Galil DMC-2X00 - Manual (Page 5)

Chapter 4 Communication 47
Introduction .............................................................................................................................47
RS232 Ports .............................................................................................................................47
RS232 - Main Port {P1} DATATERM.....................................................................47
RS232 - Auxiliary Port {P2} DATASET ..............................................................47
*RS422 - Main Port {P1}..........................................................................................48
*RS422 - Auxiliary Port {P2}...................................................................................48
RS-232 Configuration ...............................................................................................48
Ethernet Configuration (DMC-2100/2200 only) .....................................................................50
Communication Protocols .........................................................................................50
Addressing.................................................................................................................51
Communicating with Multiple Devices.....................................................................53
Multicasting...............................................................................................................54
Using Third Party Software.......................................................................................54
Data Record .............................................................................................................................55
Data Record Map.......................................................................................................55
Explanation of Status Information and Axis Switch Information..............................57
Notes Regarding Velocity and Torque Information ..................................................59
QZ Command ............................................................................................................59
Controller Response to Commands .........................................................................................59
Unsolicited Messages Generated by Controller.......................................................................60
Galil Software Tools and Libraries..........................................................................................60
Chapter 5 Command Basics 61
Introduction .............................................................................................................................61
Command Syntax - ASCII.......................................................................................................61
Coordinated Motion with more than 1 axis ...............................................................62
Command Syntax - Binary ......................................................................................................63
Binary Command Format ..........................................................................................63
Binary Command Table ............................................................................................64
Controller Response to DATA ................................................................................................65
Interrogating the Controller .....................................................................................................66
Interrogation Commands ...........................................................................................66
Summary of Interrogation Commands ......................................................................66
Interrogating Current Commanded Values................................................................66
Operands....................................................................................................................66
Command Summary..................................................................................................67
Chapter 6 Programming Motion 69
Overview .................................................................................................................................69
Independent Axis Positioning..................................................................................................70
Command Summary - Independent Axis ..................................................................71
Operand Summary - Independent Axis .....................................................................71
Examples ...................................................................................................................72
Position Tracking.....................................................................................................................73
Example.....................................................................................................................75
Example.....................................................................................................................76
Trip Points .................................................................................................................78
Command Summary – Position Tracking Mode .......................................................79
Independent Jogging................................................................................................................79
Command Summary - Jogging ..................................................................................79
Operand Summary - Independent Axis .....................................................................79
Examples ...................................................................................................................80
Linear Interpolation Mode.......................................................................................................81
DMC-2x00 Contents y iii