DMC-40x0 Firmware Command Reference

09/25/18

©2018 Galil Motion Control

 Table of Content
Table of Content 2
Legend 8
' Comment 9
- Subtraction Operator 10
# Label Designator 11
#AMPERR Amplifier error automatic subroutine 12
#AUTO Subroutine to run automatically upon power up 13
#AUTOERR Bootup Error Automatic Subroutine 14
#CMDERR Command error automatic subroutine 15
#COMINT Communication interrupt automatic subroutine 16
#FWERR Firmware Error Automatic Subroutine 17
#ININT Input interrupt automatic subroutine 18
#LIMSWI Limit switch automatic subroutine 19
#MCTIME MC command timeout automatic subroutine 20
#POSERR Position error automatic subroutine 21
#SERERR Serial Encoder Error Automatic Subroutine 22
#TCPERR Ethernet communication error automatic subroutine 23
$ Hexadecimal 24
% Modulo Operator 25
& JS subroutine pass variable by reference 26
& Bitwise AND Operator 27
( , ) Parentheses (order of operations) 28
* Multiplication Operator 29
/ Division Operator 30
; Semicolon (Command Delimiter) 31
@ABS Absolute value 32
@ACOS Inverse cosine 33
@AN Analog Input Query 34
@ASIN Inverse sine 35
@ATAN Inverse tangent 36
@COM Bitwise complement 37
@COS Cosine 38
@FLOT Convert Galil 4.2 to Floating Point 39
@FRAC Fractional part 40
@IN Read digital input 41
@INT Integer part 42
@OUT Read digital output 43
@REAL Convert Floating Point to Galil 4.2 44
@RND Round 45
@SIN Sine 46
@SQR Square Root 47
@TAN Tangent 48
[,] Square Brackets (Array Index Operator) 49
^ JS subroutine stack variable 50
^L^K Lock program 51
^R^S Master Reset 52
^R^V Revision Information 53
_ Operand Overview 54
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_GP Gearing Phase Differential Operand 55
_LF Forward Limit Switch Operand 56
_LR Reverse Limit Switch Operand 57
| Bitwise OR Operator 58
~ Variable Axis Designator 59
+ Addition Operator 60
< Less than comparator 61
<= Less than or Equal to comparator 63
<> Not Equal to comparator 64
= Assignment Operator 65
= Equal to comparator 66
> Greater than comparator 67
>= Greater than or Equal to comparator 69
AB Abort 70
AC Acceleration 71
AD After Distance 72
AF Analog Feedback Select 73
AG Amplifier Gain 74
AI After Input 75
AL Arm Latch 76
AM After Move 78
AO Analog Output 79
AP After Absolute Position 80
AQ Analog Input Configuration 81
AR After Relative Distance 82
AS At Speed 83
AT At Time 84
AU Set amplifier current loop 85
AV After Vector Distance 87
BA Brushless Axis 88
BB Brushless Phase Begins 89
BC Brushless Calibration 90
BD Brushless Degrees 91
BG Begin 92
BI Brushless Inputs 93
BK Breakpoint 94
BL Reverse Software Limit 95
BM Brushless Modulo 96
BN Burn 97
BP Burn Program 98
BR Brush Axis 99
BT Begin PVT Motion 100
BV Burn Variables and Array 101
BW Brake Wait 102
BX Sine Amp Initialization 103
BZ Brushless Zero 105
CA Coordinate Axes 107
CB Clear Bit 108
CC Configure Communications Port 2 109
CD Contour Distance 110
CE Configure Encoder 111
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CF Configure Unsolicited Messages Handle 112
CI Configure Communication Interrupt 113
CM Contour Mode 114
CN Configure 115
CO Configure Extended I/O 116
CP Dead band within which the motor is shut off (MO) 117
CR Circle 118
CS Clear Sequence 120
CW Copyright information and Data Adjustment bit on/off 121
DA Deallocate Variables and Arrays 122
DB Range in which PID and antifriction bias are turned on (on band) 123
DC Deceleration 124
DE Dual (Auxiliary) Encoder Position 125
DF Dual Feedback (DV feedback swap) 126
DH DHCP Client Enable 127
DL Download 128
DM Dimension Array 129
DP Define Position 130
DR Configures I O Data Record Update Rate 131
DS Range in which PID and antifriction bias are turned off (off band) 132
DT Delta Time 133
DV Dual Velocity (Dual Loop) 135
EA Choose ECAM master 136
EB Enable ECAM 137
EC ECAM Counter 138
ED Edit 139
EG ECAM go (engage) 141
EI Event Interrupts 142
ELSE Else function for use with IF conditional statement 144
EM Ecam modulus 145
EN End 146
ENDIF End of IF conditional statement 147
EO Echo 148
EP Cam table master interval and phase shift 149
EQ ECAM quit (disengage) 150
ER Error Limit 151
ES Ellipse Scale 152
ET Electronic cam table 153
EW ECAM Widen Segment 154
EY ECAM Cycle Count 155
FA Acceleration Feedforward 156
FC Distance-selectable feedforward gain 157
FE Find Edge 158
FI Find Index 159
FL Forward Software Limit 160
FN Distance from end of move when FC is engaged 161
FV Velocity Feedforward 162
GA Master Axis for Gearing 163
GD Gear Distance 164
GM Gantry mode 165
GR Gear Ratio 166
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HM Home 167
HS Handle Assignment Switch 168
HV Homing Velocity 169
HX Halt Execution 170
IA IP Address 171
ID Identify 173
IF IF conditional statement 174
IH Open IP Handle 176
II Input Interrupt 178
IK Block Ethernet ports 179
IL Integrator Limit 180
IN Input Variable 181
IP Increment Position 182
IT Independent Time Constant - Smoothing Function 183
JG Jog 184
JP Jump to Program Location 185
JS Jump to Subroutine 187
K1 Proportional gain during motion 190
K2 Integrator gain during motion 191
K3 Derivative gain during motion 192
KD Derivative Constant 193
KI Integrator 194
KP Proportional Constant 195
KS Step Motor Smoothing 196
LA List Arrays 197
LB LCD Bias Contrast 198
LC Low Current Stepper Mode 199
LD Limit Disable 200
LE Linear Interpolation End 201
LI Linear Interpolation Distance 202
LL List Labels 204
LM Linear Interpolation Mode 205
LS List 206
LU LCD Update 207
LV List Variables 208
LZ Omit leading zeros 209
MB Modbus 210
MC Motion Complete 213
ME Modbus array write enable 214
MF Forward Motion to Position 216
MG Message 217
MO Motor Off 219
MR Reverse Motion to Position 220
MT Motor Type 221
MU Multicast Address 222
MW Modbus Wait 223
NB Notch Bandwidth 225
NF Notch Frequency 226
NO No Operation 227
NZ Notch Zero 228
OA Off on encoder failure 229
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OB Output Bit 230
OC Output Compare 231
OE Off-on-Error 233
OF Offset 235
OP Output Port 236
OT Off on encoder failure time 237
OV Off on encoder failure voltage 238
P2CD Serial port 2 code 239
P2CH Serial port 2 character 240
P2NM Serial port 2 number 241
P2ST Serial port 2 string 242
PA Position Absolute 243
PF Position Format 244
PL Pole 245
PR Position Relative 246
PT Position Tracking 247
PV PVT Data 248
PW Password 249
QD Download Array 250
QH Query Hall State 251
QQ Clear Sample Time Overflow 252
QR I O Data Record 253
QS Error Magnitude 254
QU Upload Array 255
QZ Return Data Record information 256
RA Record Array 257
RC Record 258
RD Record Data 259
RE Return from Error Routine 260
REM Remark 261
RI Return from Interrupt Routine 262
RL Report Latched Position 263
RP Reference Position 264
RS Reset 265
SA Send Command 266
SB Set Bit 267
SC Stop Code 268
SD Switch Deceleration 269
SH Servo Here 270
SI Configure the special Galil SSI feature 271
SL Single Step 273
SM Subnet Mask 274
SP Speed 275
SS Configure the special Galil BiSS feature 276
ST Stop 278
SY Serial encoder BiSS active level 279
TA Tell amplifier error status 280
TB Tell Status Byte 281
TC Tell Error Code 282
TD Tell Dual Encoder 285
TE Tell Error 286
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TH Tell Ethernet Handle 287
TI Tell Inputs 288
TIME Time Operand 289
TK Peak Torque Limit 290
TL Torque Limit 291
TM Update Time 292
TN Vector Tangent 293
TP Tell Position 294
TR Trace 295
TS Tell Switches 296
TT Tell Torque 297
TV Tell Velocity 298
TW Timeout for MC trippoint 299
TZ Tell I O Configuration 300
UI User Interrupt 301
UL Upload 302
VA Vector Acceleration 303
VD Vector Deceleration 304
VE Vector Sequence End 305
VF Variable Format 306
VM Vector Mode 307
VP Vector Position 309
VR Vector Speed Ratio 311
VS Vector Speed 312
VV Vector Speed Variable 313
WH Which Handle 314
WT Wait 315
XQ Execute Program 316
YA Step Drive Resolution 317
YB Step Motor Resolution 319
YC Encoder Resolution 320
YR Error Correction 321
YS Stepper Position Maintenance Mode Enable, Status 322
ZA User Data Record Variables 323
ZN Negative Antifriction Bias 324
ZP Positive Antifriction Bias 325
ZS Zero Subroutine Stack 326

Galil Motion Control Table of Content 7/326

 Legend
Burnable Not Burnable
Description
Commands with the "burnable" icon can be saved into memory with the BN command. If a reset is issued, the value of the
command with this icon will persist if it has been burned into memory.

Scaled By TM
Description
Any command with the "scaled by TM" icon will be automatically adjusted whenever a change is made to the TM setting.
Commands with this icon are dependEnt on the sample rate.

Trippoint
Description
A command with the "trippoint" icon will halt further program execution until the trippoint's condition is satisfied. Most trippoints
cannot be issued as discrete commands, and are only valid in programs.

Valid In Program Not Valid In Program

Description
Commands with the "valid in program" icon can be used inside of a DMC program that is run locally on the controller. Certain
commands may not be used in the program space, and can only be issued as discrete command from an external source such as
a terminal.

Valid In Terminal Not Valid In Terminal

Description
When communicating with a controller externally, only commands which are "valid in terminal" may be sent to the controller as
discrete commands. Some commands are only valid when executed in a DMC program and cannot be issued independently.

Valid In Motion Not Valid In Motion

Description
If a command is "valid in motion" then it may be executed while an axis is in motion. Some commands may not be executed while
certain axes are in motion, and can only be executed when the associated axis is stopped.

Galil Motion Control 8/326

 PROGRAMMING
' Comment

' str
Description
The ' allows for a user to insert in a comment on a blank line or after a command following a semicolon ";". See examples for valid uses of '.
Arguments
Argument Value Description Notes
str String Comments added into Comment strings are restricted to the maximum row size for a program. This will vary per
program controller.
Remarks
Comments will be downloaded to controller, thus taking up program space and execution time.
See REM for comments that will not download to controller.

Examples
'Galil DMC Code Example
REM This comment is not downloaded to controller and does not take up program
REM space or execution time
'This comment is downloaded to controller and takes up program space
SH AB ;'Comments following a command MUST be preceeded by a semi-colon.
KP 10'This is NOT valid use of the '​

' applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ' 9/326

 PROGRAMMING, MATH FUNCTIONS
- Subtraction Operator

n0 - n1
Usage variable = (value1 - value2) Performs an operation between two values or evaluated statements
Description
The subtraction operator takes any two values and returns a value equal to the difference of the arguments.
Arguments
Argument Min Max Default Resolution Description
n0 -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to subtract from
n1 -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to subtract
Remarks
An operator is not a command and is not valid individually.
Evaluation occurs left to right. Use parenthesis for operator precedence.
n0 and n1 may also be variables, array elements, operands, or @ functions (e.g. @SIN[]).

Examples
'Galil DMC Code Example
'Terminal Example
:apple = 10-4
:banana = apple - 3
:MG banana - 1
2.0000

'Galil DMC Code Example

REM It is recommended that parenthesis be used when more than one mathmatical
REM operation is combined in one command.
cherry = ( ( 10*30) -( 60/30) ) ;' evaluates as 298
date = 10*30-60/30;' evalutes as 8
EN

- applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control - 10/326

 PROGRAMMING, SUBROUTINE
# Label Designator

#str
Description
The # denotes the name of a program label, for example, #move. Labels are often used to implement subroutines or loops. Labels are either user-defined
or are reserved names, called "automatic subroutines", that automatically execute when a particular event occurs.
Arguments
Argument Min Max Default Resolution Description
str 1 char 7 chars N/A String Name of label
Remarks
Labels can include the characters A-Z, a-z, 1-9. Numbers can not be the first character. All other characters are invalid.
A label can only be defined at the beginning of a new line.
The number of labels available can be queried with MG _DL.
LL returns the current label table in the controller.
Galil recommends that at least the first character be lowercase for user labels to differentiate from automatic subroutines.
Automatic subroutines are listed in the command reference starting with a # character.
There is a maximum of 510 labels available.

Examples
'Galil DMC Code Example
REM A sample FOR loop
REM Routine will run 10 times and sum all integers 1 through 10
sum= 0;' Variable to hold sum of integers
i= 1;' Create a counter
#for
sum= sum+i;' Add counter to sum
i= i+1;' Increment counter
JP#for,( i<=10)
EN

'Galil DMC Code Example

REM A sample Do-While loop
REM Routine will run while A axis main encoder position is under 100 counts
#while
WT10;' Wait 10 mseconds
JP#while,( _TPA <100) ;' Loop back if position is under 100 counts
MG"Position is equal or greater than 100"
EN

# applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control # 11/326

 PROGRAMMING, ERROR CONTROL, SUBROUTINE
#AMPERR Amplifier error automatic subroutine

#AMPERR
Description
Automatic subroutine used to run code when a fault occurs on a Galil amplifier. See the TA command and individual amplifier information in the controller
user manual.
Arguments
Label must be the first element on a line of code.
Remarks
Use RE to return from the AMPERR subroutine
See the TA command for more information
Thread 0 does not need to be running for #AMPERR to be executed. This was a requirement on earlier products.
When an external servo driver is used on an axes where the AMP-430x0 is also installed, the axis should be setup as a brushed motor (BRm=1),
otherwise the lack of hall inputs will cause an amplifier error

Examples
'Galil DMC Code Example
'this code will run in the event of an amplifer error,
'setting a digital output and notifying the operator.

#AMPERR
'Set a digital bit to signal an amplifier error to peripheral hardware
SB4

'Send a message to the user

MG"An amplifier error has occured"

'Return from the AMPERR subroutine, restoring trippoints that were running
RE1​

'Galil DMC Code Example

REM Detailed #AMPERR example. Uses LCD to display amplifier error information
REM and remains in #AMPERR routine until the error is cleared.

#AMPERR
REM mask out axes that are in brushed mode for _TA1
mask= ( ( _BRH *128) +( _BRG *64) +( _BRF *32) +( _BRE *16) +( _BRD *8) +( _BRC *4) +( _BRB *2) +_BRA )
mask= @COM[ mask]
mask= ( ( _TA1&mask) &$0000FFFF)
LU0;'turn off auto update of LCD
REM amplifier error status on LCD
MG"A-ER TA0"{L1},_TA0{L2};WT2000
MG"A-ER TA1"{L1},mask{L2};WT2000
MG"A-ER TA2"{L1},_TA2{L2};WT2000
MG"A-ER TA3"{L1},_TA3{L2};WT2000
LU1;'turn on Automatic Axis Update of LCD
WT5000
REM the sum of the amperr bits should be 0 with no amplifier error
er= _TA0+mask+_TA2+_TA3
JP#AMPERR ,er0
REM Notify user amperr has cleared
LU0
MG"AMPERR"{L1},"RESOLVED"{L2}
WT3000
LU1
RE

#AMPERR applies to DMC500x0,DMC40x0,DMC41x3,DMC30010,DMC21x3

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control #AMPERR 12/326

 PROGRAMMING, SUBROUTINE
#AUTO Subroutine to run automatically upon power up

#AUTO
Description
Defines the automatic entry point of embedded DMC code. When power is applied to the controller, or after the controller is reset, the program will
automatically begin executing at this label. When no host software is used with the controller, #AUTO is required to run an application program on the
controller stand-alone.
Arguments
Label must be the first element on a line of code.
Remarks
Use EN to end the routine
Thread 0 is used to execute #AUTO on startup
The BP command must be used to burn a program into EEPROM for the #AUTO to function.

Examples
'Galil DMC Code Example
'On startup, this code will create a 50% duty cycle square wave on output 1 with a period of 1 second.
#AUTO ;' Start on powerup
SB 1;' Set bit 1
WT 500;' Wait 500msec
CB 1;' Clear bit 1
WT 500;' Wait 500msec
JP #AUTO ;' Jump back to #AUTO​

#AUTO applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control #AUTO 13/326

 PROGRAMMING, ERROR CONTROL, SUBROUTINE
#AUTOERR Bootup Error Automatic Subroutine

#AUTOERR
Description
Automatic subroutine that runs code upon power up if the firmware detects errors. If the EEPROM is corrupted, #AUTOERR will run. The EEPROM is
considered corrupt if the checksum calculated on the bytes in the EEPROM do not match the checksum written to the EEPROM.
For SSI and BiSS operation, #AUTOERR will also run if the time to acquire serial position data exceeds 90% of the hardware sample loop. This type of error
is very rare and should never occur in normal operation.
Arguments
Label must be the first element on a line of code.
Remarks
Use EN to end the routine
The type of checksum error can be queried with MG_RS
For SSI and BiSS operation
In the event of a serial position acquisition timeout, the following will occur:
The controller will reset
The controller servo loop will not run, TM will be set to zero
TC1 will return "143 TM timed out"
The automatic subroutine #AUTOERR will run, if present
The Error output will be set
When using serial encoders (SSI or BiSS), the #AUTOERR should follow these guidlines
IF _TC=143 do not employ any trippoints in following code because the timer interrupt is suspended
Serial encoders can be disabled with the commands SIn=0 or SSn=0 where n is the axis indicator ABCDEFG or H
In order to re-enable the timer interrupt issue "TM n" where n is the servo update period in us (usually n=1000). See TM for more details

Examples
'Galil DMC Code Example
'Code detects a checksum error and notifies the user
#AUTOERR
MG"EEPROM ERROR ",_RS
EN

'Galil DMC Code Example

'Use for BiSS and SSI only (-SER firmware)
'Distinguishing between a serial timeout
' condition and an EEProm condition
#AUTOERR
IF _TC=143
REM BiSS or SSI timeout
REM No trippoints in this clause
REM Print message to DMC-4020 LCD
LU0
MG"BiSS"{L1}
MG"Timeout"{L2}
SSA = 0
SSB = 0
ELSE
REM Checksum error
REM trippoints ok here
REM Print message to DMC-4020 LCD
LU0
MG"EEProm:"{L1}
MG{Z10.0}_RS{L2}
ENDIF
EN

#AUTOERR applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control #AUTOERR 14/326

 PROGRAMMING, ERROR CONTROL, SUBROUTINE
#CMDERR Command error automatic subroutine

#CMDERR
Description
Automatic subroutine that runs code when a DMC code error occurs. Without #CMDERR defined, if an error (see TC command) occurs in an application
program running on the Galil controller, the program (and all threads) will stop.
Arguments
Label must be the first element on a line of code.
Remarks
Use EN to end the routine
#CMDERR will only run from errors generated within embedded DMC code, not from the terminal or host
In a single threaded application (Thread 0 only), the EN command in the #CMDERR routine will restart thread 0 where it left off.
In a multi-threaded application, the thread that has an error will be halted when a command error occurs. Thread 0 will be interrupted to run the
#CMDERR routine but other threads will continue to run.
In order to restart the thread that encountered the error, see the example in Chapter 7 of the User Manual and the _ED operand.
Thread 0 does not need to be running in order for the #CMDERR routine to execute.

Examples
'Galil DMC Code Example
'This code will put the motion controller in Position Tracking mode.
'Variable "target" is updated from the terminal or from a host program
'to specify a new target. #CMDERR is used to detect a bad target value.
#start
DPA = 0;' Define current position as zero
PTA = 1;' Turn on position tracking
target= 0;' Initialize target variable
#track;' Start tracking
PAA = target;' Track to current value of target
WT500;' Wait 500 ms
JP#track;' Continue to track
'
'
#CMDERR ;' runs if an error occurs
JP#done,_TC<>6 ;'check that an out of range occured (See TC)
MG"Value ",target," is out of range for Position Tracking"
target= _PAA ;' reset target
#done
EN1 ;'return to tracking logic​

#CMDERR applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control #CMDERR 15/326

 PROGRAMMING, SUBROUTINE
#COMINT Communication interrupt automatic subroutine

#COMINT
Description
Automatic subroutine to provide interrupt driven communications from the serial port. #COMINT can be configured by the CI command to run either
when any character is received, or when a carriage return is received over the com port. The auxiliary port is used if equipped.
Arguments
Label must be the first element on a line of code.
Remarks
Use EN to end the routine
#COMINT runs in thread 0, and an application must be running in thread 0 in order for #COMINT to be enabled.
Code running in thread zero will be interrupted by the #COMINT subroutine.
It is important to handle the interrupt condition and return without delay. The controller will continue to receive data and update the data operands
(P1CH,P2CH, etc) while in #COMINT. This can lead to missed characters, numbers, and strings if #COMINT is unnecessarily delayed.
It is the user's responsiblity to ensure the communication buffer is not filled when in this mode, otherwise the controller will report error code 5 "Input
Buffer Full". The buffer on the controller is cleared when either of the two following conditions are met:
A carriage return is recieved on the communication port.
CI -1 is called.

