DMC-21x3 Series
Independent Motion Commands
M
R After motion—reverse
WC Wait for contour data
WT Wait for time
AB Abort motion
A
C Acceleration
BG Begin motion
DC Deceleration
FE Find edge
F
I Find index
HM Home
IP Increment position
IT Smoothing time constant
JG Jog mode
PA Position absolute
PR Position relative
PT Position tracking
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 modulus
EP ECAM interval
EQ Disengage ECAM
ET ECAM table entry
EW ECAM widen
GA Master axis for gearing
GD
Engagement distance for gearing
GM Gantry mode
_
GP Correction for gearing
GR Gear ratio for gearing
Vector/Linear Interpolation
CA Define vector plane
CR Circular interpolation move
CS Clear motion sequence
ES Elliptical 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
C
oor
dina
t
ed motion mode
VP Vector position
VR Vector speed ratio
VS
Vector speed
VT
Smoothing time c
onstan
t
—v
ec
t
or
Instruction Set
Ethernet
HS Handle switch
IA Set IP address
IH Open IP handle
I
K Ethernet port blocking
M
B Modbus
M
W Modbus wait
SA Send command
Servo Motor
AF Analog feedback
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 Peak torque
TL Continuous torque limit
TM Sample time
Stepper Motor
AG
†
Set SDM-20640 gain
KS Stepper motor smoothing
LC Low current
QS Error magnitude
YA Step drive resolution
YB Step motor resolution
YC Encoder resolution
YR
Error correction
Y
S
St
epper position main
tenance
Internal Sine Commutation
BA Brushless axis
BB Brushless phase
BC Brushless calibration
BD Brushless degr
ees
BI Brushless inputs
BM Brushless modulo
BO
Brushless offset
BS Brushless setup
BZ Brushless zero
I/O
AL Arm la
t
ch
AQ Analog configuration
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
I/O (cont.)
@
AN[x] Value of analog input x
@IN[x] State of digital input x
@OUT[x] State of digital output x
System Configuration
AE Amplifier error
BN Burn parameters
BP Burn program
BR* Brush motor enable
BV Burn variables and arrays
CC Configure communications port
CE Configure encoder type
CF Configure unsolicited messages handles
CI Configure communication interrupt
CN
Configure switches
CW Data adjustment bit
DE Define dual encoder position
DP Define position
DR Data record update rate
EO Echo
IT Independent smoothing
LO Lockout handle
LZ Leading zeros format
MO Motor off
MT Motor type
PF Position format
QD Download array
RS Reset
ˆ
R
ˆ
S Master reset
VF Variable format
Math Functions
@ABS[x] Absolute value of x
@ACOS[x] Arc cosine of x
@ASIN[x] Arc sine of x
@ATAN[x] Arc tangent of x
@COM[x] 1’s complement of x
@COS[x] Cosine of x
@FRAC[x] Fraction portion of x
@INT[x] Integer portion of x
@RND[x]
Round of x
@SIN[x]
Sine of x
@SQR[x] Square root of x
@T
AN[x] T
angen
t
Interrogation
LA List arrays
LL List labels
LS List program
LV List variables
MG Message command
QH* Query hall state
QR
Data record
QU
Upload arr
a
y
QZ
Return data record info
RL
Repor
t la
t
ch
RP
Report command position
ˆ
R
ˆ
V Firmware revision information
SC Stop code
TA* Tell AMP-20540 status
Interrogation (cont.)
T
B Tell status
TC Tell error code
TD Tell dual encoder
TE Tell error
T
H Tell handle
TI Tell input
TP Tell position
TR Trace program
T
S Tell switches
TT Tell torque
TV Tell velocity
TZ Tell I/O configuration
WH Which handle
Programming
BK Breakpoint
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 comments
RA Record array
RC Record interval
RD Record data
RE Return from error routine
REM Remark program
RI Return from interrupt routine
SL Single step
UL Upload program
XQ Execute program
ZS
Z
er
o stack
‘
Comment
Error Control
BL Backward software limit
ER Error limit
FL Forward software limit
OE Off-on-error function
TW Timeout for in-position
Trippoint
AD After distance
AI
A
fter 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 c
omplet
e
MF After motion—forward
Ethernet/RS232 Econo Series, 1–8 axes
www.galilmc.com / Galil Motion Control,Inc. 3
ECONO
†
For use with SDM-20640
* For use with AMP-20540