency
NZ Notch zero
OF Offset
PL Pole
SH Servo here
TK*
Set AMP-20540 peak current
TL
Continue torque limit
TM Sample time
Stepper Motor
DE
Define encoder position
DP
Define reference position
KS
Stepper motor smoothing
MT
Motor type
RP
Report commanded position
TD
Step counts output
TP
Tell position of encoder
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
I/O
AL
Arm latch
CB
Clear bit
CO
Configure I/O points
II
Input interrupt
OB
Define output bit
OC
Output compare function
OP
Output port
SB
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
BN
Burn parameters
BP
Burn program
BR*
Brush motor enable
BS*
Brushless set-up
BV
Burn variables and arrays
CE
Configure encoder type
CF
Configure serial port
CN
Configure switches
CW
Data adjustment bit
DE
Define dual encoder position
DP
Define position
DV
Dual velocity (dual loop)
EO
Echo off
IA
Set IP address
IH
Internet handle
IT
Independent smoothing
LZ
Leading zeros format
MB
ModBus
MO
Motor off
MT
Motor type
PF
Position format
QD
Download array
QU
Upload array
RS
Reset
^
R
^
S
Master reset
VF
Variable format
Math Functions
@SIN[x]
Sine of x
@COS[x]
Cosine of x
@COM[x]
1's complement 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
QH*
Query hall state
QR
Data record
QZ
Return data record info
RP
Report command position
RL
Report latch
^
R
^
V
Firmware revision information
SC
Stop code
TA*
Tell AMP-20540 status
Interrogation (cont.)
TB
Tell status
TC
Tell error code
TD
Tell dual encoder
TE
Tell error
TI
Tell input
TP
Tell position
TR
Trace program
TS
Tell switches
TT
Tell torque
TV
Tell velocity
Programming
DA
Deallocate variables/arrays
DL
Download program
DM
Dimension arrays
ED
Edit program
ELSE
Conditional statement
ENDIF End of cond.statement
EN
End program
HX
Halt execution
IF
If statement
IN
Input variable
JP
Jump
JS
Jump to subroutine
NO
No-operation--for remarks
RA
Record array
RC
Record interval
RD
Record data
REM
Remark program
UL
Upload program
ZS
Zero stack
Error Control
BL
Backward software limit
ER
Error limit
FL
Forward software limit
OE
Off-on-error function
TL
Torque limit
TW
Timeout for in-position
Trippoint
AD
After distance
AI
After input
AM
After motion profiler
AP
After absolute position
AR
After relative distance
AS
At speed
AT
After time
AV
After vector distance
MC
Motion complete
MF
After motion--forward
MR
After motion--reverse
WC
Wait for contour data
WT
Wait for time
CONTROLLERS
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ETHERNET
34
www.galilmc.com
/
Galil Motion Control, Inc.
* For use with AMP-20540