Examples
'Galil DMC Code Example
#A; 'Program Label
CC9600,0,1,0
CI2; 'interrupt on any character
#Loop
MG "Loop"; 'print a message every second
WT 1000
JP#Loop
#COMINT
MG "COMINT:", P2CH{S1}; 'print a message and the received character
CI -1; 'Clear the buffer of the received character
EN1,1; ' End this subroutine, re-arming trip points that
' were running and re-enabling the CI mask​

#COMINT applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control #COMINT 16/326

 PROGRAMMING, SUBROUTINE
#FWERR Firmware Error Automatic Subroutine

#FWERR
Description
Automatic subroutine to run when the servo sample overflows. Many features require that the controller perform an action every sample. Running many
of these features simultaneously can lead to there not being enough time to complete every action. See remarks for a list of these features. For the
majority of applications, this will never occur. This behavior should only occur when running a low sample time (TM) and using absolute encoders with a
high number of bits at a low clock frequency.
Arguments
Label must be the first element on a line of code.
Remarks
The following are features, and their associated DMC comands, which add a non-negligible amount of time to the servo sample calculations.
Serial Encoders (SI/SS)
Analog Encoders (AF)
Notch Filter (NF,NZ,NB)
Low Sample Time setting (TM)
Use EN to end the routine.
#FWERR runs on thread 0. Code does not need to be running in thread 0 for #FWERR to be enabled.
_QQ reports a value based on whether the interrupt overflow event has occured. See QQ for more details.
When the servo interrupt overlows, the following will occur:
_QQ is set to 1.
#FWERR, if present, will run.
The notch filter is turned off.
Serial and Analog feedback is disabled.
All axes are aborted (See AB command).
SC will report 41 for all that were profiling.

Examples
'Galil DMC Code Example
'Code detects a checksum error and notifies the user
#FWERR
MG "Interrupt overflow event occurred:" ,_QQ; 'printing the _QQ operand showing that the interrupt has overflown
QQ; 'returns the _QQ operand to 0
MG "Shutdown for diagnostics"
EN

#FWERR applies to DMC40x0,DMC41x3

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control #FWERR 17/326

 PROGRAMMING, IO, SUBROUTINE
#ININT Input interrupt automatic subroutine

#ININT
Description
The #ININT subroutine is used to execute specific code when inputs specified by the II command are in the desired state.
Arguments
Label must be the first element on a line of code.
Remarks
Use the II command to enable the routine.
Use RI to exit the routine.
To make an unconditional jump from #ININT, there are two methods for re-enabling the interrupt capability
Issue a ZS and then re-issue the command II before the JP
or, use a "null" routine. The "null" routine allows for the execution of the RI command before the unconditional jump. For more information see
Application Note #2418, http://www.galil.com/download/application-note/note2418.pdf

Examples
'Galil DMC Code Example
II 1,1,,0;' Specify interrupt on input 1 only, and triggers when input 1 = 0.
EN;' End Program
#ININT ;' Interrupt subroutine
' The code the user wants to run when II triggers goes here.
WT100;' Debounce the input.
RI 1;' Return to main program, re-enabling trip point.
' Specify RI 0 if it is not desired to re-enable trip points.​

#ININT applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control #ININT 18/326

 PROGRAMMING, ERROR CONTROL, SUBROUTINE
#LIMSWI Limit switch automatic subroutine

#LIMSWI
Description
Automatic sub for running user-defined code on a limit switch event. A limit switch event requires the following conditions.
1. Motion profiling in the direction of the given limit. I.E. RPm increasing for forward switch, RPm decreasing for reverse switch.
2. Limit switch toggles active. See CN for inverting the active sense of the limit swithes.
Without #LIMSWI defined, the controller will issue ST on the axis when its limit switch is tripped during motion in the direction of the switch. With #LIMSWI
defined, code is executed in addition to the stop.
In lieu of a controlled stop, the motor can turn off and coast stop in the event of a limit switch event. See OE for this feature.
Arguments
Label must be the first element on a line of code.
Remarks
Use RE to terminate the subroutine
See _LF and _LR for switch state operands
#LIMSWI runs on thread 0. Code does not need to be running in thread 0 for #LIMSWI to be enabled.
LD can be used to disable the limit operation
SD can be used to set the deceleration speed on the limit.

Examples
'Galil DMC Code Example
#Main ;'print a message every second
MG "Main"
WT1000
JP#Main
EN
'
#LIMSWI ;'runs when a limit switch is tripped
MG "Limit switch:"{N}
IF ( ( _LFA = 0) | ( _LRA = 0) )
MG "Axis A"
ENDIF
IF ( ( _LFB = 0) | ( _LRB = 0) )
MG "Axis B"
ENDIF
RE1;' RE used to exit the #LIMSWI sub​

#LIMSWI applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2

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Galil Motion Control #LIMSWI 19/326

 PROGRAMMING, SUBROUTINE
#MCTIME MC command timeout automatic subroutine

#MCTIME
Description
Automatic sub used to run user-code if a Motion Complete (MC) trippoint times out. If the motor position does not reach or pass the target within the
specified timeout (TW), #MCTIME wil run if present.

MC uses position from TP for servos, or TD for steppers.

Arguments
Label must be the first element on a line of code.
Remarks
Use EN to terminate the subroutine

Examples
'Galil DMC Code Example
#BEGIN;' Begin main program
TWA = 1000;' Set the time out to 1000 ms
PRA = 10000;' Position relative
BG A ;' Begin motion
MC A ;' Motion Complete trip point
EN;' End main program
'
#MCTIME ;' Motion Complete Subroutine
MG "A fell short";' Send out a message
EN 1;' End subroutine​

#MCTIME applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control #MCTIME 20/326

 SUBROUTINE
#POSERR Position error automatic subroutine

#POSERR
Description
Automatic subroutine that runs user code when a position error event occurs. The factory default behavior of the Galil controller upon a position error
(_TEn > _ERn) is to drive the error signal low only, turning on the red error LED. If OE is set to 1, the motor whose position error (TE) equals or exceeds
its threshold (ER) will be turned off (MO). #POSERR is used to run code upon a position error, for example to notify a host computer.
Arguments
Label must be the first element on a line of code.
Remarks
Use RE to end the routine.
#POSERR runs on thread 0. Code does not need to be running in thread 0 for #POSERR to be enabled.
#POSERR will also run when OE1 is set for an axes and that axis is also setup for encoder failure detection (see OA, OT, OV commands).

Examples
'Galil DMC Code Example
#main;' main program
'
JP #main

REM simple example of #POSERR

#POSERR
MG "#POSERR"
RE

'Galil DMC Code Example

REM example of #POSERR that checks for position error on each axis
#POSERR
~a = 0;' axis designator
IF ( ( _TE~a >_ER~a ) &( _OE~a ) )
MG "Position Error occured on ",~a {F1.0}," axis"
ENDIF
~a = ~a +1
JP#POSERR ,~a <_BV;' loop until axes have been checked
AI 1;' wait until input 1 goes high (ex. safety switch)
SH
RE1;' retrurn to main program​

'Galil DMC Code Example

REM #POSERR example for checking to see if encoder failure occured
REM The stop code will only update of the profilier is running at the time
REM the encoder failure is detected.
#POSERR
~a = 0
#loop
IF _MO~a =1
IF ( ( _TE~a <_ER~a ) &( _OE~a ) &( _OA~a ) )
MG "possible encoder failure on ",~a {Z1.0}," axis"
ENDIF
ENDIF
~a = ~a +1
JP#loop,~a <_BV
AI1;' wait for input 1 to go high
SH;' enable all axes
RE

#POSERR applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control #POSERR 21/326

 SUBROUTINE
#SERERR Serial Encoder Error Automatic Subroutine

#SERERR
Description
During operation, the #SERERR automatic subroutine allows user code to run when there is a serial encoder fault. Encoder faults are reported in the
_SSm0 operand, see the SS command for more details.
Arguments
Label must be the first element on a line of code.
Remarks
Use the RE command to end this routine.
#SERERR runs on thread 0
The following are the fault conditions which will cause #SERERR to interrupt.
Serial Encoder Faults
BiSS
Encoder timeout (bit 0 of _SSm0)
CRC error (bit 1 of _SSm0)
Warning bit* (bit 2 of _SSm0)
Error bit* (bit 3 of _SSm0)
The active level of the Error and Warning bits for BiSS must be configured with SY.

Examples
'Galil DMC Code Example
#SERERR
'Serial Error routine messages out to the host the type of error.
sercode= _SSA 0
IF ( sercode & 1)
MG "BiSS Timeout"
ENDIF
IF ( sercode & 2)
MG "Invalid CRC"
ENDIF
IF ( sercode & 4)
MG "Warning Bit Set"
ENDIF
IF ( sercode & 8)
MG "Error Bit Set"
ENDIF
RE

#SERERR applies to SER

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Galil Motion Control #SERERR 22/326

 SUBROUTINE
#TCPERR Ethernet communication error automatic subroutine

#TCPERR
Description
Automatic subroutine which allows execution of user code when an TCP error event occurs. #TCPERR allows the application programmer to run code (for
example to reestablish the connection) when error code 123 occurs.
Arguments
Label must be the first element on a line of code.
Remarks
Use RE to exit this subroutine.
Error code 123 (TCP lost sync or timeout) occurs when a message is sent out a handle, and no acknowledgement is received.
When this occurs, the handle the message was sent out is closed.
#TCPERR can be used to reestablish the handle
Code does not need to be running in thread 0 for #TCPERR to run.

Examples
'Galil DMC Code Example
#loop
MG {EA} "L"
WT1000
JP#loop

#TCPERR
MG {P1} "TCPERR. Dropped handle", _IA4
RE

'Galil DMC Code Example

'example of reestablishing connection after TCPERR
'
#main
IHE = 192,168,1,30;' connect to 192,168,1,30
WT100;' wait for handle to be established
ipe= _IHE 0;' save IP for reconnection use
n= 0;' connection counter
#loop;' endless message loop
MG"hello"
WT1000
JP#loop
EN

#TCPERR
IHE = >-3;' make sure handle E is clear
JP#TCPERR ,_IHE 2<>0;' wait for clear handle
IHE = ihe;' set handle with saved IP var
WT100
n= n+1;' increment counter
JP#END,n>5;' try at least 5 times
JP#TCPERR ,_IHE 2<>-2;'repeat if handle failed
#END
IF( n>5)
MG"failed connection"
HX0;' stop code if connection lost
ELSE
MG"Reconnected"
n = 0;' reset connection counter
ENDIF
RE

#TCPERR applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control #TCPERR 23/326

 PROGRAMMING
$ Hexadecimal

$n
Description
The $ operator denotes that the following string is in hexadecimal notation.
Arguments
Argument Min Max Default Resolution Description Notes
n $80000000.0000 $7FFFFFFF.FFFF N/A $0.0001 Value of hexadecimal 32 bits of integer and 16 bits of fraction in
number total
Remarks
None

Examples
'Galil DMC Code Example
x = $7fffffff.0000 ;'store 2147483647 in x
y = x & $0000ffff.0000 ;'store lower 16 bits of x in y
z = x & $ffff0000.0000 / $10000 ;'store upper 16 bits of x in z​

$ applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control $ 24/326

 MATH FUNCTIONS
% Modulo Operator

n % n
Usage variable = (value1 % value2) Performs an operation between two values or evaluated statements
Description
The % symbol is the modulo operator. It takes as arguments any two values, variables, array elements, operands, or At functions (@SIN[]) and returns a
value equal to the modulo of the arguments.
Mathmatical operations are calculated left to right rather than multiplication and division calculations performed prior to addition and subraction.
Example:
1+2*3 = 9, not 7

It is recommended that parenthesis be used when more than one mathmatical operation is combined in one command.
Example:
var = ((10*30)+(60/30));' evaluates as 302
var = 10*30+60/30;' evalutes as 12
Arguments
Argument Min Max Default Resolution Description Notes
n -2,147,483,648 -2,147,483,647.9999 N/A 1/65,536 Value to use in modulo operation
Remarks
This is a binary operator (takes two arguments and returns one value). The result of this operation is a value, which is not valid on its own. It must be
coupled with a command. See examples below.
Mathmatical operations are calculated left to right rather than multiplication and division calculations performed prior to addition and subraction.
Example: 1+2*3 = 9, not 7
It is recommended that parenthesis be used when more than one mathmatical operation is combined in one command.
Example: var = ((10*30)+(60/30));' evaluates as 302
var = 10*30+60/30;' evalutes as 12

Examples
'Galil DMC Code Example
'Determine the day of week in n days
DM name[ 7] ;'Strings for day of week
name[ 0] = "SUN"
name[ 1] = "MON"
name[ 2] = "TUE"
name[ 3] = "WED"
name[ 4] = "THU"
name[ 5] = "FRI"
name[ 6] = "SAT"
today= 2;'Tuesday
days= 123;'Days from now
dow= ( ( days + today) %7) ;'calculate future day of week
MG"The day of week in ",days{Z10.0}," days will be ", name[ dow] {S3.0}
EN
REM Code Returns: The day of week in 123 days will be SAT​

% applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,RIO47xxx,DMC18x6
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control % 25/326

 SUBROUTINE
& JS subroutine pass variable by reference

JS#str0(&str1,&str1,&str1,&str1,&str1,&str1,&str1,&str1)
Description
The & symbol is used to pass a variable by reference on the subroutine stack. When passed by reference, a change to the local-scope variable changes
the global value.
Arguments
Argument Min Max Default Resolution Description
str0 1 char 7 chars N/A String Name of label to use for subroutine call
str1 1 char 8 chars N/A String Name of variable to pass by reference to the subroutine
Remarks
Variables sent to a subroutine must be global variables that are already dimensioned.
Do not dimension any variables in a subroutine when passing variables by reference. This can break the variable pointer.

Examples
'Galil DMC Code Example
REM Pass By Reference Example:

#main
value= 5;' a value to be passed by reference
global= 8;' a global variable
JS#SUM( &value,1,2,3,4,5,6,7) ;' note first arg passed by reference
MG value;' message out value after subroutine.
MG _JS;' message out returned value
EN
'
#SUM;' (* ^a,^b,^c,^d,^e,^f,^g)
^a= ^b+^c+^d+^e+^f+^g+^h+global
EN,,^a
'notes-
'do not use spaces when working with ^
'If using global variables, they MUST be created before the subroutine is run

'From Terminal
:
Executed program from program2.dmc
36.0000
36.0000​

& applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC18x6

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control & 26/326

 PROGRAMMING
& Bitwise AND Operator

n & n
Usage variable = (value1 & value2) Performs an operation between two values or evaluated statements
Description
The & symbol is the bitwise AND operator used with IF, JP, and JS decisions, and also to perform bitwise ANDING of values.
Arguments
Argument Min Max Default Resolution Description Notes
n -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to use with AND operator
Remarks
The result of this operation is a value, which is not valid on its own. It must be coupled with a command. See examples below.
For IF, JP, and JS, the values used for n are typically the results of logical expressions such as (x > 2) & (y=8)

Examples
'Galil DMC Code Example
'Bitwise use
:var1= $F;'00001111
:var2= $F0;'1111000
:MG ( var1 & var2)
0.0000
:MG var1
15.0000
:MG var2
240.0000

'Galil DMC Code Example

'Conditional Use
var1= $F;'00001111
var2= $F0;'1111000
IF ( var1 = $F) & ( var2 = $F1)
MG"True"
ELSE
MG"False"
ENDIF
EN

REM Returned: False​

& applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control & 27/326

 MATH FUNCTIONS
(,) Parentheses (order of operations)

(n)
Description
The parentheses denote the order of math and logical operations.
Arguments
Argument Min Max Default Resolution Description Notes
n -2,147,483,648 2,147,483,647.9999 N/A 1/65,536 Math or logical expression for evaluation
Remarks
Note that the controller evaluates expressions from left to right, and does not follow academic algebraic standards (e.g. multiplication and division first,
followed by addition or subtraction)
It is required to use parentheticals to ensure intended mathematical precedence

Examples
'Galil DMC Code Example
:MG 1+2*3
9.0000
:MG 1+( 2*3)
7.0000​

'Galil DMC Code Example

:var1= $1F
:var2= $F
:MG var1&var2/$10
0.9375 ($0.F000)
:MG var1&( var2/$10)
0.0000 ($0.0000)​

( , ) applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control (,) 28/326

 MATH FUNCTIONS
* Multiplication Operator

n * n
Usage variable = (value1 * value2) Performs an operation between two values or evaluated statements
Description
The * symbol is the multiplication operator. It takes as arguments any two values, variables, array elements, operands, or At functions (@SIN[]) and
returns a value equal to the product of the arguments.
Arguments
Argument Min Max Default Resolution Description Notes
n -2,147,483,648 -2,147,483,647 N/A 1/65,536 Value to use in multiplication operation
Remarks
This is a binary operator (takes two arguments and returns one value). The result of this operation is a value, which is not valid on its own. It must be
coupled with a command. See examples below.
Mathmatical operations are calculated left to right rather than multiplication and division calculations performed prior to addition and subraction.
Example: 1+2*3 = 9;' not 7
It is recommended that parenthesis be used when more than one mathmatical operation is combined in one command.
Example: var = ((10*30)+(60/30));' evaluates as 302
var = 10*30+60/30;' evalutes as 12

Examples
'Galil DMC Code Example
:var1 = ( 2 + 3) * 2
:var2 = var1 * 10
:MG var2 * 0.5
50.0000

* applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control * 29/326

 MATH FUNCTIONS
/ Division Operator

n0 / n1
Usage variable = (value1 / value2) Performs an operation between two values or evaluated statements
Description
The / symbol is the division operator. It takes as arguments any two values, variables, array elements, operands, or At functions (@SIN[]) and returns a
value equal to the quotient of the arguments.
Arguments
Argument Min Max Default Resolution Description Notes
n0 -2,147,483,648 2,147,483,647 N/A 1/65,536 Numerator of divide operation
n1 -2,147,483,648 2,147,483,647 N/A 1/65,536 Denominator of divide operation
Remarks
This is a binary operator (takes two arguments and returns one value). The result of this operation is a value, which is not valid on its own. It must be
coupled with a command. See examples below.
Mathmatical operations are calculated left to right rather than multiplication and division calculations performed prior to addition and subraction.
Example: 1+2*3 = 9;' not 7
It is recommended that parenthesis be used when more than one mathmatical operation is combined in one command.
Example: var = ((10*30)+(60/30));' evaluates as 302
var = 10*30+60/30;' evalutes as 12

Examples
'Galil DMC Code Example
:var1 = 100/10
:var2 = var1/2
:MG var2 + 1
6.0000

/ applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control / 30/326

 PROGRAMMING
; Semicolon (Command Delimiter)

arg;arg;arg;arg
Description
The semicolon operator allows multiple Galil commands to exist on a single line.
Arguments
arg represents any valid Galil command
Remarks
The semicolon operator is used for the following reasons:
1. To put comments on the same line as the command (STX ;'stop)
2. To compress DMC programs to fit within the program line limit (Note: use a compression utility to do this. Do not program this way because it is
hard to read.)
3. To give higher priority to a thread. All commands on a line are executed before the thread scheduler switches to the next thread.

Examples
'Galil DMC Code Example
SB1;WT500;CB1;' multiple commands separated by semicolons with a comment​

'Galil DMC Code Example

#High;' #High priority thread executes twice as fast as
a = a + 1; b = b + 1
JP#High

#Low;' #Low when run in parallel

c = c + 1
d = d + 1
JP#Low

; applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,RIO47xxx,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ; 31/326

 MATH FUNCTIONS
@ABS Absolute value

@ABS[n]
Usage variable = @ABS[value] Performs a function on a value or evaluated statement and returns a value
Description
The @ABS[] operation takes the absolute value of the given number. Returns the value if positive, and returns -1 times the value if negative.
Arguments
Argument Min Max Default Resolution Description Notes
n -2,147,483,648 2,147,483,647 N/A 1/65,535 Number to display as absolute value
Remarks
@ABS[] is an operand, not a command. It can only be used as an argument to other commands and operators

Examples
'Galil DMC Code Example
:MG @ABS[ -2147483647]
2147483647.0000​

@ABS applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control @ABS 32/326

 MATH FUNCTIONS
@ACOS Inverse cosine

@ACOS[n]
Usage variable = @ACOS[value] Performs a function on a value or evaluated statement and returns a value
Description
The @ACOS operator returns in degrees the arc cosine of the given number.
Arguments
Argument Min Max Default Resolution Description Notes
n -1 1 N/A 1/65,536 Value used for arc cosine operation
Remarks
@ACOS[] is an operand, not a command. It can only be used as an argument to other commands and operators
@ACOS[] is also referred to as the inverse cosine function

Examples
'Galil DMC Code Example
:MG @ACOS[ -1]
180.0000
:MG @ACOS[ 0]
90.0000
:MG @ACOS[ 1]
0.0001​

@ACOS applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control @ACOS 33/326

 INTERROGATION, IO
@AN Analog Input Query

@AN[n]
Usage variable = @AN[value] Performs a function on a value or evaluated statement and returns a value
Description
The @AN[] operator returns the value of the given analog input in volts.
Arguments
Argument Min Max Default Resolution Description Notes
n 1 8 N/A 1 Analog input to query
n 1,000 8,999 N/A 1 Read Modbus slave analog input See Remarks
Remarks
@AN[] is an operand, not a command. It can only be used as an argument to other commands and operators
Using @AN with a Modbus Slave
RIO as Modbus Slave
3rd Party Modbus Slave Device
n is the I/O number calculated using the following equations:
n = (HandleNum*1000) + (Bitnum-1)
HandleNum is the handle specifier from A to H.
Handle must be assigned to port 502 for Modbus comms (See IH)
BitNum is the I/O point in the module from 1 to 8

Examples
'Galil DMC Code Example
:MG @AN[ 1] ;'print analog input 1
1.7883
:x = @AN[ 1] ;'assign analog input 1 to a variable​

@AN applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,RIO574x0,DMC18x6

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control @AN 34/326

 MATH FUNCTIONS
@ASIN Inverse sine

@ASIN[n]
Usage variable = @ASIN[value] Performs a function on a value or evaluated statement and returns a value
Description
The @ASIN operator returns in degrees the arc sine of the given number.
Arguments
Argument Min Max Default Resolution Description Notes
n -1 1 N/A 1/65,536 Value used for arc sine operation
Remarks
@ASIN[] is an operand, not a command. It can only be used as an argument to other commands and operators
@ASIN[] is also referred to as the inverse sine function

Examples
'Galil DMC Code Example
:MG @ASIN[ -1]
-90.0000
:MG @ASIN[ 0]
0.0000
:MG @ASIN[ 1]
90.0000​

@ASIN applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control @ASIN 35/326

 MATH FUNCTIONS
@ATAN Inverse tangent

@ATAN[n]
Usage variable = @ATAN[value] Performs a function on a value or evaluated statement and returns a value
Description
The @ATAN operator returns in degrees the arc tangent of the given number.
Arguments
Argument Min Max Default Resolution Description Notes
n -2,147,483,638 2,147,483,647 N/A 1/65,536 Value used for arc tangent operation
Remarks
@ATAN[] is an operand, not a command. It can only be used as an argument to other commands and operators
@ATAN[] is also referred to as the inverse tangent function

Examples
'Galil DMC Code Example
:MG @ATAN[ -10]
-84.2894
:MG @ATAN[ 0]
0.0000
:MG @ATAN[ 10]
84.2894​

@ATAN applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control @ATAN 36/326

 MATH FUNCTIONS
@COM Bitwise complement

@COM[n]
Usage variable = @COM[value] Performs a function on a value or evaluated statement and returns a value
Description
The @COM[] operation performs the bitwise complement (NOT) operation to the given number.
Arguments
Argument Min Max Default Resolution Description Notes
n - 2,147,483,647 N/A 1 Value to perform bitwise complement Integer interpreted as a 32-bit
2,147,483,648 operation. field
Remarks
@COM[] is an operand, not a command. It can only be used as an argument to other commands and operators

Examples
'Galil DMC Code Example
:MG {$8.0} @COM[ 0]
$FFFFFFFF
:MG {$8.0} @COM[ $FFFFFFFF]
$00000000​

'Galil DMC Code Example

'toggle output 1
OB 1,@COM[ @OUT[ 1] ] & 1;' read current state of output 1, take the bitwise complement, mask out bits.

