Galil DMC-2X00 - Manual (Page 71)

Chapter 5 Command Basics
Introduction
The DMC-2x00 provides over 100 commands for specifying motion and machine parameters.
Commands are included to initiate action, interrogate status and configure the digital filter. These
commands can be sent in ASCII or binary.
In ASCII, the DMC-2x00 instruction set is BASIC-like and easy to use. Instructions consist of two
uppercase letters that correspond phonetically with the appropriate function. For example, the
instruction BG begins motion, and ST stops the motion. In binary, commands are represented by a
binary code ranging from 80 to FF.
ASCII commands can be sent "live" over the bus for immediate execution by the DMC-2x00, or an
entire group of commands can be downloaded into the DMC-2x00 memory for execution at a later
time. Combining commands into groups for later execution is referred to as Applications
Programming and is discussed in the following chapter. Binary commands cannot be used in
Applications programming.
This section describes the DMC-2x00 instruction set and syntax. A summary of commands as well as
a complete listing of all DMC-2x00 instructions is included in the Command Reference chapter.
Command Syntax - ASCII
DMC-2x00 instructions are represented by two ASCII upper case characters followed by applicable
arguments. A space may be inserted between the instruction and arguments. A semicolon or <return>
is used to terminate the instruction for processing by the DMC-2x00 command interpreter.
NOTE: If you are using a Galil terminal program, commands will not be processed until an <return>
command is given. This allows the user to separate many commands on a single line and not begin
execution until the user gives the <return> command.
IMPORTANT: All DMC-2x00 commands are sent in upper case.
For example, the command
PR 4000 <return> Position relative
PR is the two character instruction for position relative. 4000 is the argument which represents the
required position value in counts. The <return> terminates the instruction. The space between PR and
4000 is optional.
For specifying data for the A,B,C and D axes, commas are used to separate the axes. If no data is
specified for an axis, a comma is still needed as shown in the examples below. If no data is specified
for an axis, the previous value is maintained.
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