@COM applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control @COM 37/326

 MATH FUNCTIONS
@COS Cosine

@COS[n]
Usage variable = @COS[value] Performs a function on a value or evaluated statement and returns a value
Description
The @COS[] operation returns the cosine of the given angle in degrees
Arguments
Argument Min Max Default Resolution Description Notes
n -32,768 32,767 N/A 1/65,536 Value in degrees to use for cosine operation
Remarks
@COS[] is an operand, not a command. It can only be used as an argument to other commands and operators

Examples
'Galil DMC Code Example
:MG @COS[ 0]
1.0000
:MG @COS[ 90]
0.0000
:MG @COS[ 180]
-1.0000
:MG @COS[ 270]
0.0000
:MG @COS[ 360]
1.0000​

@COS applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control @COS 38/326

 MATH FUNCTIONS
@FLOT Convert Galil 4.2 to Floating Point

@FLOT[n]
Usage variable = @FLOT[value] Performs a function on a value or evaluated statement and returns a value
Description
The @FLOT operation returns the 32bit floating representation of a number
Arguments
Argument Min Max Default Resolution Description Notes
n -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to use for floating point conversion
Remarks
@FLOT[] is an operand, not a command. It can only be used as an argument to other commands and operators
A useful utility for determining the 32 bit floating point value for a given fractional number can be found here: http://babbage.cs.qc.cuny.edu/IEEE-
754/index.xhtml

Examples
'Galil DMC Code Example
:MG @FLOT[ 2.5] {$8.0}
$40200000
:MG @REAL[ $40200000]
2.5000

@FLOT applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control @FLOT 39/326

 MATH FUNCTIONS
@FRAC Fractional part

@FRAC[n]
Usage variable = @FRAC[value] Performs a function on a value or evaluated statement and returns a value
Description
The @FRAC operation returns the fractional part of the given number
Arguments
Argument Min Max Default Resolution Description Notes
n -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to use in fractional operation
Remarks
The sign of the number input to the operation will be maintained in the fractional output.
@FRAC[] is an operand, not a command. It can only be used as an argument to other commands and operators

Examples
'Galil DMC Code Example
:MG @FRAC[ 1.2]
0.2000
:MG @FRAC[ -2.4]
-0.4000​

@FRAC applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control @FRAC 40/326

 INTERROGATION, IO
@IN Read digital input

@IN[n]
Usage variable = @IN[value] Performs a function on a value or evaluated statement and returns a value
Description
The @IN operand returns the value of the given digital input (either 0 or 1).
Arguments
Argument Min Max Default Resolution Description Notes
n 1 16 N/A 1 General input to query Inputs 9-16 only valid for 5-8 axis controller
17 48 N/A 1 Extended input to query See Remarks
81 96 N/A 1 Aux encoder input to Used when repurposing aux encoder inputs as digital
query inputs
n 1,000 8,999 N/A 1 Read Modbus slave bit See Remarks
Remarks
@IN[] is an operand, not a command. It can only be used as an argument to other commands and operators
Extended IO must be configured as inputs by the CO command for valid results.
Extended I/O points are updated once per sample.
Using @IN with a Modbus Slave
n = (SlaveAddress*10000) + (HandleNum*1000) + ((Module-1)*4) + (Bitnum-1)
Slave Address is used when the ModBus device has slave devices connected to it and specified as Addresses 0 to 255. Please note that the use
of slave devices for modbus are very rare and this number will usually be 0.
HandleNum is the handle specifier where A is 1, B is 2 and so on.
Module is the position of the module in the rack from 1 to 16.
BitNum is the I/O point in the module from 1 to 4

Examples
'Galil DMC Code Example
:MG @IN[ 1]
1.0000
:x = @IN[ 1]
:x = ? ;' print digital input 1
1.000​

@IN applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,RIO574x0,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control @IN 41/326

 MATH FUNCTIONS
@INT Integer part

@INT[n]
Usage variable = @INT[value] Performs a function on a value or evaluated statement and returns a value
Description
The @INT operation returns the integer part of the given number. Note that the modulus operator can be implemented with @INT (see example below).
Arguments
Argument Min Max Default Resolution Description Notes
n -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to use in integer operation
Remarks
@INT[] is an operand, not a command. It can only be used as an argument to other commands and operators

Examples
'Galil DMC Code Example
:MG @INT[ 1.2]
1.0000
:MG @INT[ -2.4]
-2.0000​

'Galil DMC Code Example

#AUTO ;' modulus example
x = 10;' prepare arguments
y = 3
JS#mod;' call modulus
MG z;' print return value
EN

'subroutine: integer remainder of x/y (10 mod 3 = 1)

'arguments are x and y. Return is in z
#mod
z = x - ( y * @INT[ x/y] )
EN

@INT applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control @INT 42/326

 INTERROGATION, IO
@OUT Read digital output

@OUT[n]
Usage variable = @OUT[value] Performs a function on a value or evaluated statement and returns a value
Description
Returns the value of the given digital output (either 0 or 1)
Arguments
Argument Min Max Default Resolution Description Notes
n 1 16 N/A 1 General output to query Outputs 9-16 only valid for 5-8 axis controller
17 48 N/A 1 Extended output to query See Remarks
n 1,000 8,999 N/A 1 Query Modbus slave bit See Remarks
Remarks
Extended IO must be configured as outputs with the CO command for valid response
Extended I/O points are updated once per sample.
@OUT[] is an operand, not a command. It can only be used as an argument to other commands and operators
Using @OUT with a Modbus Slave
n = (SlaveAddress*10000) + (HandleNum*1000) + ((Module-1)*4) + (Bitnum-1)
Slave Address is used when the ModBus device has slave devices connected to it and specified as Addresses 0 to 255. Please note that the use
of slave devices for modbus are very rare and this number will usually be 0.
HandleNum is the handle specifier where A is 1, B is 2 and so on.
Module is the position of the module in the rack from 1 to 16.
BitNum is the I/O point in the module from 1 to 4

Examples
'Galil DMC Code Example
:MG @OUT[ 1] ;' print state of digital output 1
1.0000
:x = @OUT[ 1] ;' assign state of digital output 1 to a variable​

@OUT applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,RIO574x0,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control @OUT 43/326

 MATH FUNCTIONS
@REAL Convert Floating Point to Galil 4.2

@REAL[n]
Usage variable = @REAL[value] Performs a function on a value or evaluated statement and returns a value
Description
The @REAL operation returns the Galil 4.2 equivalent of a 32 bit floating point number
Arguments
Argument Min Max Default Resolution Description Notes
n -2,147,483,648 2,147,483,647 N/A 1 32 bit floating point number to convert to Galil 4.2 integer
Remarks
@REAL[] is an operand, not a command. It can only be used as an argument to other commands and operators
A useful utility for determining the 32 bit floating point value for a given fractional number can be found here: http://babbage.cs.qc.cuny.edu/IEEE-
754/index.xhtml

Examples
'Galil DMC Code Example
:MG @FLOT[ 2.5] {$8.0}
$40200000
:MG @REAL[ $40200000]
2.5000

@REAL applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control @REAL 44/326

 MATH FUNCTIONS
@RND Round

@RND[n]
Usage variable = @RND[value] Performs a function on a value or evaluated statement and returns a value
Description
The @RND operation rounds the given number to the nearest integer.
Arguments
Argument Min Max Default Resolution Description Notes
n -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to use in rounding operation
Remarks
@FRAC[] is an operand, not a command. It can only be used as an argument to other commands and operators
The sign of the number input to the operation will be maintained in the rounded output.

Examples
'Galil DMC Code Example
:MG @RND[ 1.2]
1.0000
:MG @RND[ 1.6]
2.0000
:MG @RND[ -1.2]
-1.0000
:MG @RND[ 5.7]
6.0000
:MG @RND[ -5.7]
-6.0000
:MG @RND[ 5.5]
6.0000
:MG @RND[ -5.5]
-5.0000​

@RND applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control @RND 45/326

 MATH FUNCTIONS
@SIN Sine

@SIN[n]
Usage variable = @SIN[value] Performs a function on a value or evaluated statement and returns a value
Description
The @SIN[] operation returns the sine of the given angle in degrees
Arguments
Argument Min Max Default Resolution Description Notes
n -32,768 32,767 N/A 1/65,536 Value in degrees to use for sine operation
Remarks
@SIN[] is an operand, not a command. It can only be used as an argument to other commands and operators

Examples
'Galil DMC Code Example
:MG @SIN[ 0]
0.0000
:MG @SIN[ 90]
1.0000
:MG @SIN[ 180]
0.0000
:MG @SIN[ 270]
-1.0000
:MG @SIN[ 360]
0.0000​

@SIN applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control @SIN 46/326

 MATH FUNCTIONS
@SQR Square Root

@SQR[n]
Usage variable = @SQR[value] Performs a function on a value or evaluated statement and returns a value
Description
The @SQR operation takes the square root of the given number.
Arguments
Argument Min Max Default Resolution Description Notes
n - 2,147,483,647 N/A 1/65,536 Value to use in square root If n < 0, the absolute value is taken
2,147,483,648 operation first.
Remarks
@SQR[] is an operand, not a command. It can only be used as an argument to other commands and operators

Examples
'Galil DMC Code Example
:MG @SQR[ 2]
1.4142
:MG @SQR[ -2]
1.4142​

@SQR applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control @SQR 47/326

 MATH FUNCTIONS
@TAN Tangent

@TAN[n]
Usage variable = @TAN[value] Performs a function on a value or evaluated statement and returns a value
Description
The @TAN[] operation returns the tangent of the given angle in degrees.
Arguments
Argument Min Max Default Resolution Description Notes
n -32,768 32,767 N/A 1/65,536 Value in degrees to use for tangent operation
Remarks
@TAN[] is an operand, not a command. It can only be used as an argument to other commands and operators

Examples
'Galil DMC Code Example
:MG @TAN[ 23]
0.4245

@TAN applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control @TAN 48/326

 PROGRAMMING
[,] Square Brackets (Array Index Operator)

str[n]
Description
The square brackets are used to denote the array index for an array, or to denote an array name.
They are also used to designate the argument to a function, such as @ABS[n].
Arguments
Argument Min Max Default Resolution Description Notes
str 1 char 8 chars N/A String Name of array to access Must be a valid dimensioned array name.
n -1 15,999 N/A 1 Element of array to query n = -1 returns the array length
Argument Min Max Default Resolution Description Notes
str 1 char 8 chars N/A String Name of array to access Must be a valid dimensioned array name.
n 0 399 N/A 1 Element of array to query For RIO-47xx0
0 999 N/A 1 Element of array to query For RIO-47xx2 and RIO-473xx
Remarks
If the array will be passed by reference on the subroutine stack (JS), the array name MUST be 6 characters or less.

Examples
'Galil DMC Code Example
DM A[ 50] ;'define a 50 element array
A[ 0] = 3 ;'set first element to 3
MG A[ 0] ;'print element 0​

'Galil DMC Code Example

#array
DM A[ 5] ;' define a 5 element array
A[ 0] = 3;' set first element to 3
MG "A[0]=",A[ 0] ;' print element 0
len= A[ -1] ;' len now contains the length of A[]
QU A[ ] ,0,len-1,1;MG"";' print entire array
MG "A[] length=",len;' display Variable len
EN

'Example Output from terminal

:XQ#array
:
A[0]= 3
3, 4320, 216666, 217522, 607950
A[] length= 5

[,] applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control [,] 49/326

 PROGRAMMING
^ JS subroutine stack variable

^s
Description
The ^ character provides local subroutine access for variables passed on the subroutine stack. Passing values on the stack is advanced DMC
programming, and is recommended for experienced DMC programmers familiar with the concept of passing arguments by value and by reference.
Arguments
Argument Min Max Default Resolution Description Notes
s a h N/A N/A Stack variable name a,b,c,d,e,f,g,h supported
Remarks
See the JS command for a full explanation of passing stack variables.
Passing parameters has no type checking, so it is important to exercise good programming style when passing parameters. See examples below for
recommended syntax.
Do not use spaces in expressions containing ^.
Global variables MUST be assigned prior to any use in subroutines where variables are passed by reference.
Arrays passed on the stack must have names no longer than 6 chars.
Stack zero has no local-scope variables. Accessing these variables from stack zero writes to stack 1's variable table.

Examples
'Galil DMC Code Example
#Add
JS#SUM( 1,2,3,4,5,6,7,8) ;' call subroutine, pass values
MG_JS ;' print return value
EN
'
#SUM ;NO(^a,^b,^c,^d,^e,^f,^g,^h) Sums the values ^a to ^h and returns the result
EN,,( ^a+^b+^c+^d+^e+^f+^g+^h) ;' return sum

'Output from the previous program

:XQ#Add
36.0000​

^ applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC18x6
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ^ 50/326

 SYSTEM CONFIG
^L^K Lock program

^L^K str,n
Usage ^L^K n ... Arguments specified with an implicit, comma-separated order
Description
Locks user access to the application program. When locked, the ED, UL, LS, and TR commands will give privilege error #106. The application program will
still run when locked. Once the program is unlocked, it will remain accessible until a lock command or a reset (with the locked condition burned in) occurs.
Arguments
Argument Min Max Default Resolution Description Notes
str 0 char 8 chars "" String Controller password Password assigned with the PW command.
string
n 0 1 0 1 Set lock/unlock state for n = 1 locks the application program. n = 0 unlocks the
controller application program.
Remarks
The PW command can only be set while the application program is unlocked.
^L^K ? will return a 0 if the controller is not locked, and a 1 if it is locked.
ASCII Values
Char Dec Hex
^L 12 0C
^K 11 0B
Examples
'Galil DMC Code Example
:PW test,test;' Set password to "test"
:^L^K test,1;' Lock the program
:LS;' Attempt to list the program
?
:TC 1
106 Privilege violation

^L^K applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,RIO47xxx,DMC18x6

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ^L^K 51/326

 SYSTEM CONFIG
^R^S Master Reset

^R^S
Usage ^R^S Command takes no arguments
Description
The Master Reset command resets the controller to factory default settings and erases EEPROM. A master reset can also be performed by installing a
jumper at the location labeled MRST and resetting the board (power cycle or pressing the reset button). Remove the jumper after this procedure.
Arguments
^R^S has no parameters
Remarks
Sending a ^R^S over an Ethernet connection will cause the IP address to be cleared from the controller and will result in a timeout.
ASCII Values
Char Dec Hex
^R 18 12
^S 19 13
Examples
'Galil DMC Code Example
REM Example burns-in a non-default value for KP, does a standard reset with
REM the RS command, then performs a master reset with ^R^S.

:KP?
6.00
:KP10
:KP?
10.00
:BN
:RS

:KP?
10.00
:^R^S

:KP?
6.00

^R^S applies to
DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2,RIO574x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ^R^S 52/326

 INTERROGATION
^R^V Revision Information

^R^V
Usage ^R^V Command takes no arguments
Description
The Revision Information command causes the controller to return the firmware revision information.
Arguments
^R^V has no arguments
Remarks
Do not use ^ symbols to send ^R^V command. ^ symbols denote using the control (Ctrl) key when pressing the characters.
ASCII Values
Char Dec Hex
^R 18 12
^V 22 16
Examples
'Galil DMC Code Example
:^R^V
DMC4040 Rev 1.1e

^R^V applies to
DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2,RIO574x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ^R^V 53/326

_ Operand Overview

Operand Usage
Operands allow motion or status parameters of the controller to be incorporated into programmable variables and expressions. Most DMC commands have
an equivalent operand - which are designated by adding an underscore (_) prior to the DMC command. An operand typically contains the value of the
command associated with it, for instance _TPA contains the current position of axis A. Below is an example of proper and improper usage for an operand.
Example Usage
'Galil DMC Code Example
'Correct usage
MG _TPA ;' Message the A Axis' current position.
err = _TC;' Save the current error code to a variable, err.

'Incorrect usage
_TPA;' Sending this to the controller will result in an error, as operands are not valid commands on their own.​

Special Operands
The majority of DMC operands return information directly related to their command. However, there are a few operands which provide access to internal
variables that are not accessible by standard DMC commands. Below is a list of special operands which contain information not stored in a typical DMC
command.
For more details on the content of these operands, see their associated command page.
Special Operand Description
_BN Contains the controller's serial number.
_BV Contains the number of axes on the controller.
_DA Contains the number of array space left in the controller's memory.
_DL Contains the number of label space left in the controller's memory.
_DM Contains the number of array space left in the controller's memory.
_ED0 Contains the line number where an error last occured.
_ED1 Contains the thread where an error last occured.
_ED4 Contains the thread ID of the thread evaluating the operand.
_HXn Contains the running status of thread 'n'.
_NO Contains a bitmask of the running threads.
_RS Contains a bitmask of checksum errors.
_UL Contains the number of variables left in the controller's memory.
_XQn Contains the current line number of thread 'n'.
TIME Contains the current value of the controller's free running clock.

Galil Motion Control _ 54/326

 ECAM/GEARING, OPERAND ONLY
_GP Gearing Phase Differential Operand

_GPm
Usage variable= _GP Holds a value
Operands _GPm Operand has special meaning, see Remarks
Description
The _GP operand contains the value of the specified slave's "phase differential" accumulated on the most recent change in the gear ratio between the
master and the slave axes. The value does not update if the distance over which the slave will engage is set to 0 with the GD command.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis of interest
Remarks
An operand is not valid individually. Instead, _GP would be used in an expression. See example below.
Phase Differential is a term that is used to describe the lead or lag between a master axis and the specified slave axis due to gradual gear shift.
See application note 2440 for more information on _GP and GD.

Examples
'Galil DMC Code Example
GA DA ;' Sets the A axis aux encoder as the gearing master for the A axis.
GD1000;' Set the distance that the master will travel to 1000
' counts before the gearing is fully engaged for the A
' axis slave.
AI-1;' Wait for input 1 to go low. In this example, this
' input is representing a sensor that senses an object
' on a conveyor. This will trigger the controller to
' begin gearing and synchronize the master and slave
' axes together.
GR1;' Engage gearing between the master and slave
p1= _TDA ;' Sets the current A axis position to variable P1. This
' variable is used in the next command
#wait
' Wait for the aux encoder to move forward 1000
' encoder counts so the gearing engagement period is
' complete. Then the phase difference can be adjusted
' for. Note this example assumes forward motion.
JP#wait, ( _TDA < ( p1+1000) )
IP _GPA ;' Increment the difference to bring the master/slave in
' position sync from the point that the GR1 command was
' issued.
EN;' End Program​

_GP applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control _GP 55/326

 IO, OPERAND ONLY
_LF Forward Limit Switch Operand

_LFm
Usage variable= _LF Holds a value
Operands _LFm Operand has special meaning, see Remarks
Description
The _LF operand contains the state of the forward limit.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis of forward limit switch
Remarks
_LF is an operand only with the following output:
_LFm = 1 when the limit switch state will allow motion in the positive direction.
_LFm = 0 when the limit switch state will not allow motion in the positive direction.
This operand is not a direct readout of the digital input and is affected by the command CN.
See Connecting Hardware in User Manual for active/inactive state
Values of _LF
Digital Input activation _LF value for CN-1 _LF value for CN1
On. Grounded for TTL, or sufficient activation current flowing for optos. 0 (forward motion prohibited) 1 (forward motion allowed)
Off. Pullup for TTL, or insufficient activation current flowing for optos. 1 (forward motion allowed) 0 (forward motion prohibited)
Examples
'Galil DMC Code Example
MG _LFA ;' Display the status of the A axis forward limit switch

_LF applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control _LF 56/326

 IO, OPERAND ONLY
_LR Reverse Limit Switch Operand

_LRm
Usage variable= _LR Holds a value
Operands _LRm Operand has special meaning, see Remarks
Description
The _LR operand contains the state of the reverse limit.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis of reverse limit switch
Remarks
_LR is an operand with the following output
_LRm= 1 when the limit switch state will allow motion in the reverse direction.
_LRm= 0 when the limit switch state will not allow motion in the reverse direction.
This operand is not a direct readout of the digital input and is affected by the command CN.
See Connecting Hardware in User Manual for active/inactive state
Values of _LR
Digital input activation _LR value for CN-1 _LR value for CN1
On. Grounded for TTL, or sufficient activation current flowing for optos. 0 (reverse motion prohibited) 1 (reverse motion allowed)
Off. Pullup for TTL, or insufficient activation current flowing for optos. 1 (reverse motion allowed) 0 (reverse motion prohibited)
Examples
'Galil DMC Code Example
MG _LRA ;' Display the status of the A axis reverse limit switch

_LR applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control _LR 57/326

 PROGRAMMING
| Bitwise OR Operator

n | n
Usage variable = (value1 | value2) Performs an operation between two values or evaluated statements
Description
The | symbol is the bitwise OR operator used with IF, JP, and JS decisions, and also to perform bitwise ORING of values.
Arguments
Argument Min Max Default Resolution Description Notes
n -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to use with OR operator
Remarks
For IF, JP, and JS, the values used for m are typically the results of logical expressions such as (x > 2) | (y=8)
The result of this operation is a value, which is not valid on its own. It must be coupled with a command. See examples below.

Examples
'Galil DMC Code Example
'Bitwise use
var1= $F;'00001111
var2= $F0;'1111000
MG ( var1 | var2)
EN

REM Returned: 255.0000 (same as 11111111)​

'Galil DMC Code Example

'Conditional Use
var1= $F;'00001111
var2= $F0;'1111000
IF ( var1 = $F) | ( var2 = $F1)
MG"True"
ELSE
MG"False"
ENDIF
EN

REM Returned: True​

| applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control | 58/326

 PROGRAMMING
~ Variable Axis Designator

~s= "str"
~s= n
Description
Variable axis designator. Each variable can be assigned an individual axis, a vector plane, or a virtual axis. Motion commands on the variable will then apply
to the assigned axis.

Commands supporting variable axes are denoted in this command reference with the following icon.

Variable axis supported icon

Arguments
Argument Min Max Default Resolution Description Notes
s a h N/A N/A Variable axis name a,b,c,d,e,f,g,h supported
str "A" "H" N/A String Name of axis "A", "B", "C", "D", "E", "F", "G", "H" supported
"M" "N" N/A String Virtual axis "M", "N" supported
"S" "T" N/A String Coordinate System "S","T" supported
n 0 7 N/A 1 Index of the axis A= 0, B= 1, C= 2, etc.
8 9 N/A 1 Coordinate System S=8, T=9
10 11 N/A 1 Virtual Axis M= 11, N=10
Remarks
~s contains the axis number as defined by n and can be used in expressions (see example)

Examples
'Galil DMC Code Example
~a = 2;~b = 6;' Sets ~a to 2(Z axis). Sets ~b to 6 (G axis)
MG"~a=",~a ;' Print axis number
MG"~b=",~b ;' Printe axis number
PR~a = 1000;' Relative position move 1000 counts on ~a variable (set as Z axis)
JG~b = 9000;' Set jog speed of ~b variable (set as G axis) to 9000 cts/sec
BG~a~b ;' Begin motion on ~a and ~b variables (Z and G)​

~ applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ~ 59/326

 MATH FUNCTIONS
+ Addition Operator

n + n
Usage variable = (value1 + value2) Performs an operation between two values or evaluated statements
Description
The + symbol is the addition operator. It takes as arguments any two values, variables, array elements, operands, or At functions (@SIN[]) and returns a
value equal to the sum of the arguments.
Arguments
Argument Min Max Default Resolution Description Notes
n -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to use in addition operation
Remarks
This is a binary operator (takes two arguments and returns one value). The result of this operation is a value, which is not valid on its own. It must be
coupled with a command. See examples below.
Mathmatical operations are calculated left to right rather than multiplication and division calculations performed prior to addition and subraction.
Example: 1+2*3 = 9;' not 7
It is recommended that parenthesis be used when more than one mathmatical operation is combined in one command.
Example: var = ((10*30)+(60/30));' evaluates as 302
var = 10*30+60/30;' evalutes as 12

Examples
'Galil DMC Code Example
:var1 = 1+2
:var2 = var1 + 1
:MG var2 + 2
6.0000

+ applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control + 60/326

 PROGRAMMING, MATH FUNCTIONS
< Less than comparator

n0 < n1
Usage variable = (value1 < value2) Performs an operation between two values or evaluated statements
Description
"Less than" comparator for testing if one value is less than another. Comparators are used in mathematical expressions, IFs, and in conditional jumps. The
result is a boolean.
Comparators in DMC Code
Symbol Comparator
< Less than
> Greater than
= Equal to
<= Less than or equal to
>= Greater than or equal to
<> Not equal to
Arguments
Argument Min Max Default Resolution Description Notes
n0 -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to test
n1 -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to test
Remarks
A comparator is not a command and is not valid individually. Instead, the above expression would be used as part of a jump (JP,JS), IF expression, or
assignment. See examples below.
If n0 < n1, the expression will evaluate to 1.0000. If the comparision is false, it will evaluate to 0.0000.
Evaluation occurs left to right. Use parenthesis for operator precedence.

Examples
'Galil DMC Code Example
:bool= ( 1<2)
:MG bool
1.0000
:bool= ( 1<0)
:MG bool
0.0000

'Galil DMC Code Example

REM Example to find the largest
REM value in an array
REM
REM ***************************
REM Create an array and fill it
len= 5
DM array[ len]
array[ 0] = 5
array[ 1] = 100.0001
array[ 2] = 42
array[ 3] = 3.14
array[ 4] = 100
JS #max;' call max subroutine
MG "Max value is ", max
EN
REM
REM ****************************
REM Find max element in array
#max
i= 0
max = -2147483648;' start at min
#max_h
IF ( array[ i] > max)
max = array[ i]
ENDIF
i= i+1
JP #max_h, ( i < len)
EN
REM
REM ****************************
REM Program output
REM :XQ
REM :
REM Max value is 100.0001​

Galil Motion Control < 61/326

 < applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control < 62/326

 PROGRAMMING, MATH FUNCTIONS
<= Less than or Equal to comparator

n0 <= n1
Usage variable = (value1 <= value2) Performs an operation between two values or evaluated statements
Description
"Less than or Equal to" comparator for testing if one value is less than or equal to another. Comparators are used in mathematical expressions, IFs, and in
conditional jumps. The result is a boolean.
Comparators in DMC Code
Symbol Comparator
< Less than
> Greater than
= Equal to
<= Less than or equal to
>= Greater than or equal to
<> Not equal to
Arguments
Argument Min Max Default Resolution Description Notes
n0 -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to test
n1 -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to test
Remarks
A comparator is not a command and is not valid individually. Instead, the above expression would be used as part of a jump (JP,JS), IF expression, or
assignment. See examples below.
If n0 <= n1, the expression will evaluate to 1.0000. If the comparision is false, it will evaluate to 0.0000.
Evaluation occurs left to right. Use parenthesis for operator precedence.

Examples
'Galil DMC Code Example
:bool= ( 1 <= 2)
:MG bool
1.0000
:bool= ( 2 <= 2)
:MG bool
1.0000
:bool= ( 3 <= 2)
:MG bool
0.0000

'Galil DMC Code Example

max= 2.05
min= 1.47
value = 0.025
JS #check
value = 1.471
JS #check
EN
REM
REM *******************************
REM Determine if in range
#check
inrange= 0
IF ( ( value >= min) & ( value <= max) )
inrange= 1
ENDIF
IF ( inrange)
MG "Value ",value," in range"
ELSE
MG "Value ",value," NOT in range"
ENDIF
EN
REM
REM *******************************
REM Program output
REM :XQ
REM :
REM Value 0.0250 NOT in range
REM Value 1.4710 in range​

<= applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control <= 63/326

 PROGRAMMING, MATH FUNCTIONS
<> Not Equal to comparator

n0 <> n1
Usage variable = (value1 <> value2) Performs an operation between two values or evaluated statements
Description
"Not Equal to" comparator for testing if one value is not equal to another. Comparators are used in mathematical expressions, IFs, and in conditional
jumps. The result is a boolean.
Comparators in DMC Code
Symbol Comparator
< Less than
> Greater than
= Equal to
<= Less than or equal to
>= Greater than or equal to
<> Not equal to
Arguments
Argument Min Max Default Resolution Description Notes
n0 -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to test
n1 -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to test
Remarks
A comparator is not a command and is not valid individually. Instead, the above expression would be used as part of a jump (JP,JS), IF expression, or
assignment. See examples below.
If n0 <> n1, the expression will evaluate to 1.0000. If the comparision is false, it will evaluate to 0.0000.
Evaluation occurs left to right. Use parenthesis for operator precedence.

Examples
'Galil DMC Code Example
:bool= ( 1 <> 2)
:MG bool
1.0000
:bool= ( 2 <> 2)
:MG bool
0.0000​

'Galil DMC Code Example

REM Lock out code until
REM a particular digital
REM input pattern is detected
#AUTO
JS#lock;'block until pattern
REM
REM
REM Rest of code here
REM
REM
EN
REM
REM *************************
#lock
JP #lock, ( _TI0 <> 170)
EN

<> applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control <> 64/326

 PROGRAMMING
= Assignment Operator

str = n
Description
The = operator is the assignment operator for the controller. The assignment operator is used for two reasons:
(1) to define and initialize a variable (x = 0) before it is used
(2) to assign a new value to a variable (x = 5)
Arguments
Argument Min Max Default Resolution Description Notes
str 1 char 8 chars N/A String Variable name to access
n - 2,147,483,647 see Notes 1/65,536 Value to assign to Default n, or n = null results in a query of the
2,147,483,648 specified variable value of variable
Remarks
None

Examples
'Galil DMC Code Example
:x= 5
:x= ?
5.0000
:MG x
5.0000
'define and initialize x to 5
'print x two different ways​

= applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control = 65/326

 PROGRAMMING, MATH FUNCTIONS
= Equal to comparator

n0 = n1
Usage variable = (value1 = value2) Performs an operation between two values or evaluated statements
Description
"Equal to" comparator for testing if one value is equal to another. Comparators are used in mathematical expressions, IFs, and in conditional jumps. The
result is a boolean.
Comparators in DMC Code
Symbol Comparator
< Less than
> Greater than
= Equal to
<= Less than or equal to
>= Greater than or equal to
<> Not equal to
Arguments
Argument Min Max Default Resolution Description Notes
n0 -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to test
n1 -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to test
Remarks
A comparator is not a command and is not valid individually. Instead, the above expression would be used as part of a jump (JP,JS), IF expression, or
assignment. See examples below.
If n0 = n1, the expression will evaluate to 1.0000. If the comparision is false, it will evaluate to 0.0000.
Evaluation occurs left to right. Use parenthesis for operator precedence.

Examples
'Galil DMC Code Example
:bool= ( 1=0)
:MG bool
0.0000
:bool= ( 3.14=3.14)
:MG bool
1.0000

'Galil DMC Code Example

REM Checks for a digital
REM input pattern and
REM sets a bit if matched
#loop
IF ( _TI0 = 170)
SB 1
ELSE
CB 1
ENDIF
JP#loop​

= applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control = 66/326

 PROGRAMMING, MATH FUNCTIONS
> Greater than comparator

n0 > n1
Usage variable = (value1 > value2) Performs an operation between two values or evaluated statements
Description
"Greater than" comparator for testing if one value is greater than another. Comparators are used in mathematical expressions, IFs, and in conditional
jumps. The result is a boolean.
Comparators in DMC Code
Symbol Comparator
< Less than
> Greater than
= Equal to
<= Less than or equal to
>= Greater than or equal to
<> Not equal to
Arguments
Argument Min Max Default Resolution Description Notes
n0 -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to test
n1 -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to test
Remarks
A comparator is not a command and is not valid individually. Instead, the above expression would be used as part of a jump (JP,JS), IF expression, or
assignment. See examples below.
If n0 > n1, the expression will evaluate to 1.0000. If the comparision is false, it will evaluate to 0.0000.
Evaluation occurs left to right. Use parenthesis for operator precedence.

Examples
'Galil DMC Code Example
:bool= ( 1>2)
:MG bool
0.0000
:bool= ( 1>0)
:MG bool
1.0000

'Galil DMC Code Example

REM Example to find the largest
REM value in an array
REM
REM ***************************
REM Create an array and fill it
len= 5
DM array[ len]
array[ 0] = 5
array[ 1] = 100.0001
array[ 2] = 42
array[ 3] = 3.14
array[ 4] = 100
JS #max;' call max subroutine
MG "Max value is ", max
EN
REM
REM ****************************
REM Find max element in array
#max
i= 0
max = -2147483648;' start at min
#max_h
IF ( array[ i] > max)
max = array[ i]
ENDIF
i= i+1
JP #max_h, ( i < len)
EN
REM
REM ****************************
REM Program output
REM :XQ
REM :
REM Max value is 100.0001​

Galil Motion Control > 67/326

 > applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control > 68/326

 PROGRAMMING, MATH FUNCTIONS
>= Greater than or Equal to comparator

n0 >= n1
Usage variable = (value1 >= value2) Performs an operation between two values or evaluated statements
Description
"Greater than or Equal to" comparator for testing if one value is greater than or equal to another. Comparators are used in mathematical expressions, IFs,
and in conditional jumps. The result is a boolean.
Comparators in DMC Code
Symbol Comparator
< Less than
> Greater than
= Equal to
<= Less than or equal to
>= Greater than or equal to
<> Not equal to
Arguments
Argument Min Max Default Resolution Description Notes
n0 -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to test
n1 -2,147,483,648 2,147,483,647 N/A 1/65,536 Value to test
Remarks
A comparator is not a command and is not valid individually. Instead, the above expression would be used as part of a jump (JP,JS), IF expression, or
assignment. See examples below.
If n0 >= n1, the expression will evaluate to 1.0000. If the comparision is false, it will evaluate to 0.0000.
Evaluation occurs left to right. Use parenthesis for operator precedence.

Examples
'Galil DMC Code Example
:bool= ( 1 >= 2)
:MG bool
0.0000
:bool= ( 2 >= 2)
:MG bool
1.0000
:bool= ( 3 >= 2)
:MG bool
1.0000

'Galil DMC Code Example

max= 2.05
min= 1.47
value = 0.025
JS #check
value = 1.471
JS #check
EN
REM
REM *******************************
REM Determine if in range
#check
inrange= 0
IF ( ( value >= min) & ( value <= max) )
inrange= 1
ENDIF
IF ( inrange)
MG "Value ",value," in range"
ELSE
MG "Value ",value," NOT in range"
ENDIF
EN
REM
REM *******************************
REM Program output
REM :XQ
REM :
REM Value 0.0250 NOT in range
REM Value 1.4710 in range​

>= applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control >= 69/326

 PROGRAMMING
AB Abort

AB
AB n
Usage AB n ... Arguments specified with an implicit, comma-separated order
Operands _AB Operand has special meaning, see Remarks
Description
The AB command is a command to issue an abort to controller operation.
AB (Abort) stops motion instantly without a controlled deceleration. If there is a program operating, AB can also be specified to abort the program and all
running threads. The command, AB, will shut off the motors for any axis in which the off on error function is enabled (see command "OE").
Arguments
Argument Value Description Notes
n 0 Abort motion and the program operation Default if omitted
1 Abort motion only
Remarks
_AB gives state of Abort Input, 1 inactive and 0 active.
AB aborts motion on all axes in motion and cannot stop individual axes.

Examples
'Galil DMC Code Example
:AB;' Stops motion
:OE* = 1;' Enable off on error on axes
:AB;' Shuts off motor command and stops motion​

'Galil DMC Code Example

#A;' Label - Start of program
JG 20000;' Specify jog speed on A-axis
BG A ;' Begin jog on A-axis
WT 5000;' Wait 5000 msec
AB 1;' Stop motion without aborting program
WT 5000;' Wait 5000 milliseconds
SH;' Servo Here
JP #A;' Jump to Label A
EN;' End of the routine
'Remember to use the parameter 1 following AB if you only want the motion to be aborted
'Otherwise, your application program will also be aborted.​

AB applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,RIO47xxx,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control AB 70/326

 INDEPENDENT MOTION
AC Acceleration

ACm= n
AC n,n,n,n,n,n,n,n
Usage ACm= n Arguments specified with a single axis mask and an assignment (=)
AC n ... Arguments specified with an implicit, comma-separated order
Operands _ACm Operand holds the value last set by the command
Description
The Acceleration command (AC) sets the linear acceleration of the motors for independent moves, such as PR, PA, and JG moves. The parameters will be
rounded down to the nearest factor of 1024 and have units of counts per second squared.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
M N N/A Axis Virtual axis to assign
value
n 1,024 1,073,740,800 256,000 1,024 Acceleration rate At TM 1000. Resolution and Min depend on TM, see
remarks.
Remarks
The AC command is used to designate acceleration
Specify realistic acceleration rates based on physical system parameters such as:
motor torque rating
loads
amplifier current rating
Specifying an excessive acceleration will cause a large following error during acceleration and the motor will not follow the commanded profile
The acceleration feedforward command (FA) will help minimize the error for aggressive accelerations
Resolution
The Min and Resolution depend on the sampling period of the control loop (TM). The equation to calculate these values is:
Resolution = Min = 1024*(1000/TM)^2
example:
With TM 500 the minimum AC setting and resolution is 4096 counts/second^2
resolution = 1024*(1000/500)^2 = 4096

Examples
'Galil DMC Code Example
REM Set A-axis acceleration to 150000, B-axis to 200000 counts/sec2, the C axis to 300000 counts/sec2, and the D-axis to 400000 count/sec2.
AC 150000,200000,300000,400000
a= _ACB ;' Assigns the B acceleration to the variable a​

AC applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control AC 71/326

 TRIPPOINT
AD After Distance

ADm= n
AD n,n,n,n,n,n,n,n
Usage ADm= n Arguments specified with a single axis mask and an assignment (=)
AD n ... Arguments specified with an implicit, comma-separated order
Description
Trippoint to block command execution until a given distance is traversed. This is a profiled trippoint which means it depends on the motion profiler and not
the actual motor encoder. AD can only be used when there is commanded motion on the axis.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 2,147,483,647 N/A 1 Distance of motion Cannot specify more than 1 argument at a time
Remarks
AD will hold up the execution of the following command until one of the following conditions have been met
The commanded motor position crosses the specified relative distance from the start of the move
The motion profiling on the axis is complete
If in jog (JG) mode, the commanded motion is in the direction which moves away from the specified position
Not valid for a slave during ECAM or Gearing, use MF and MR
If the direction of motion is reversed when in PT mode, the starting position for AD is reinitialized to the position at which the motor is reversed
The AD command is accurate to the number of counts that occur in 2*TM msec
AD command will be affected when the motion smoothing time constant, IT, is not 1. See IT command for further information
AD measures incremental distance from start of move on one axis

Examples
'Galil DMC Code Example
#A
DP 0,0;' Zero position
PR 10000,20000;' Specify position relative moves
BG ;' Begin motion
AD 5000;' After A reaches 5000
MG "Halfway to A";TP A ;' Send message
AD ,10000;' After B reaches 10000
MG "Halfway to B";TP B ;' Send message
EN;' End Program​

AD applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control AD 72/326

 FILTER/CONTROL
AF Analog Feedback Select

AFm= n
AF n,n,n,n,n,n,n,n
Usage AFm= n Arguments specified with a single axis mask and an assignment (=)
AF n ... Arguments specified with an implicit, comma-separated order
Operands _AFm Operand holds the value last set by the command
Description
The AF command configures analog feedback mode for the PID filter.
The controller ADC can be used as position feedback for the axis control law. The analog input used for feedback is fixed and uses the input that
corresponds with the axis letter. For example, Analog input 1 is used for the A axis.
Sinusoidal feedback encoders are also configured by the AF command.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 1 0 1 Use the controller ADC as servo feedback 1= analog, 0= digital
feedback
5 12 0 1 Sinusoidal encoder input used with 2^n ICM-42100 required to use
interpolation counts per encoder cycle sin/cos feedback
Remarks
Below is the feedback in counts decoded by the controller hardware when reading in analog feedback for certain analog input ranges.
12 Bit ADC 16 Bit ADC
+/-5 V, +/-10 V -2048 to 2047 counts -32768 to 32767 counts
0-5 V, 0-10 V 0 to 4095 counts 0 to 65535 counts
The analog voltage range is set using the AQ command. AQ must be set prior to setting AF
The analog feedback is decoded by a 12-bit A/D converter. An upgrade option is available for 16-bits.
ICM-42100 required to use sin/cos feedback
When using Sin/Cos encoders (AF5-12)
The encoder must be connected to the controller prior to issuing the AF command.
TP will provide position resolution of 2(_AFm) counts per cycle. One cycle is four quadrature counts.
For example, if an encoder shows a change in TP of 8000 counts with AF0. The same distance at AF 5 would be give by 8000/4 * 25 =
64000

Examples
'Galil DMC Code Example
AF 1;' Analog feedback on A axis
v1= _AFA ;' Assign feedback type to variable
KP 1;' Assigns PID's for motor using analog feedback on A-axis
KD 10;'
KI 0.5;'​

'Galil DMC Code Example

AF 12;' Sets sine/consine feedback to 2^12= 4096 counts/period
AF 8;' Sets sine/cosine feedback to 2^8= 256 counts/period​

AF applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control AF 73/326

 FILTER/CONTROL
AG Amplifier Gain

AG n,n,n,n,n,n,n,n
AGm=n
Usage AGm= n Arguments specified with a single axis mask and an assignment (=)
AG n ... Arguments specified with an implicit, comma-separated order
Operands _AGm Operand holds the value last set by the command
Description
The AG command sets the amplifier current/voltage gain for the internal amplifier. Note: some Galil internal amplifiers have fixed gains. Please reference the
manual or data-sheet for more details.

For Servo motors, to convert motor command output (V) to actual motor current (A), use the following equation.

Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 3 1 1 Gain setting See table in Remarks for gain settings
Remarks
Current Gain Settings by Servo Amplifier Configuration
Gain settings by Amplifier (Amps/Volt)
Gain Setting, n= 0 1 2 3
AMP-43040 0.4 0.7 1 N/A
AMP-43240 0.5 1 2 N/A
AMP-43540 0.4 0.8 1.6 N/A
AMP-43740 0.8 1.6 3.2 N/A
Current Gain Settings by Stepper Amplifier Configuration
Gain settings by Amplifier (Amps per phase)
Gain Setting, n= 0 1 2 3
SDM-44140 0.5 1 2 3
SDM-44040 0.5 0.75 1 1.4
The axis must be in the motor off state (MO) before setting AG
The MT command must be issued prior to the AG command to set the proper range

Examples
'Galil DMC Code Example
ST ;' Stop any motion
AM ;' Wait for motion to decel and stop
MO ;' Turn motor off
MT 1;' Set the A axis as a servo
AG 2;' Sets the highest amplifier gain for A axis on servo amplifier
BN;' Save AG setting to EEPROM​

AG applies to DMC500x0,DMC40x0,DMC41x3,DMC30010,DMC21x3,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control AG 74/326

 TRIPPOINT
AI After Input

AI n
Usage AI n ... Arguments specified with an implicit, comma-separated order
Description
The AI command is a trippoint used in motion programs to wait until after a specified input has changed state. This command can be configured such that
the controller will wait until the input goes high or the input goes low.
Arguments
Argument Min Max Default Resolution Description Notes
n 1 16 N/A 1 General input to use for +n = High trigger. -n = low trigger. 9-16 only valid
trippoint for 5-8 axis controller
17 48 N/A 1 Extended input to use for
trippoint
81 96 N/A 1 Aux encoder input to use
for trippoint
Remarks
The AI command actually halts execution until specified input is at desired logic level. Use the conditional Jump command (JP) or input interrupt (II) if
you do not want the program sequence to halt.
AI functions only on local input points. See Example below for network based digital inputs.

Examples
'Galil DMC Code Example
#A;' Begin Program
AI 8;' Wait until input 8 is high
SP 10000;' Speed is 10000 counts/sec
AC 20000;' Acceleration is 20000 counts/sec2
PR 400;' Specify position
BGA ;' Begin motion
EN;' End Program​

'Galil DMC Code Example

REM When using a remote I/O device (e.g. the RIO), the following provides
REM a similar function as AI. Assume that the remote device is already
REM configured on handle C (see IH)
'code before
JS #remote;' this call blocks and waits for the remote logic to return
'code after
EN
'***** The example subroutine *****
#remote
WT10;' wait a reasonable interval so we don't flood the network
JP#remote,( @IN[ 3001] = 1) ;'loop while input 1 on the remote device is high
EN;' return to calling code.

AI applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control AI 75/326

 IO
AL Arm Latch

AL mm
Usage AL mm Argument is an axis mask
Operands _ALm Operand has special meaning, see Remarks
Description
The AL command enables the latch function (high speed main or auxiliary position capture) of the controller. When the position latch is armed, the main
or auxiliary encoder position will be captured upon a rising or falling edge on the specified digital input. Use the CN command to configure the edge that
the latch input will trigger on.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH N/A Multi-Axis Encoder to latch Latch main encoder
Mask
mm SA SASBSCSDSESFSGSH N/A Multi-Axis Encoder to latch Latch aux encoder
Mask
mm TA TATBTCTDTETFTGTH N/A Multi-Axis Index input to Main encoder is latched from the index pulse
Mask trigger latch instead of a digital input
Remarks
Latch input by Axis
Axis Latch Input
A Input 1
B Input 2
C Input 3
D Input 4
E Input 9
F Input 10
G Input 11
H Input 12
The command RL returns the latched position
_ALm contains the state of the specified latch. 0 = not armed, 1 = armed
The CN command can be used to change the edge which causes the latch to trigger.
The latch function is available on incremental quadrature encoder inputs only. For other position capture methods contact Galil.

Examples
'Galil DMC Code Example
#start
AL A ;' Arm A-axis latch
JG 50000;' Set up jog at 50000 counts/sec
BG A ;' Begin the move
#loop;' Loop until latch has occurred
JP #loop,( _ALA =1)
RL A ;' Transmit the latched position
EN;' End of program​

'Galil DMC Code Example

REM Homing routine using the AL command to detect the Motor's index position
#start
AL TA ;' Arm A-axis latch. Latch will trigger off the index pulse
JG 50000;' Set up jog at 50000 counts/sec
BG A ;' Begin the move
#loop;' Loop until latch has occurred
JP #loop,( _ALA =1)
STA ;' Stop the jog
AMA
PAA = _RLA ;' Set up a move to return to the latched position
BGA
AMA
WT100;' Allow for settling.
REM Checking that KI has eliminated error (TE) would be more thorough
DP0;' Zero position
MG "A Homed";' Report status
EN;' End of program​

'Galil DMC Code Example

REM manual find index using latch off of index pulse using variable axes
#index
'settings
~a = 0;'axis number
s1spd= 10000;'stage 1 speed

Galil Motion Control AL 76/326

 s2spd= 1000;'stage 2 speed
'jog until index is latched
JG~a = s1spd;BG~a
WT1000
ALT~a
#A;JP#A,_AL~a =1
ST~a ;AM~a
'Return to latched position
SP~a = s2spd
PA_RL~a ;BG~a ;MC~a
JS#STL;DP~a = 0
EN
'wait for axis to settle
#STL
WT2;JP#STL,@ABS[ _TE~a ] >2
WT2;JP#STL,@ABS[ _TE~a ] >0
WT2;JP#STL,@ABS[ _TE~a ] >0
EN

AL applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control AL 77/326

 TRIPPOINT
AM After Move

AM mm
Usage AM mm Argument is an axis mask
Description
The AM command is a trippoint used to control the timing of events. This command will hold up execution of the following commands until the current
move on the specified axis or axes is completed. Any combination of axes or a motion sequence may be specified with the AM command.
For example, AM AB waits for motion on both the A and B axis to be complete. AM with no parameter specifies that motion on all axes to be complete.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH ABCDEFGH Multi-Axis Axes to wait for profiled motion to complete
Mask
S T N/A Multi-Axis Vector plane to wait for profiled motion to complete
Mask
M N N/A Multi-Axis Firmware Rev 1.2a and later. Virtual axis to wait for Any combination of axes
Mask profiled motion to complete is acceptable
Remarks
AM is a very important command for controlling the timing between multiple move sequences.
For example, if the A-axis is in the middle of a position relative move (PR) you cannot make a position absolute move (PAA, BGA) until the first
move is complete. Use AMA to halt the program sequence until the first profiled motion is complete.
AM tests for profile completion only. The actual motor may still be moving. To halt the program sequence until the actual physical motion has
completed, use the MC command.
To test motion complete without halting the program sequence, use the operand _BGn, which will be zero when profiled motion is complete
(see BG command).

Examples
'Galil DMC Code Example
#MOVE; 'Program MOVE
PR 5000,5000,5000,5000;'Position relative moves
BG A ; 'Start the A-axis
AM A ; 'After the move is complete on A,
BG B ; 'Start the B-axis
AM B ; 'After the move is complete on B,
BG C ; 'Start the C-axis
AM C ; 'After the move is complete on C
BG D ; 'Start the D-axis
AM D ; 'After the move is complete on D
EN; 'End of Program​

AM applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control AM 78/326

 IO
AO Analog Output

AO n0,n1
Usage AO n ... Arguments specified with an implicit, comma-separated order
Description
The AO command sets the analog outputs on the Galil or for a Modbus Slave.
Arguments
Argument Min Max Default Resolution Description Notes
n0 1,000 8,999 N/A 1 Set Analog Output on Modbus See "Using AO with a Modbus Slave" in
Slave Remarks
n1 -9.9998 9.9998 N/A 20/65,536 Analog Output Voltage
Remarks
Using AO with a Modbus Slave
RIO as Modbus Slave
3rd Party Modbus Slave Device
n0 is the I/O number calculated using the following equations:
n0 = (HandleNum*1000) + ((Module-1)*4) + (Bitnum-1)
HandleNum is the handle specifier from A to H.
Handle must be assigned to port 502 for Modbus comms (See IH)
Module is the position of the module in the rack from 1 to 16.
BitNum is the I/O point in the module from 1 to 4

Examples
'Galil DMC Code Example
:AO 3005,3.2;' Outputs 3.2 Volts on Channel 5 of the Device connected to Handle C​

AO applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,RIO574x0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control AO 79/326

 TRIPPOINT
AP After Absolute Position

Usage APm= n Arguments specified with a single axis mask and an assignment (=)
AP n ... Arguments specified with an implicit, comma-separated order
Description
The AP command will hold up the execution of the following command until the actual motor position crosses the specified position. This trippoint does not
rely on the profiler, but on actual encoder position.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n -2,147,483,648 2,147,483,647 N/A 1 Position trippoint value Only one axis may be specified at a time
Remarks
For AP command to clear, one of the following conditions have been met:
The actual motor position crosses the specified absolute position.
The motion profiling on the axis is complete.
The commanded motion is in the direction which moves away from the specified position.
The units of the command are quadrature counts.
When using a stepper motor, the AP trippoint condition is satisfied when the stepper position (TD) has crossed the specified position.
For further information see Chapter 6 of the User Manual "Stepper Motor Operation".
Not valid for a slave during ECAM or Gearing - use MF and MR.
The motion profiler must be active before the AP command is used.
AP is accurate to the number of counts that occur in 2*TM msec
AP tests for absolute position. Use the AD command to measure incremental distances.

Examples
'Galil DMC Code Example
#TEST;' Program B
DP0;' Define zero
JG 1000;' Jog mode (speed of 1000 counts/sec)
BG A ;' Begin move
AP 2000;' After passing the position 2000
V1= _TPA ;' Assign V1 A position
MG "Position is", V1;' Print Message
ST;' Stop
EN;' End of Program​

AP applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control AP 80/326

 IO
AQ Analog Input Configuration

AQ n0,n1
Usage AQ n ... Arguments specified with an implicit, comma-separated order
_AQ1
_AQ2
_AQ3
Operands _AQ4 Operand has special meaning, see Remarks
_AQ5
_AQ6
_AQ7
_AQ8
Description
The AQ command is used to set the behavior of the analog inputs. This command will set the analog range and operation for the specified input.
Arguments
Argument Min Max Default Resolution Description Notes
n0 1 8 N/A 1 Analog input channel
n1 1 4 2 1 Analog range setting See Table Below
-4 -1 N/A 1 Specify analog input is differential See Remarks
Remarks
AQ is a configuration command which must be set at the beginning of application code.
The usage of this command depends on the type of analog inputs present on the particular controller model, check the ID command to determine
the hardware configuration.
Configurable Analog Input Settings
Argument Value Description Notes
n1 1 -5 to +5 VDC
2 -10 to +10 VDC Default
3 0 to 5 VDC
4 0 to10 VDC
Default resolution for analog inputs is 12bits. 16 bit is optional.
Operands _AQ1 through _AQ8 return the setting for the specified input
Setting a negative n1 for inputs 1,3,5 or 7, configures those inputs as the differential input relative to input 2,4,6 and 8 respectively.

Differential Input Mapping (-n1)

Input (n0) Compliment (n0 + 1)
1 2
3 4
5 6
7 8
Position Range when in Analog Feedback by AQ
Argument Value Analog Range Position Range (12 bit) Position Range (16 bit)
n1 1 +5 to -5 VDC -2048 to 2047 -32,768 to 32767
2 +10 to -10 VDC -2048 to 2047 -32,768 to 32767
3 0 to 5 VDC 0 to 4095 0 to 65535
4 0 to10 VDC 0 to 4095 0 to 65535
Examples
'Galil DMC Code Example
:AQ2,3;' Specify analog input 2 as 0-5V
:AQ1,-3;' Specify analog input 1 as 0-5V and the differential input to analog input 2
:MG_AQ2
3.0000​

AQ applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC52xx0,RIO574x0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control AQ 81/326

 TRIPPOINT
AR After Relative Distance

ARm= n
AR n,n,n,n,n,n,n,n
Usage ARm= n Arguments specified with a single axis mask and an assignment (=)
AR n ... Arguments specified with an implicit, comma-separated order
Description
The After Relative (AR) command is a trippoint used to control the timing of events. This command will hold up the execution of the following command
until one of the following conditions have been met:
1. The commanded motor position crosses the specified relative distance from either the start of the move or the last AR or AD command.
2. The motion profiling on the axis is complete.
3. If in jog (JG) mode, the commanded motion is in the direction which moves away from the specified position.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n -2,147,483,648 2,147,483,647 N/A 1 Relative position for trippoint Only one axis may be specified at a time.
Remarks
The units of the command are quadrature counts.
When using a stepper motor, this condition is satisfied when the stepper position (as determined by the output buffer) has crossed the specified
Relative Position.
For further information see Chapter 6 of the User Manual "Stepper Motor Operation".
If the direction of the motion is reversed when in position trackig mode (see PT command), the starting point for the trippoint is reinitialized to the
point at which the motion reversed.
The motion profiler must be active before the AR command is issued.
Not valid for a slave during ECAM or Gearing - use MF and MR.
Note: AR will be affected when the motion smoothing time constant, IT, is not 1. See IT command for further information.
AP is accurate to the number of counts that occur in 2*TM msec
AR is used to specify incremental distance from last AR or AD command.
Use AR if multiple position trippoints are needed in a single motion sequence.

Examples
'Galil DMC Code Example
#A;' Begin Program
DP 0
JG 50000;' Specify speed
BG A ;' Begin motion
#B;' Label
AR 25000;' After passing 25000 counts of relative distance on A-axis
MG "Passed";TPA ;' Send message on A-axis
JP #B;' Jump to Label #B
EN;' End Program​

AR applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control AR 82/326

 TRIPPOINT
AS At Speed

AS mm
Usage AS mm Argument is an axis mask
Description
The AS command is a trippoint that occurs when the generated motion profile has reached the specified speed. This command will hold up execution of
the following command until the commanded speed has been reached. The AS command will operate after either accelerating or decelerating.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGHST ABCDEFGH Multi-Axis Mask Axes to use for AS trippoint
Remarks
If the speed is not reached, the trippoint will be triggered after the speed begins diverging from the AS value.
'The AS command applies to a trapezoidal velocity profile only with linear acceleration. AS used with Smoothing profiling will be inaccurate.

Examples
'Galil DMC Code Example
#SPEED;' Program
PR 100000;' Specify position
SP 10000;' Specify speed
BG A ;' Begin A
AS A ;' After speed is reached
MG "At Speed";' Print Message
EN;' End programm​

AS applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control AS 83/326

 TRIPPOINT
AT At Time

AT n0,n1
Usage AT n ... Arguments specified with an implicit, comma-separated order
Description
The AT command is a trippoint which is used to hold up execution of the next command until after the specified time has elapsed. The time is measured
with respect to a defined reference time. AT 0 establishes the initial reference. AT n specifies n msec from the reference. AT -n specifies n msec from the
reference and establishes a new reference after the elapsed time period.
AT n,1 specifies n samples from the reference. This is useful when TM is lowered and faster application loop times are required.
Arguments
Argument Min Max Default Resolution Description Notes
n0 -2,147,483,648 2,147,483,647 0 2 Specify a wait time for AT trippoint See Remarks
n1 0 1 0 1 Specify time in samples or msecs n1=0 for msecs. n1=1 for samples
Remarks
n0 = 0 sets the reference time for AT to the current time.
n0 > 0 specifies the wait time as the absolute value of n0 from the reference time
n0 < 0 specified the wait time as the absolute value of n0 from the reference time, and resets the reference time when the trippoint is complete to the
current time.
AT -n0 is equivalent to AT n0; AT (old reference +n0)

Examples
'Galil DMC Code Example
'The following commands are sent sequentially
AT 0;' Establishes reference time 0 as current time
AT 50;' Waits 50 msec from reference 0
AT 100;' Waits 100 msec from reference 0
AT -150;' Waits 150 msec from reference 0 and sets new reference at 150
AT 80;' Waits 80 msec from new reference (total elapsed time is 230 msec)​

'Galil DMC Code Example

' jog propotional to analog input example with AT in ms
'AT -n
#main0
AT0;' set time reference for AT command
JG0;BGX ;' start Jog mode
gain= 1
#atloop
jgspd= gain*@AN[ 1]
JG jgspd
AT-100;' wait 100 ms from last time reference (last AT-n or AT0)
REM same functionality would be:
REM AT -100,0
REM -or-
REM AT 100,0;AT0
JP#atloop​

'Galil DMC Code Example

' jog propotional to analog input example with AT in samples
' AT n,1
#main1
AT0;' set time reference for AT command
JG0;BGX ;' start Jog mode
gain= 1
#atloop
jgspd= gain*@AN[ 1]
JG jgspd
AT -100,1;' wait 100 samples from last time reference (AT0)
JP#atloop​

AT applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control AT 84/326

 FILTER/CONTROL
AU Set amplifier current loop

AUm= n
AU n,n,n,n,n,n,n,n
Usage AUm= n Arguments specified with a single axis mask and an assignment (=)
AU n ... Arguments specified with an implicit, comma-separated order
Operands _AUm Operand holds the value last set by the command
Description
The AU command sets the amplifier current loop gain for internal amplifiers.
For Galil trapezoidal amplifiers, the current loop is available in one of two settings. AU also sets the switching mode where available, Chopper vs. Inverter.
For Galil sinusoidal amplifiers, AU sets the current loop gain as well as enables or disables the current loop integrator.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n Amplifier Amplifier Amplifier Amplifier Current Loop Gain See tables below for setting the n parameter by
Specific Specific Specific Specific Setting amplifier.
AMP-43040 / -D3040
Argument Value Description (24VDC Bus) Current loop (48VDC Bus) Current loop Notes
setting setting
n 0 Inverter mode, Normal current loop For inductance >500uH and For inductance >500uH and Default.
gain <5mH <10mH
0.5 Chopper mode, Normal current loop For inductance > 200uH and < For inductance > 200uH and <
gain 500uH 500uH
1 Inverter mode, Higher current loop For Inductance >5mH For inductance >10mH
gain
1.5 Chopper mode, Higher current loop For Inductance >5mH For inductance >10mH
gain
AMP-43240 / -D3240
Argument Value Description (24VDC Bus) Current loop (48VDC Bus) Current loop Notes
setting setting
n 0 Chopper mode, Normal current loop For inductance >500uH and or inductance >500uH and Default.
gain <5mH <10mH
1 Chopper mode, Higher current loop For Inductance >5mH For inductance >10mH
gain
AMP-43540 / -D3540
n is the sum of 2 integers n1 and n2 which are added together to create the desired AU setting. See the table below.
Argument Value (24VDC Bus) Current loop (48VDC Bus) Current loop Notes
setting setting
n1 0 Minimum Current Loop Gain Minimum Current Loop Gain
1 For inductance < 1mH For inductance < 2.4mH Default.
2 For inductance > 1mH and < For inductance > 2.4mH and <
2.3mH 4.2mH
3 For inductance > 2.3mH and < For inductance > 4.2mH and <
4.2mH 7mH
4 For inductance > 4.2mH For inductance > 7mH
n2 0 Disabled current loop integrator.
8 Enabled current loop integrator (Recommended
setting).
For example: n = 10 using a 24VDC bus implies n1=2 and n2=8. This setting is appropriate for a motor with inductance between 1 and 2.3mH.
AMP-43540(160V) / -D3540(160V))
n is the sum of 2 integers n1 and n2 which are added together to create the desired AU setting. See the table below.
Argument Value (160VDC Bus) Current loop setting Notes
n1 0 Minimum Current Loop Gain
1 For inductance < 16.4 mH Default.
2 For inductance > 16.4 mH and < 25.2 mH
3 For inductance > 25.2 mH and < 42 mH
4 For inductance > 42 mH
n
Galil Motion Control AU 85/326
 n2 0 Disabled current loop integrator.
8 Enabled current loop integrator (Recommended setting).
For example: n = 10 using a 24VDC bus implies n1=2 and n2=8. This setting is appropriate for a motor with inductance between 16.4 and 25.2mH.
AMP-43740 / -D3740
n is the sum of 2 integers n1 and n2 which are added together to create the desired AU setting. See the table below.
Argument Value (24VDC Bus) Current loop (48VDC Bus) Current loop Notes
setting setting
n1 0 Minimum Current Loop Gain Minimum Current Loop Gain
1 For inductance < 1mH For inductance < 2.4mH Default.
2 For inductance > 1mH and < For inductance > 2.4mH and <
2.3mH 4.2mH
3 For inductance > 2.3mH and < For inductance > 4.2mH and <
4.2mH 7mH
4 For inductance > 4.2mH For inductance >7mH
n2 0 Disabled current loop integrator.
8 Enabled current loop integrator (Recommended
setting).
For example: n = 10 using a 24VDC bus implies n1=2 and n2=8. This setting is appropriate for a motor with inductance between 1 and 2.3mH.
Remarks
The AU settings for Galil sinusoidal amplifiers are only recommended values for the given bus voltages. For other bus voltages and their recommended
settings, contact Galil.

Examples
'Galil DMC Code Example
'Example setting for Galil trapezoidal amplifier
:AU1,0;' Sets A-axis to higher loop gain and B-axis to normal loop gain
:AUB = ? ;' Query B-axis current loop gain
0
:MG_AUA ;' Query A axis current loop gain
1​

'Galil DMC Code Example

'Example setting for Galil sinusoidal amplifier
'inductance = 2.6mH
:AU11;' Sets A-axis for motor inductance 2.6mH at 24V, current loop enabled
:MG_AUA ;' Query A axis current loop gain
11

AU applies to DMC500x0,DMC40x0,DMC41x3,DMC30010,DMC21x3,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control AU 86/326

 VECTOR/LINEAR, TRIPPOINT
AV After Vector Distance

AV n0,n1
Usage AV n ... Arguments specified with an implicit, comma-separated order
Operands _AVS Operand has special meaning, see Remarks
_AVT
Description
The AV command is used to hold up execution of the next command during coordinated moves such as VP,CR or LI. This trippoint occurs when the path
distance of a sequence reaches the specified value. The distance is measured from the start of a coordinated move sequence or from the last AV
command.
Arguments
Argument Min Max Default Resolution Description Notes
n0 0 2,147,483,647 0 1 Vector distance to be executed in the S coordinate system
n1 0 2,147,483,647 0 1 Vector distance to be executed in the T coordinate system
Remarks
The units of the command are quadrature counts.
_AVS contains the vector distance from the start of the sequence in the S coordinate system
_AVT contains the vector distance from the start of the sequence in the T coordinate system.

Examples
'Galil DMC Code Example
#MOVE;' Label to desginate start of program
DP 0,0;' Define the A and B axis positions as 0
CAT ;' Specify the T coordinate system
LMAB ;' Linear move for A,B
LI 1000,2000;' Specify distance
LI 2000,3000;' Specify distance
LE
BGT ;' Begin motion in the T coordinate system
AV ,500;' After path distance = 500,
TPAB ;' Print position of A and B axes
EN;' End Program
'Vector Distance is calculated as the square root of the sum of the
'squared distance for each axis in the linear or vector mode.​

AV applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control AV 87/326

 SINE COMMUTATION
BA Brushless Axis

BA mm
Usage BA mm Argument is an axis mask
Operands _BAm Operand has special meaning, see Remarks
Description
For axes equipped with a Galil sinusoidal amplifier, BA is used to configure the axis for sinusoidal commutation. In addition to BA, the BM command as well
as either BX, BZ or BI/BC, must be used to initialize the axis for sinusoidal commutation.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH N/A Multi-Axis Mask Axes to configure for sinusoidal commutation.
N N N/A Multi-Axis Mask Disable sine commutation for all axes.
Remarks
_BAm will contain a 1 if the BA command has been issued for the speciifed axis, or a 0 if it has not.
There are several methods to initialize Galil's internal amplifiers for sinusoidal commutation. They are listed below:
Initialization of a Galil Sinusoidal Amplifier
Command Description Notes
BI/BC Uses hall sensors to estimate the commutation angle until a hall transition This is the recommended method if hall sensors are present.
can be used to set the commutation angle precisely.
BZ Commands the axis to a specific commutation angle. This is the recommended method if hall sensors are not
present.
BX Uses an algorithm to determine the commutation angle with minimal Should only be used if minimal motion is required during
motion. intialization and no hall sensors are present.
Examples
'Galil DMC Code Example
REM Example BZ initialization procedure
BA A ;' Designate sinusoidal commutation
BM 2000;' Length of electrical cycle in counts--required setting for commutation
BZ <1000>1500;' Set the first BZ time to 1500 msec, and second B time to 1000 msec.
BZ 3;' Commutate motor using 3 V and timeout after 1000 msec
SH A ;' Enable motor, ready for commands
EN

'Galil DMC Code Example

REM Example BI/BC initialization procedure
BAA ;' Configure the A Axis for sinusoidal commutation.
BMA = 2000
BIA = -1;' Set estimated commutation based on current hall state
BCA ;' enable brushless calibration
hall= _QHA ;' store hall state
SHA ;' enable amplifier
JGA = 500;' slow jog so that the commutation angle is set precisely at
' the next hall transition.
BGA ;' begin jog
#hall;WT2;JP#hall,_QHA =hall;' wait for a hall transition
' At this point, a precise commutation angle is set
' and the axis is fully configured for sinusoidal commutation
STA
AMA
EN

BA applies to DMC500x0,DMC40x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control BA 88/326

 SINE COMMUTATION
BB Brushless Phase Begins

BBm= n
BB n,n,n,n,n,n,n,n
Usage BBm= n Arguments specified with a single axis mask and an assignment (=)
BB n ... Arguments specified with an implicit, comma-separated order
Operands _BBm Operand holds the value last set by the command
Description
The BB command is used along with the BI/BC initialization method to correct for misalignment of the hall sensors with respect to the motor's magnetic
cycle. In the majority of applications, this command is not necessary. The value specified by BB will be added to the commutation angle determined by
the first hall transition point following the BI and BC commands.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value.
n -359.98 359.98 0 1/32 Commutation angle offset in degrees.
Remarks
None

Examples
'Galil DMC Code Example
REM Example BI/BC initialization procedure
BAA ;' Configure the A Axis for sinusoidal commutation.
BMA = 2000
BIA = -1;' Set estimated commutation based on current hall state
BB= 7;' Account for a 7 degree offset between the halls and motor phases.
BCA ;' enable brushless calibration
hall= _QHA ;' store hall state
SHA ;' enable amplifier
JGA = 500;' slow jog so that the commutation angle is set precisely at
' the next hall transition.
BGA ;' begin jog
#hall;WT2;JP#hall,_QHA =hall;' wait for a hall transition
' At this point, a precise commutation angle is set
' and the axis is fully configured for sinusoidal commutation
STA
AMA
EN
EN

BB applies to DMC500x0,DMC40x0,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control BB 89/326

 SINE COMMUTATION
BC Brushless Calibration

BC mm
Usage BC mm Argument is an axis mask
Operands _BCm Operand has special meaning, see Remarks
Description
The BC command is used along with the BI command to initialize an axis for sinusoidal commutation using hall sensors. BC monitors the status of the hall
sensors, and precisely sets the commutation angle upon detecting a hall sensor transition. In addition to BI and BC, the BA and BM commands must be
used to initialize the axis for sinusoidal commutation.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH ABCDEFGH Multi-Axis Mask Axes to initialize using hall sensors.
Remarks
GDK's Step-By-Step tool can be utilized for automatic setup and configuration of brushless motor with Galil internal sinusoidal amplifiers.
When performing the BI/BC initialization method, the axis should be moved at a low speed until the first hall transition occurs. This ensures the
commutation angle is accurately set.
BI/BC initialization is valid with Galil internal sinusoidal amplifiers.
There are several methods to initialize Galil's internal amplifiers for sinusoidal commutation. They are listed below:
Initialization of a Galil Sinusoidal Amplifier
Command Description Notes
BI/BC Uses hall sensors to estimate the commutation angle until a hall transition This is the recommended method if hall sensors are present.
can be used to set the commutation angle precisely.
BZ Commands the axis to a specific commutation angle. This is the recommended method if hall sensors are not
present.
BX Uses an algorithm to determine the commutation angle with minimal Should only be used if minimal motion is required during
motion. intialization and no hall sensors are present.
Steps for BI/BC sinusoidal initialization
1. Specify the axis/axes for sinusoidal initialization with the BA command.
2. Specify the number of encoder counts per magnetic cycle of the motor with the BM command.
3. Issue BI to set an approximate commutation angle based on the current hall state.
4. Issue the BC command.
5. Enable the axis and issue a low speed jog until a hall transition occurs.
6. The motor is now fully initialized for sinusoidal commutation.
Operand Usage
_BCm contains the state of the Hall sensor inputs. This value should be between 1 and 6. 0 and 7 are invalid hall states.

Examples
'Galil DMC Code Example
REM Example BI/BC initialization procedure
BAA ;' Configure the A Axis for sinusoidal commutation.
BMA = 2000
BIA = -1;' Set estimated commutation based on current hall state
BCA ;' enable brushless calibration
hall= _QHA ;' store hall state
SHA ;' enable amplifier
JGA = 500;' slow jog so that the commutation angle is set precisely at
' the next hall transition.
BGA ;' begin jog
#hall;WT2;JP#hall,_QHA =hall;' wait for a hall transition
' At this point, a precise commutation angle is set
' and the axis is fully configured for sinusoidal commutation
STA
AMA
EN
EN

BC applies to DMC500x0,DMC40x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control BC 90/326

 SINE COMMUTATION
BD Brushless Degrees

BDm= n
BD n,n,n,n,n,n,n,n
Usage BDm= n Arguments specified with a single axis mask and an assignment (=)
BD n ... Arguments specified with an implicit, comma-separated order
Operands _BDm Operand has special meaning, see Remarks
Description
The BD command sets the commutation angle of a sinusoidally commutated axis. This command should not be used except when the user is creating a
specialized sinusoidal initialization procedure. The commutation angle is set automatically when using Galil's built-in sinusoidal initialization methods - BX, BZ
and BI/BC.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 360 6 1/32 Commutation angle in degrees
Remarks
Using BD to set a commutation angle overrides the current value set by the BX, BZ, or BI/BC initialization methods.
Once initialized, BD is updated by the controller automatically based on the encoder position and the value of the brushless modulus, BM.
n = ? queries the current commutation angle
_BDm contains the commutation angle of the specified axis.

Examples
'Galil DMC Code Example
BDA = 100;' Set the commutation angle for A axis to 100
MG_BDA ;' Report the commutation angle for A axis​

BD applies to DMC500x0,DMC40x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control BD 91/326

 INDEPENDENT MOTION
BG Begin

BG mm
Usage BG mm Argument is an axis mask
Operands _BGm Operand has special meaning, see Remarks
Description
The BG command starts a motion on the specified axis or sequence.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH ABCDEFGH Multi-Axis Axes to begin motion Any combination of axes is acceptable. BG with no
Mask arguments begins motion on all axes
S T N/A Multi-Axis Vector plane axes to Any combination of axes is acceptable
Mask begin motion
M N N/A Multi-Axis Virtual axis to begin Any combination of axes is acceptable
Mask motion
Remarks
Any combination of Axes, Vector Planes, and Virtual Axes may be mixed to begin motion.
A BG command cannot be executed for any axis in which motion has not completed.
Slaving to a master in gearing mode is an exception. Gearing does not require the axis to profile a motion and therefore Independent moves
may be superimposed on top of gearing.
Use the AM trippoint to wait for motion complete between moves from embedded code.
From host code, use one of the following methods to determine if motion is complete:
Poll MG_BGm.
Use the data record (DR/QR).
Use interrupts (EI), if available.
Operands
_BGm contains a '0' if motion complete on the specified axis or coordinate system, otherwise contains a '1'
_BGm can be used from host programs to determine if motion is complete by polling the axes of interest

Examples
'Galil DMC Code Example
PR 2000,3000,,5000;' Set up for a relative move
BG ;' Start the A,B and D motors moving​

'Galil DMC Code Example

HM ;' Set up for the homing
BG A ;' Start only the A-axis moving​

'Galil DMC Code Example

JG 1000,4000;' Set up for jog
BG B ;' Start only the B-axis moving​

'Galil DMC Code Example

bstate= _BGB ;' Assign a 1 to bstate if the B-axis is performing a move​

'Galil DMC Code Example

VM AB ;' Vector Mode
VP 1000,2000;' Specify vector position
VS 20000;' Specify vector velocity
BG S ;' Begin coordinated sequence
VP 4000,-1000;' Specify vector position
VE;' Vector End​

BG applies to DMC40x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,DMC42x0,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control BG 92/326

 SINE COMMUTATION
BI Brushless Inputs

BIm= n
BI n,n,n,n,n,n,n,n
Usage BIm= n Arguments specified with a single axis mask and an assignment (=)
BI n ... Arguments specified with an implicit, comma-separated order
Operands _BIm Operand holds the value last set by the command
Description
The BI command is used along with the BC command to initialize an axis for sinusoidal commutation using hall sensors. When this command is issued, BI
sets an approximate commutation angle based on the current hall state. In addition to BI and BC, the BA and BM commands must be used to initialize the
axis for sinusoidal commutation.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to initialize using hall
sensors.
n -1 0 0 1 n = -1 uses dedicated hall inputs. n = 0 clears
configuration.
Remarks
GDK's Step-By-Step tool can be utilized for automatic setup and configuration of brushless motor with Galil internal sinusoidal amplifiers.
There are several methods to initialize Galil's internal amplifiers for sinusoidal commutation. They are listed below:
Initialization of a Galil Sinusoidal Amplifier
Command Description Notes
BI/BC Uses hall sensors to estimate the commutation angle until a hall transition This is the recommended method if hall sensors are present.
can be used to set the commutation angle precisely.
BX Uses an algorithm to determine the commutation angle with minimal Should only be used if minimal motion is required during
motion. intialization and no hall sensors are present.
BZ Commands the axis to a specific commutation angle. This is the recommended method if hall sensors are not
present.
Steps for BI/BC sinusoidal initialization
1. Specify the axis/axes for sinusoidal initialization with the BA command.
2. Specify the number of encoder counts per magnetic cycle of the motor with the BM command.
3. Issue BI to set an approximate commutation angle based on the current hall state.
4. Issue the BC command.
5. Enable the axis and issue a low speed jog until a hall transition occurs.
6. The motor is now fully initialized for sinusoidal commutation.

Examples
'Galil DMC Code Example
REM Example BI/BC initialization procedure
REM Example BI/BC initialization procedure
BAA ;' Configure the A Axis for sinusoidal commutation.
BMA = 2000
BIA = -1;' Set estimated commutation based on current hall state
BCA ;' enable brushless calibration
hall= _QHA ;' store hall state
SHA ;' enable amplifier
JGA = 500;' slow jog so that the commutation angle is set precisely at
' the next hall transition.
BGA ;' begin jog
#hall;WT2;JP#hall,_QHA =hall;' wait for a hall transition
' At this point, a precise commutation angle is set
' and the axis is fully configured for sinusoidal commutation
STA
AMA
EN

BI applies to DMC500x0,DMC40x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control BI 93/326

 PROGRAMMING
BK Breakpoint

BK n0,n1
Usage BK n ... Arguments specified with an implicit, comma-separated order
Operands _BK Operand has special meaning, see Remarks
Description
The BK command causes the controller to pause execution of the given thread at the given program line number. When that line is reached, program
execution halts before the line is executed, while all other threads continue running. After a breakpoint is encountered, a new breakpoint can be armed (to
continue execution to the new breakpoint) or BK will resume program execution. The SL command can be used to single step from the breakpoint.
Arguments
Argument Min Max Default Resolution Description Notes
n0 0 3,999 N/A 1 Line number to set Firmware Rev 1.2a and later. n = null resumes
breakpoint execution
n0 0 1,999 N/A 1 Line number to set n = null resumes execution
breakpoint
n1 0 7 0 1 Thread number to set If n omitted, default value used.
breakpoint
Remarks
Only one breakpoint may be armed at any time.
BK can be armed before or during thread execution.
Operand Usage
_BK will tell whether a breakpoint has been armed, whether it has been encountered, and the program line number of the breakpoint:
= -LineNumber: breakpoint armed
= LineNumber: breakpoint encountered
= -2147483648: breakpoint not armed

Examples
'Galil DMC Code Example
:BK 3;' Pause at line 3 (the 4th line) in thread 0
:BK 5;' Continue to line 5
:SL;' Execute the next line
:SL 3;' Execute the next 3 lines
:BK;' Resume normal execution​

BK applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control BK 94/326

 ERROR CONTROL
BL Reverse Software Limit

BLm= n
BL n,n,n,n,n,n,n,n
Usage BLm= n Arguments specified with a single axis mask and an assignment (=)
BL n ... Arguments specified with an implicit, comma-separated order
Operands _BLm Operand holds the value last set by the command
Description
The BL command sets the reverse software limit. If this limit is exceeded during motion, motion on that axis will decelerate to a stop. Reverse motion
beyond this limit is not permitted.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n -2,147,483,648 2,147,483,647 -2,147,483,648 1 Position for reverse soft limit
Remarks
The reverse limit is activated at the position n-1. n = -2147483648 effectively disables the reverse soft limit
The software limit is specified in counts for a servo system or in microsteps for a stepper system.
When the reverse software limit is activated, the automatic subroutine #LIMSWI will be executed if it is included in the program.
If motion is commanded when the axis is already passed the BL value, the controller will return error code 22. See TC for details.

Examples
'Galil DMC Code Example
#TEST;' Test Program
AC 1000000;' Acceleration Rate
DC 1000000;' Deceleration Rate
BL -15000;' Set Reverse Limit
JG -5000;' Jog Reverse
BGA ;' Begin Motion
AMA ;' After Motion (limit occurred)
TPA ;' Tell Position
EN;' End Program
'
'Galil Controllers also provide hardware limits.​

BL applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control BL 95/326

 SINE COMMUTATION
BM Brushless Modulo

BMm= n
BM n,n,n,n,n,n,n,n
Usage BMm= n Arguments specified with a single axis mask and an assignment (=)
BM n ... Arguments specified with an implicit, comma-separated order
Operands _BMm Operand holds the value last set by the command
Description
The BM command defines the length of the motors magnetic cycle in encoder counts. This value must be specified correctly for sinusidal commutation. In
addition to BM, the BA command as well as either BX, BZ or BI/BC, must be used to initialize the axis for sinusoidal commutation.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value.
n 1 10,000,000 2,000 1/65,536 Encoder counts per magnetic cycle.
Remarks
For rotary motors, the magnectic cycle (BM value) is calculated by:
BM = encoder counts per revolution / # of pole pairs

Examples
'Galil DMC Code Example
REM Example BZ initialization procedure
BA A ;' Designate sinusoidal commutation
BM 2000;' Length of electrical cycle in counts--required setting for commutation
BZ <1000>1500;' Set the first BZ time to 1500 msec, and second B time to 1000 msec.
BZ 3;' Commutate motor using 3 V and timeout after 1000 msec
SH A ;' Enable motor, ready for commands
EN

'Galil DMC Code Example

REM Example BI/BC initialization procedure
BAA ;' Configure the A Axis for sinusoidal commutation.
BMA = 2000
BIA = -1;' Set estimated commutation based on current hall state
BCA ;' enable brushless calibration
hall= _QHA ;' store hall state
SHA ;' enable amplifier
JGA = 500;' slow jog so that the commutation angle is set precisely at
' the next hall transition.
BGA ;' begin jog
#hall;WT2;JP#hall,_QHA =hall;' wait for a hall transition
' At this point, a precise commutation angle is set
' and the axis is fully configured for sinusoidal commutation
STA
AMA
EN

BM applies to DMC500x0,DMC40x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control BM 96/326

 SYSTEM CONFIG
BN Burn

BN
Usage BN Command takes no arguments
Operands _BN Operand has special meaning, see Remarks
Description
The BN command saves certain board parameters in non-volatile EEPROM memory. Once written to the memory, all parameters which can be burned will
persist through a software reset (RS command), hardware reset (reset button) or power cycle. This command typically takes 1 second to execute and
must not be interrupted. The controller returns a colon (:) when the Burn is complete. All parameters which have been burned into memory can be
restored to their factory defaults through a master reset.
This command reference will denote comands that can and cannot be burned with BN with the following usage icons.

Burnable with BN icon

Not burnable with BN icon

Arguments
The BN command has no arguments
Remarks
Issuing this command will pause the output of the Data Record until the command is completed.
The following table shows the commands that have their parameters saved with the BN command:
Parameters saved during burn
AC BR EO IK MO OT TM
AF BW ER IL MT OV TR
AG CB FA IT MU PF VA
AQ CE FL KD NB PL VD
BA CN FV KI NF PW VF
BB CO GA KP NZ SB VS
BI CW GM KS OA SM YA
BL DC GR LC OE SP YB
BM DH HV LD OF TK YC
BO DV IA LZ OP TL
Operand Usage
_BN contains the serial number of the processor board.

Examples
'Galil DMC Code Example
SB1;' Set bit 1
CB2;' Clear bit 2
CW1;' Set data adjustment bit
BN;' Burn all parameter states​

BN applies to
DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2,RIO574x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control BN 97/326

 SYSTEM CONFIG
BP Burn Program

BP
Usage BP Command takes no arguments
Description
The BP command saves the application program in non-volatile EEPROM memory. This command may take several seconds to execute and must not be
interrupted. The controller returns a : when the Burn is complete.
Arguments
The BP command has no arguments
Remarks
Issuing this command will pause the output of the Data Record until the command is completed.
Legacy Software Note: This command may cause the Galil software to issue the following warning "A time-out occurred while waiting for a response
from the controller". This warning is normal and is designed to warn the user when the controller does not respond to a command within the timeout
period.
The timeout can be changed in the Galil software but this warning does not affect the operation of the controller or software.

Examples
'Galil DMC Code Example
:BP;' Burn in program to controller
:' Get colon response when done​

BP applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control BP 98/326

 SYSTEM CONFIG
BR Brush Axis

BRm= n
BR n,n,n,n,n,n,n,n,n
Usage BRm= n Arguments specified with a single axis mask and an assignment (=)
BR n ... Arguments specified with an implicit, comma-separated order
Operands _BRm Operand holds the value last set by the command
Description
The BR command configures the motor configuration and type for an axis.
The BR command is used with internal Galil amplifiers to enable which axes will be set as brush-type servos or to configure the firmware to use external
drives instead of the internal channel.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
Argument Value Description Notes
n -1 Configured for external drive Use for external drives with internal sine amps -D3640, -D3540 and -D3520
0 Configured for Brushless servo Default
1 Configured for Brush-type servo Use for axes with external drives on -D3040 and -D3020 to avoid hall errors
Remarks
If an axis has Off-On-Error(OE) set to 1, an amplifier error will occur on an axis if there are no halls and BR is set to 0. Set BR to 1 to avoid an amplifier
error state.
The hall error bits cannot cause #AMPERR events if an axis is configured as brush-type.
On axes with an internal amplifier present, when BR1 is set the hall inputs are available for general use via the QH command. For example, a 2 axis
amplifier such as the D3020 would allows axes A and B's hall inputs to be used for general use if BR 1 is set.
Note: If the controller has been previously configured with the BA command for sinusoidal commutation with a Galil internal amplifier, the command
"BA N" must be issued prior to setting the axis to brushed mode.

Examples
'Galil DMC Code Example
BR 1,0,0;' Sets X-axis to brush-type, Y and Z to brushless​

'Galil DMC Code Example

BR 1;' Set to brush type, ignore hall errors
BR -1;' Set to external amp​

BR applies to DMC500x0,DMC40x0,DMC41x3,DMC30010,DMC21x3,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control BR 99/326

 PVT MODE
BT Begin PVT Motion

BT mm
Usage BT mm Argument is an axis mask
Operands _BTm Operand has special meaning, see Remarks
Description
The BT command begins PVT motion on the specified axes. All axes specified will begin at the same time. For more details on PVT mode see the user
manual.
Arguments
Min Max Default Resolution Description Notes
A ABCDEFGH ABCDEFGH Multi-Axis Mask Axes to begin PVT motion
Remarks
For more details on PVT mode see the user manual.
_BTm contains the number of PV segments that have executed.

Examples
'Galil DMC Code Example
:MG _BTA ;' Query number of PVT segments executed
0.0000
:PVA = 100,200,100;' Command X axis to move 100 counts reaching an ending speed of 200c/s in 100 samples
:PVA = 100,0,100;' Command X axis to move another 100 counts reaching an ending speed of 0c/s in 100 samples
:PVA = ,,0;' Command X axis to exit PVT mode
:BT A ;' Begin PVT mode
:MG _BTA ;' Query number of PVT segments executed
3.0000

BT applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control BT 100/326

 SYSTEM CONFIG
BV Burn Variables and Array

BV
Usage BV Command takes no arguments
Operands _BV Operand has special meaning, see Remarks
Description
The BV command saves the controller variables and arrays in non-volatile EEPROM memory. This command typically takes up to 2 seconds to execute
and must not be interrupted. The controller returns a : when the Burn is complete.
Arguments
The BV command has no arguments
Remarks
_BV returns the number of controller axes.
This command will store the ECAM table values in non-volatile EEPROM memory.
This command may cause the Galil software to timeout. This warning is normal and is designed to warn the user when the controller does not respond
to a command within the timeout period. This occurs because this command takes more time than the default timeout period. The timeout can be
changed in the Galil software. This warning does not affect the operation of the board or software.
Issuing this command will pause the output of the Data Record until the command is completed.

Examples
'Galil DMC Code Example
:BV;' burn in variables
:' colon response returned​

BV applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control BV 101/326

 SYSTEM CONFIG
BW Brake Wait

BWm= n
BW n,n,n,n,n,n,n,n
Usage BWm= n Arguments specified with a single axis mask and an assignment (=)
BW n ... Arguments specified with an implicit, comma-separated order
Operands _BWm Operand holds the value last set by the command
Description
The BW command sets the delay between when the brake is turned on and when the amp is turned off. When the controller goes into a motor-off (MO)
state, this is the time (in samples) between when the brake digital output changes state and when the amp enable digital output changes state. The brake
is actuated immediately upon MO and the delay is to account for the time it takes for the brake to engage mechanically once it is energized electrically. The
brake is released immediately upon SH.
Brake Wait Timing

Brake Wait Timing Diagram

Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 4,096 0 1 Specify brake wait time, in samples. 0 = Turn brake function off
Remarks
The Brake Wait does not apply when the motor is shut off due to OE1 (Off on Error). In this case (position error exceeded or Abort triggered) the
motor off and brake output will be applied simultaneously.
SB,CB and OP have no effect on outputs mapped to BW. In order to toggle brake outputs without engaging the servo (e.g. for maintenance), set
BWm=0 and then use SB and CB as necessary.
The state of the output configured as a brake cannot be querried with the @OUT[] command.
Outputs 1-8 are used for Axes A-H, where output 1 is the brake for axis A and output 2 is the brake for axis B and so on.

Examples
'Galil DMC Code Example
BW 100;' Set brake delay to 100 ms (TM1000) for the A axis​

BW applies to DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control BW 102/326

 SINE COMMUTATION
BX Sine Amp Initialization

BXm= n
BX n,n,n,n,n,n,n,n
BX< o
Usage BXm= n Arguments specified with a single axis mask and an assignment (=)
BX n ... Arguments specified with an implicit, comma-separated order
Operands _BXm Operand has special meaning, see Remarks
Description
The BX command uses a method to initialize an axis with limited movement of the motor. It is expected to move no more than 10 degrees of the
magnetic cycle. The last stage of the BX command will lock the motor into the nearest 15 degree increment. In addition to BX , the BA and BM commands
must be used to initialize the axis for sinusoidal commutation.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to initialize
n -4.998 4.998 0 20/65,536 Torque command voltage to be applied -n = end BX with SH. +n = end
during initialization BX with MO
o 100 5,000 1,000 1 Number of samples for BX to hold final torque See Remarks
pulse.
Calculating the 'n' parameter
Use equation below to determine the maximum n parameter where Im (in Amps) is the continuous current rating of the motor and G is the current
gain of the amplifier (in Amps/Volt).
A conservative starting point for the BX command is 0.5* n max but may be increased up to n max as needed.

Equation for maximum 'n' value

Remarks
GDK's Step-By-Step tool can be utilized for automatic setup and configuration of brushless motor with Galil internal sinusoidal amplifiers.
_BXm contains 0 if axis m is not a sinusoidal axis, contains 1 if axis m is an uninitialized sinusoidal axis, and contains 3 if axis m is an initialized sinusoidal
axis
The BX command may be given while the motor is off.
While the BX command is executing, DMC code, data records, and communication from the controller will pause until completion.
BX initialization is only valid with Galil internal sinusoidal amplifiers.
There are several methods to initialize Galil's internal amplifiers for sinusoidal commutation. They are listed below:
Initialization of a Galil Sinusoidal Amplifier
Command Description Notes
BI/BC Uses hall sensors to estimate the commutation angle until a hall transition This is the recommended method if hall sensors are present.
can be used to set the commutation angle precisely.
BZ Commands the axis to a specific commutation angle. This is the recommended method if hall sensors are not
present.
BX Uses an algorithm to determine the commutation angle with minimal Should only be used if minimal motion is required during
motion. intialization and no hall sensors are present.
BX Initialization Steps
1. Specify the axis/axes for sinusoidal initialization with the BA command.
2. Specify the number of encoder counts per magnetic cycle of the motor with the BM command.
3. Set the desired hold time BX<o.
4. Initialize using BX command with n <= n max .
5. The motor is now fully initialized for sinusoidal commutation.

Examples
'Galil DMC Code Example
REM Initialize A axis for internal sine commutation.
BA A ;' Configure axis A for sine amp
BMA = 2000;' Length of electrical cycle in counts
BX <1000;' Set hold time to 1000 ms
BXA = 3;' Initialize the motor with 3V torque command.
SH A ;' Enable motor, ready for commands
EN

Galil Motion Control BX 103/326

 BX applies to DMC500x0,DMC40x0,DMC41x3,DMC30010,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control BX 104/326

 SINE COMMUTATION
BZ Brushless Zero

BZm= n
BZ n,n,n,n,n,n,n,n
BZ <o>p
Usage BZm= n Arguments specified with a single axis mask and an assignment (=)
BZ n ... Arguments specified with an implicit, comma-separated order
Operands _BZm Operand has special meaning, see Remarks
Description
The BZ command is used to initialize axes which are configured for sinusoidal commutation. To do this, BZ drives the motor to two different magnetic
positions and then sets an appropriate commutation angle. In addition to BZ , the BA and BM commands must be used to initialize the axis for sinusoidal
commutation.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to initialize.
n -4.998 4.998 0 20/65,536 Torque command voltage to be applied during -n = end BZ with SH. +n = end
initialization. BZ with MO.
o 100 32,767 200 1 Time in milliseconds for BZ to hold at second See Remarks.
magnetic position.
p 100 32,767 100 1 Time in milliseconds for BZ to hold at first See Remarks.
magnetic position.
Remarks
GDK's Step-By-Step tool can be utilized for automatic setup and configuration of brushless motor with Galil internal sinusoidal amplifiers.
The BZ hold times should be lengthened to ensure that any oscillations introduced by the BZ command fully settle in order to accurately set the
commutation angle.
The o and p parameters can be interrogated with BZ <? and BZ >? respectively.
The BZ command may be given when the motor is off.
_BZm contains the un-signed distance in encoder counts from the motor's current position to the position of magnetic zero for the specified axis.
The value is only vaild after succesfully initializing with BZ.
While the BZ command is executing, DMC code, data records, and communication from the controller will pause until completion.
Use equation below to determine the maximum n paramete where Im (in Amps) is the continuous current rating of the motor and G is the current
gain of the amplifier (in Amps/Volt).
A conservative starting point for the BX command is 0.5* n max but may be increased up to n max as needed.

Equation for maximum 'n' value

BZ initialization is only valid with Galil internal sinusoidal amplifiers.

There are several methods to initialize Galil's internal amplifiers for sinusoidal commutation. They are listed below:
Initialization of a Galil Sinusoidal Amplifier
Command Description Notes
BI/BC Uses hall sensors to estimate the commutation angle until a hall transition This is the recommended method if hall sensors are present.
can be used to set the commutation angle precisely.
BZ Commands the axis to a specific commutation angle. This is the recommended method if hall sensors are not
present.
BX Uses an algorithm to determine the commutation angle with minimal Should only be used if minimal motion is required during
motion. intialization and no hall sensors are present.
BZ Initialization Steps
1. Specify the axis/axes for sinusoidal initialization with the BA command.
2. Specify the number of encoder counts per magnetic cycle of the motor with the BM command.
3. Set the desired hold times BZ<o>p.
4. Initialize using BZ command with n <= n max .
5. The motor is now fully initialized for sinusoidal commutation.

Examples
'Galil DMC Code Example
REM Initialize A axis for internal sine commutation.
BA A ;' Configure axis A for sine amp
BMA = 2000;' Length of electrical cycle in counts
BZ <1000>1500;' Set the first BZ time to 1500 msec, and second B time to 1000 msec.
BZA = 3;' Initialize the motor with 3V motor command.
SH A ;' Enable motor, ready for commands
Galil Motion Control BZ 105/326
 SH A ;' Enable motor, ready for commands
EN

BZ applies to DMC500x0,DMC40x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control BZ 106/326

 VECTOR/LINEAR
CA Coordinate Axes

CA m
Usage CA mm Argument is an axis mask
Operands _CAm Operand has special meaning, see Remarks
Description
The CA command specifies the coordinate system (S or T) which will be used by proceeding vector commands. The following commands apply to the
active coordinate system as set by the CA command:
CR ES LE LI LM
TN VE VM VP
Arguments
Argument Min Max Default Resolution Description Notes
m S T S Axis Coordinate plane to specify
Remarks
CA ? returns a 0 if the S coordinate system is active and a 1 if the T coordinate system is active.
_CA contains a 0 if the S coordinate system is active and a 1 if the T coordinate system is active.

Examples
'Galil DMC Code Example
CAT ;' Specify T coordinate system
VMAB ;' Specify vector motion in the A and B plane
VST = 10000;' Specify vector speed
CR 1000,0,360;' Generate circle with radius of 1000 counts, start at 0 degrees and complete one circle in counterclockwise direction.
VE;' End Sequence
BGT ;' Start motion of T coordinate system​

CA applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC500x0,DMC52xx0
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control CA 107/326

 IO
CB Clear Bit

CB n
Usage CB n ... Arguments specified with an implicit, comma-separated order
Description
The CB command clears a particular digital output. The SB and CB (Clear Bit) instructions can be used to control the state of output lines.
Arguments
Argument Min Max Default Resolution Description Notes
n 1 16 N/A 1 General output bit to be cleared Max value is 8 for 1-4 axis controllers
n 17 48 N/A 1 Extended I/O output bit to be I/O must be configured for outputs, see CO
cleared command
n 1,000 8,999 N/A 1 Clear Modbus slave bit See "CB via Modbus Slave" in Remarks
Remarks
The state of the output can be read with the @OUT[] command
Extended I/O points are updated once per sample. After issuing this command, one sample must pass before the output is updated.
Using CB with a Modbus Slave
n = (SlaveAddress*10000) + (HandleNum*1000) + ((Module-1)*4) + (Bitnum-1)
Slave Address is used when the ModBus device has slave devices connected to it and specified as Addresses 0 to 255. Please note that the use
of slave devices for modbus are very rare and this number will usually be 0.
HandleNum is the handle specifier where A is 1, B is 2 and so on.
Module is the position of the module in the rack from 1 to 16.
BitNum is the I/O point in the module from 1 to 4

Examples
'Galil DMC Code Example
#main
SB 5;' Set digital output 5
SB 1;' Set digital output 1
CB 5;' Clear digital output 5
CB 1;' Clear digital output 1
EN

'Galil DMC Code Example

#modbus
REM connect to modbus slave at IP address 192.168.42.50
IHH = 192,168,42,50<502>2
WT100
SB 8001;'set bit 1 on modbus slave
WT 10
CB 8003;'clear bit 3 on modbus slave
EN

'Galil DMC Code Example

:SB 18;' Set digital output 18
:SB 21;' Set digital output 21
:CB 18;' Clear digital output 18
:CB 21;' Clear digital output 21​

For detailed information on connecting to a Modbus slave, see:

http://www.galil.com/news/dmc-programming-io-control/setting-rio-pocket-plc-or-generic-modbus-slave-extended-io

CB applies to
DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2,RIO574x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control CB 108/326

 SYSTEM CONFIG
CC Configure Communications Port 2

CC n0,n1,n2,n3
Usage CC n ... Arguments specified with an implicit, comma-separated order
Description
The CC command configures baud rate, handshake, mode, and echo for the AUX SERIAL PORT, referred to as Port 2. This command must be given
before using the MG, or CI commands with Port 2.
Arguments
Argument Min Max Default Resolution Description Notes
n0 9,600 115,200 N/A see Notes Baud rate 9600, 19200, 38400 and 115200 are valid baud rates
n1 0 1 N/A 1 Handshake setting n1=0 turns off handshaking. n1=1 turns handshaking on
n2 0 1 N/A 1 Enable aux serial port n2=0 disables port. n2=1 enables port
n3 0 1 N/A 1 Echo setting n3=0 for echo off. n3=1 for echo on
Remarks
The Aux port is not an interpreted port. It cannot receive Galil commands directly. Instead, use CI, #COMINT, and the P2 operands to handle received
data.

Examples
'Galil DMC Code Example
:CC 9600,0,1,0;' 9600 baud, no handshake, enable, echo off.
:' Typical setting with TERM-P or TERM-H.​

CC applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control CC 109/326

 CONTOUR MODE
CD Contour Distance

CDm= n
CD n,n,n,n,n,n,n,n=t
Usage CDm= n Arguments specified with a single axis mask and an assignment (=)
CD n ... Arguments specified with an implicit, comma-separated order
Description
The CD command specifies the incremental position on contour axes. This command is used only in the Contour Mode (CM). The incremental position will
be executed over the time period specified by the command DT (ranging from 2 to 256 servo updates)
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign
value
n -32,768 32,767 0 1 Contour position Incremental position move
segment
t 1 8 0 1 Time override t = 1-8 specifies 2^n samples for the given interval.
option
0 0 0 0 Time override t=0 with n=0 disables Contour mode. See Remarks
option
-1 -1 0 0 Time override Pauses contour buffer at the segment with t=-1. Reissue DT
option to re-engage contour mode.
Remarks
The units of the command are in encoder counts.
The = operator can be used to override the global DT time by transmitting the time in a CD with the position data.
n=t=0 terminates Contour mode similar to VE or LE for vector mode and linear interpolation mode.
Example. CMBC is terminated with CD 0,0=0.
The user must have a space after CD in order to terminate the Contour Mode correctly.
The command CD0=0 (no space) will assign a variable CD0 the value of 0 rather than terminate Contour mode.

Examples
'Galil DMC Code Example
#contour;' Program Label
CMAB ;' Enter Contour Mode
DT 4;' Set time interval
CD 1000,2000;' Specify data
CD 2000,4000;' Next data
CD 0,0=0;' End of Contour Buffer
#wait;' Wait for all segments to process (buffer to empty)
WT 16,1;' wait for 1 DT time segment (2^4)
JP#Wait,( _CM<>511)
EN;' End Program​

'Galil DMC Code Example

#contour;' Program Label
CMA ;' Enter Contour Mode
DT 4;' Set time interval
CD 1000;' Specify data
CD 2000;' Next data
CD 0=0;' End of Contour Buffer
#wait;' Wait for all segments to process (buffer to empty)
WT 16,1;' wait for 1 DT time segment (2^4)
JP#Wait,( _CM<>31)
EN;' End Program​

CD applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control CD 110/326

 SYSTEM CONFIG
CE Configure Encoder

CEm= n
CE n,n,n,n,n,n,n,n
Usage CEm= n Arguments specified with a single axis mask and an assignment (=)
CE n ... Arguments specified with an implicit, comma-separated order
Operands _CEm Operand holds the value last set by the command
Description
The CE command configures the encoder to quadrature type or pulse and direction type. It also allows inverting the polarity of the encoders which
reverses the direction of the feedback. The configuration applies independently to the main axes encoders and the auxiliary encoders.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign
value
Encoder n is the sum of 2 integers M and N which configure main and
n 0 15 0 1 configuration auxiliary encoders. See table below for configuration description.
setting
Configure Encoder Types. Add value from Column 1 and Column 2 to make n
Column 1 Main Encoder Type Column 2 Auxiliary Encoder Type
0 Normal quadrature 0 Normal quadrature
1 Normal pulse and direction 4 Normal pulse and direction
2 Reversed quadrature 8 Reversed quadrature
3 Reversed pulse and direction 12 Reversed pulse and direction
For example: n = 10 implies 2 + 8, thus both encoders are reversed quadrature.
Remarks
When using a servo motor, changing the CE type can cause the motor to run away.
When the MT command is configured for a stepper motor, the auxiliary encoder (used to count stepper pulses) will be forced to pulse and direction.
When using pulse and direction encoders, the pulse signal is connected to CHA and the direction signal is connected to CHB.

Examples
'Galil DMC Code Example
:CE 0, 3, 6, 2;' Configure encoders
:CE ? ,? ,? ,? ;' Interrogate configuration
0,3,6,2
:V = _CEB ;' Assign configuration to a variable
:V = ?
3

CE applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control CE 111/326

 SYSTEM CONFIG
CF Configure Unsolicited Messages Handle

CF m
Usage CF mm Argument is an axis mask
Operands _CF Operand has special meaning, see Remarks
Description
The CF command sets the port for unsolicited messages. The CF command directs the controller to send unsolicited responses to the Main or Aux Serial
Port (If equipped), or to an Ethernet handle. An unsolicited message is data generated by the controller which is not in response to a command sent by
the host.
Arguments
Argument Min Max Default Resolution Description Notes
m A H S Handle Ethernet Handle to assign as unsolicited See Remarks
message port
I I S Handle Set the port that sent the command as the Not valid in program
unsolicited message port
S T S Handle Set serial port as unsolicited message port m=S is Main serial port. m=T is
Aux Serial port
Remarks
Examples of application code commands that will generate unsolicited messages follow.
'Galil DMC Code Example
MG"Hello";' A message (MG)
TC1;' A command that returns a response
TP;' "
RPA ;' "
var= ? ;' A variable interogation
var= ;' "
thisIsAnError;' A dmc error will generate an error message​

Ethernet Handle as Unsolicited Message Port

When communicating over Ethernet, two Ethernet handles should be used:
1.) The first handle should be used for command-and-response traffic. This is the primary handle that the host uses to communicate to the
controller.
2.) The second handle should be used for unsolicited traffic. This is the primary handle that the controller uses to asynchronously communicate
to the host. Use CF to point unsolicited traffic to this handle.
It is NOT recommended to use one Ethernet handle for both command-and-response, and unsolicited messages.
Operand Usage
_CF contains the decimal value of the ASCII letter where unsolicited messages are currently routed.

Examples
'Galil DMC Code Example
:CFI ;' send unsolicited traffic to the terminal that sent the command​

'Galil DMC Code Example

'Demonstrates from GalilTools terminal that the
'main handle is seperate from the unsolicited handle
'Note the connection indicators IHA and IHB in the following:
'192.168.1.3, RIO47102 Rev 1.0c, 1480, IHA IHB
:TH
CONTROLLER IP ADDRESS 192,168,1,3 ETHERNET ADDRESS 00-50-4C-28-05-C8
IHA TCP PORT 23 TO IP ADDRESS 192,168,1,100 PORT 2420
IHB UDP PORT 60007 TO IP ADDRESS 192,168,1,100 PORT 2421
IHC AVAILABLE
IHD AVAILABLE
IHE AVAILABLE
:WH
IHA
:'Main handle is A
:MG_CF
66.0000
:'Unsolicited handle. 66 is ASCII for "B"

CF applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control CF 112/326

 SYSTEM CONFIG
CI Configure Communication Interrupt

CI n
Usage CI n ... Arguments specified with an implicit, comma-separated order
Description
The CI command configures program interrupts based on input of characters over the communication port.
The command configures a program interrupt based on characters received on communications port 2, the AUX serial port. An interrupt causes program
flow to jump to the #COMINT subroutine. If multiple program threads are used, the #COMINT subroutine runs in thread 0 and the remaining threads
continue to run without interruption. The characters received can be accessed via the operands P2CH, P2ST, P2NM, P2CD.
Arguments
Argument Value Description Notes
n -1 Clear interrupt data buffer
0 Do not interrupt Default
1 Interrupt on carriage return
2 Interrupt on any character
Remarks
For more, see Operator Data Entry Mode in the user manual.
It is the user's responsiblity to ensure the communication buffer is not filled when in this mode, otherwise the controller will report error code 5 "Input
Buffer Full". The buffer on the controller is cleared when either of the two following conditions are met:
A carriage return is recieved on the communication port.
CI -1 is called.

Examples
'Galil DMC Code Example
:CI 1;' Interrupt when the key is received on port 2
:CI 2;' Interrupt on a single character received on Port 2

CI applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control CI 113/326

 CONTOUR MODE
CM Contour Mode

CM mm
Usage CM mm Argument is an axis mask
Operands _CM Operand has special meaning, see Remarks
Description
Contour Mode is initiated by the instruction CM. This mode allows the generation of an arbitrary motion trajectory with any of the axes. The CD command
specifies the position interval between subsequent contour segments. The DT command specifies the time interval between subsequent contour
segments.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH N/A Multi-Axis Mask Axes to initialize to Contour mode Disabled by default
Remarks
CM? Returns the number of available contour seqments (0 means the buffer is full).
_CM contains the number of available contour segments (0 means the buffer is full).
Issuing the CM command will clear the contour buffer when contour mode is not running.

Examples
'Galil DMC Code Example
#cont0;' Define label #cont0
CM ABCD ;' Specify Contour Mode Axes ABCD
DT 4;' Specify time increment for contour (2^4 servo loops, 16ms at TM1000)
CD 200,350,-150,500;' Specify incremental positions on A,B,C and D axes
' A-axis moves 200 counts B-axis moves 350 counts C-
' axis moves -150 counts D-axis moves 500 counts
'
CD 100,200,300,400;' Next position data
CD 0,0,0,0=0;' Special syntax to terminate Contour mode
#Wait;JP#Wait,_CM<>511;' Spin on #Wait label until buffer is empty
' End of Contour Buffer/Sequence
EN;' End program
'
'
#cont1;' Define label #cont1
CM ABC ;' Specify Contour Mode
DT 8;' Specify time increment for contour (2^8 servo loops, 256ms at TM1000)
CD 100,100,100;' New position data
CD 100,100,100;' New position data
CD 0,0,0 =-1;' Pause contour buffer set DT to resume
CD 100,100,100;' New position data
CD 100,100,100;' New position data
CD 0,0,0,0=0;' Special syntax to terminate Contour mode
#wait2;JP#wait2,_CM<>511;'Spin on #wait2 label until buffer is empty
'End of Contour Buffer/Sequence
EN

CM applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control CM 114/326

 SYSTEM CONFIG, IO
CN Configure

CN n0,n1,n2,n3,n4
Usage CN n ... Arguments specified with an implicit, comma-separated order
_CN0
_CN1
Operands _CN2 Operand holds the value last set by the command
_CN3
_CN4
Description
The CN command configures the polarity of the limit switches, home switches, latch inputs, the selective abort function, and the program termination
behavior of the abort input.
Arguments
Argument Value Description Notes
n0 1 Limit switches active high
-1 Limit switches active low Default
n1 1 _HM is 1 when grounded (or active-opto), and 0 when pull-up (non-active See HM and FE commands
opto). Affects direction of travel for HM and FE.
-1 _HM is 0 when grounded (or active-opto), and 1 when pull-up (non-active Default
opto). Affects direction of travel for HM and FE.
n2 1 Latch input triggers on rising edge
-1 Latch input triggers on falling edge Default
n3 1 Configures inputs 5,6,7,8,13,14,15,16 as selective abort inputs for axes Will also trigger #POSERR automatic
A,B,C,D,E,F,G,and H respectively. subroutine if program is running.
0 Inputs 5,6,7,8,13,14,15,16 are configured as general use inputs Default
n4 1 Abort input will not terminate program execution
0 Abort input will terminate program execution Default
Remarks
n0 is useful for testing the operation of the #LIMSWI automatic subroutine. See example below.

Examples
'Galil DMC Code Example
CN 1,1;' Sets limit and home switches to active high
CN ,, -1;' Sets input latch active low​

'Galil DMC Code Example

REM n0 is useful for testing the operation of the #LIMSWI automatic subroutine
#test
CN -1;' Switches are active low
JGA = 100
BG A ;' Start a slow jog move
WT1000
CN 1;' Cause a limit fault by inverting the limit polarity
EN
'
#LIMSWI ;' Automatic sub will automatically launch on limit detection
MG "Limit Switch Routine"
WT100
CN -1;' Return to correct polarity
RE

CN applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control CN 115/326

 IO
CO Configure Extended I/O

CO n
Usage CO n ... Arguments specified with an implicit, comma-separated order
Operands _CO Operand holds the value last set by the command
Description
The CO command configures which banks are inputs and which are outputs on the extended I/O. The extended I/O points of the controller can be
configured in banks of 8.
The extended I/O is denoted as bits 17-48 and banks 2-5.
Arguments
Argument Min Max Default Resolution Description Notes
n 0 15 0 1 Bitmask to configure extended IO as Bit=1 is outputs. Bit=0 is inputs. See
inputs or outputs Table below
CO Bitmask Description
Bit # IO Bank IO points
7 N/A N/A
6 N/A N/A
5 N/A N/A
4 N/A N/A
3 Bank 5 41-48
2 Bank 4 33-40
1 Bank 3 25-32
0 Bank 2 17-24
Remarks
CO is a configuration command which should be at the begining of application code.

Examples
'Galil DMC Code Example
CO 15;' Configure all points as outputs
CO 0;' Configure all points as inputs
CO 1;' Configures bank 2 as outputs on extended I/O​

CO applies to DMC500x0,DMC40x0,DMC42x0,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control CO 116/326

 FILTER/CONTROL
CP Dead band within which the motor is shut off (MO)

CPm= n
CP n,n,n,n,n,n,n,n
Usage CPm= n Arguments specified with a single axis mask and an assignment (=)
CP n ... Arguments specified with an implicit, comma-separated order
Operands _CPm Operand holds the value last set by the command
Description
The CP command sets the deadband within which the motor is shut off. After a move is complete (_BGn = 0) and the absolute value of the position error
TE becomes less than the dead band CP, the motor is turned off. SH must be issued before further motion can be commanded. CT can be used to
increment the integrator limit to ensure that the motor reaches the dead band.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n -1 32,767 -1 1 Set the position deadband for motor off. n=-1 disables the feature
Remarks
Valid for -NAN or -CER firmware

Examples
'Galil DMC Code Example
:^R^V
DMC1842 Rev 1.0n-CM-F
:^R^S
:ED
0 #L
1 MG _RPX, _TEX, _ILX, _MOX
2 WT100
3 JP#L
4
:IL0
:CP100
:KI0.01
:PR1000
:BG
:XQ
:
0.0000 19.0000 0.0000 0.0000
934.0000 669.0000 0.0000 0.0000
1000.0000 684.0000 2.0406 0.0000
1000.0000 656.0000 4.6783 0.0000
1000.0000 429.0000 7.2166 0.0000
1000.0000 340.0000 9.8544 0.0000
1000.0000 83.0000 9.9982 1.0000
1000.0000 82.0000 9.9982 1.0000​

CP applies to CER,NAN
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control CP 117/326

 VECTOR/LINEAR
CR Circle

CR n0, n1, n2 < o > p

Usage CR n ... Arguments specified with an implicit, comma-separated order
Description
When using the vector mode (VM), the CR command specifies a 2-dimensional arc segment. The VE command must be used to denote the end of the
motion sequence after all CR and VP segments are specified. The BG (Begin Sequence) command is used to start the motion sequence. Parameters for
radius, starting angle and traverse angle must all be entered for each CR command.
Arguments
Argument Min Max Default Resolution Description Notes
n0 10 6,000,000 N/A 1 Radius of circle segment
n1 -32,000 32,000 N/A 1/65,536 Starting angle of circle segment
n2 -32,000 32,000 N/A 1/65,536 Degrees to traverse for circle segment
Specifies the vector speed to be commanded at the beginning of For MT 1,-
o 2 22,000,000 N/A 2 the segment. The controller will start accelerating or decelerating at 1,1.5,-1.5.
the start of the sequence to this speed.
Specifies the vector speed to be commanded at the beginning of For MT 2,-
2 6,000,000 N/A 2 the segment. The controller will start accelerating or decelerating at 2,2.5,-2.5.
the start of the sequence to this speed.
Specifies the vector speed to be achieved at the end of the
p 2 22,000,000 N/A 2 segment. The controller will decelerate or accelerate during the For MT 1,-
segment and will reach the specified speed at the end of the 1,1.5,-1.5.
segment.
Specifies the vector speed to be achieved at the end of the
2 6,000,000 N/A 2 segment. The controller will decelerate or accelerate during the For MT 2,-
segment and will reach the specified speed at the end of the 2,2.5,-2.5.
segment.
Argument Value Description Notes
o -1 Specifies vector speed to be set by Vector Speed Variable (VV command) See VV command
Remarks
The product of n0 * n2 must be less than 450,000,000
A positive n2 denotes counterclockwise traverse, -n2 denotes clockwise.
n0 units are in quadrature counts.
n1 and n2 have units of degrees.

Examples
'Galil DMC Code Example
'A starting position of zero degrees denotes that the radius lies along
'a vector following the positive X axis, on a 2D Cartesian space:

VMXY
CR 1000,0,270
VE
BGS
EN
'The 2-d map out the position output can be seen below​

Galil Motion Control CR 118/326

 'Galil DMC Code Example
VMAB ;' Specify vector motion in the A and B plane
VS 1000;' Specify vector speed
CR 1000,0,360;' Generate circle with radius of 1000 counts, start at
' 0 degrees and complete one circle in counterclockwise
' direction.
CR 1000,0,360 < 40000;' Generate circle with radius of 1000 counts, start
' at 0 degrees and complete one circle in counterclockwise
' direction and use a vector speed of 40000.
VE;' End Sequence
BGS ;' Start motion​

'Galil DMC Code Example

'Generate a sine wave output on the A axis
VMAN ;' Specify vector motion in the A and N plane
VS 1000;' Specify vector speed
CR 1000,0,360;' Generate sine wave with amplitude of 1000 counts
' start at 0 degrees and complete one cycle
CR 1000,0,360<40000;' Generate same sine wave with same amplitude
' but run at faster speed (higher frequency)
'
VE;' End Sequence
BGS ;' Start motion​

CR applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control CR 119/326

 VECTOR/LINEAR
CS Clear Sequence

CS mm
Usage CS mm Argument is an axis mask
Operands _CSm Operand has special meaning, see Remarks
Description
The CS command will remove VP, CR or LI commands stored in a motion sequence for a coordinated axis. After a sequence has been executed, the CS
command is not necessary to put in a new sequence. This command is useful when you have incorrectly specified VP, CR or LI commands.
Arguments
Argument Min Max Default Resolution Description Notes
m S T N/A Axis Coordinate plane specified to clear buffer
Remarks
_CSm contains the segment number in the sequence specified by m= S or T.
This operand is valid in the Linear mode, LM, and Vector mode, VM.

Examples
'Galil DMC Code Example
#CLEAR;' Label
CAT ;' Specify the T coordinate system vector points
VP 1000,2000;' Vector Position
VP 4000,8000;' Vector Position
CST ;' Clear vectors specified in T coordinate system
CAS ;' Specify the T coordinate system vector points
VP 1000,5000;' New vector
VP 8000,9000;' New vector
CSS ;' Clear vectors specified in S coordinate system​

CS applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control CS 120/326

 SYSTEM CONFIG
CW Copyright information and Data Adjustment bit on/off

CW n0,n1
Usage CW n ... Arguments specified with an implicit, comma-separated order
Description
The CW command will return the copyright information when the argument, n, is 0 or is omitted. Otherwise, the CW command is used as a
communications enhancement for use by the Galil terminal software programs. When turned on, the most significant bit of unsolicited ASCII characters is
set to 1. Unsolicited ASCII characters are characters that are returned from a program running on the controller (usually from the MG command). This
command does not affect solicited characters, which are characters that are returned as a response to a command sent from a host PC (e.g. TP).
Arguments
Argument Value Description Notes
n0 0 Causes controller to return a copyright information string Equivalent to n0 = ?
1 Controller will set the MSB of unsolicited message characters
2 Controller will not set the MSB of unsolicited message characters Default. Must be set when viewing unsolicited
messages from non-Galil software
n1 0 Controller will pause program execution when hardware handshaking
disables character transmissions
1 Controller will continue program execution when hardware Default. Output characters will be lost if serial buffer
handshaking disables character transmissions is full.
Remarks
Galil software packages automatically sends CW 1 during connection to a controller.
If reading unsolicited data through a non-Galil software (eg. Hyperterminal), issue CW 2
Operand Usage
_CW contains the value set for n0
_CW4 contains the value set for n1

Examples
'Galil DMC Code Example
CW1;' Set CW to Galil Driver mode (MSB set on unsolicited characters)

' The CW command can cause garbled (non-ASCII) characters to be returned

' by the controller when using third-party software. Use CW2.
CW2;' Set CW to third-party device mode (normal ASCII on unsoliticed characters)​

CW applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,RIO47xxx,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control CW 121/326

 PROGRAMMING
DA Deallocate Variables and Arrays

DA str,str,...
Usage DA n ... Arguments specified with an implicit, comma-separated order
Operands _DAm Operand has special meaning, see Remarks
Description
The DA command frees the array and/or variable memory space. In this command, more than one array or variable can be specified for memory de-
allocation. Different arrays and variables are separated by comma when specified in one command.
Arguments
Argument Min Max Default Resolution Description Notes
str 1 char 8 chars N/A String Array name to deallocate If str = *, deallocate all arrays
1 char 8 chars N/A String Variable name to deallocate If str = *, deallocate all variables
where
str[] - Defined array name
str - Defined variable name
str = * deallocates all the variables
str = *[] - Deallocates all the arrays
Remarks
_DA contains the total number of arrays available.
DA ? returns the total number of arrays available.
Since this command deallocates the spaces and compacts the array spaces in the memory it is possible that execution of this command may take
longer time than a standard command.
Variables and arrays that are deallocated are not set to zero. A routine that writes zeros to the array and/or variables should be created if this is
desired.

Examples
'Galil DMC Code Example
'Cars' and 'Salesmen' are arrays, and 'Total' is a variable.
DM Cars[ 40] ,Salesmen[ 50] ;' Dimension 2 arrays
Total= 70;' Assign 70 to the variable Total
DA Cars[ 0] ,Salesmen[ 0] ,Total;' Deallocate the 2 arrays & variable
DA*[ 0] ;' Deallocate all arrays
DA *,*[ 0] ;' Deallocate all variables and all arrays​

DA applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control DA 122/326

 FILTER/CONTROL
DB Range in which PID and antifriction bias are turned on (on band)

DBm= n
DB n,n,n,n,n,n,n,n
Usage DBm= n Arguments specified with a single axis mask and an assignment (=)
DB n ... Arguments specified with an implicit, comma-separated order
Operands _DBm Operand holds the value last set by the command
Description
When the controller is holding position, and the absolute value of the error TE is greater than DB, the PID control loop, as well as anti-friction biases ZP
and ZN, will be enabled. This is used in combination with the DS command to avoid oscillation when holding position. DS and DB are disabled during
motion, and only apply when holding position.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 32,767 0 1 Position setpoint for PID deadband
Remarks
DB should be set greater than or equal to DS.

Examples
'Galil DMC Code Example
DSX = 100;' set off band on X axis to +/-100 counts
DBX = 200;' set on band on X axis to +/-200 counts​

DB applies to CER,CLS,NAN
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control DB 123/326

 INDEPENDENT MOTION
DC Deceleration

DC m= n
DC n,n,n,n,n,n,n,n
Usage DC m= n Arguments specified with a single axis mask and an assignment (=)
DC n ... Arguments specified with an implicit, comma-separated order
Operands _DC m Operand holds the value last set by the command
Description
The Deceleration command (DC) sets the linear deceleration of the motors for independent moves such as PR, PA, and JG moves. The parameters will be
rounded down to the nearest factor of 1024 and have units of counts per second squared.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
M N N/A Axis Virtual axis to assign value
n 1,024 1,073,740,800 256,000 1,024 Deceleration rate At TM 1000. See Remarks for resolution details.
Remarks
The AC command is used to designate acceleration
Specify realistic deceleration rates based on physical system parameters such as:
motor torque rating
loads
amplifier current rating
Specifying an excessive deceleration will cause a large following error during deceleration and the motor will not follow the commanded profile
DC may be changed during a move in Jog mode, but not in a PA or PR move
However, directly following an axis stop (i.e. ST m or a limit switch), the DC value of a PA or PR move may be changed while the axis is still
decelerating
Resolution
The resolution of the DC command is dependent on the sampling period of the control loop (TM). With the default rate of TM 1000 the resolution is
1024 counts/second^2. The equation to calculate the resolution of the DC command is:
resolution = min = 1024*(1000/TM)^2
Example:
With TM 500 the minimum DC setting and resolution is 4096 counts/second^2.
resolution = 1024*(1000/500)^2 = 4096

Examples
'Galil DMC Code Example
PR 10000;' Specify position
AC 2000000;' Specify acceleration rate
DC 1000000;' Specify deceleration rate
SP 5000;' Specify slew speed
BG;' Begin motion​

DC applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control DC 124/326

 SYSTEM CONFIG
DE Dual (Auxiliary) Encoder Position

DEm= n
DE n,n,n,n,n,n,n,n
Usage DEm= n Arguments specified with a single axis mask and an assignment (=)
DE n ... Arguments specified with an implicit, comma-separated order
Operands _DEm Operand has special meaning, see Remarks
Description
The DE command defines the position of the auxiliary (dual) encoders.
Dual encoders are useful when you need an encoder on the motor and on the load. The encoder on the load is typically the auxiliary encoder and is used
to verify the true load position. Any error in load position is used to correct the motor position.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n -2,147,483,648 2,147,483,647 0 1 Position set for auxiliary encoders For MT 1,-1,1.5,-1.5
-2,147,483,648 2,147,483,647 0 1 Position set for main encoders For MT 2,-2,2.5,-2.5
Remarks
When using stepper motors, the DE command defines the main encoder position.
The auxiliary encoders are not available for the stepper axis or for any axis where output compare is active.
The operand _DEm, as well as _TDm, holds the current aux encoder position.
n=? will return the encoder position, as returned by TD.

Examples
'Galil DMC Code Example
DE 0,100,200,400;' Set the current auxiliary encoder position to 0,100,200,400 on A,B,C and D axes
DE ? ,? ,? ,? ;' Return auxiliary encoder positions
duala= _DEA ;' Assign auxiliary encoder position of A-axis to the variable duala​

DE applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control DE 125/326

 SYSTEM CONFIG
DF Dual Feedback (DV feedback swap)

DFm= n
DF n,n,n,n,n,n,n,n
Usage DFm= n Arguments specified with a single axis mask and an assignment (=)
DF n ... Arguments specified with an implicit, comma-separated order
Operands _DFm Operand holds the value last set by the command
Description
The DF command allows configuration of BiSS or SSI feedback in Dual Loop mode as the load encoder. Issuing the DF command will swap the main and
auxiliary position registers, such that the encoder wired into the main encoder terminals will report its position in TD and the encoder wired into the
auxiliary encoder terminals will report in TP.
Arguments
Argument Value Description Notes
n 0 Disable feedback swap Default
1 Enable feedback swap
Remarks
When using this command, wire the motor's incremental encoder into the main encoder terminals. The load encoder should be wired to the auxiliary
encoder terminals.
Once wired, configure the serial encoder as an auxiliary encoder.
See SI or SS for configuration information.

Examples
'Galil DMC Code Example
MOA ;' Disable motor on X
SIA = 2,25,0,0<9>1;' Setup SSI encoder to fill the Aux encoder register
DF1;' Enable Dual Feedback Swap
DV1;' Enable Dual Loop mode
SHA ;' Enable servo with new configuration​

DF applies to DMC500x0,SER
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control DF 126/326

 ETHERNET
DH DHCP Client Enable

DH n
Usage DH n ... Arguments specified with an implicit, comma-separated order
Description
The DH command configures the DHCP or BOOT-P functionality on the controller for Server IP addressing.
Arguments
Argument Value Description Notes
n 0 Enable BOOT-P and disable DHCP Allows IP assignment through IA command.
1 Disable BOOT-P and enable DHCP Default. Allows IP assignment through DHCP server.
Remarks
DH 0 must be set to manually assign and burn in an IP address. With DH 1 set, the IA command will return an error if used to set the IP address.

Examples
'Galil DMC Code Example
DH 1;' Sets the DHCP function on. IA assignment will no longer work.
DH 0;' Sets the DHCP function off, and the Boot-P function on.​

DH applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,RIO47xxx
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control DH 127/326

 PROGRAMMING
DL Download

DL n
DL #str
DL s
Usage DL n ... Arguments specified with an implicit, comma-separated order
Description
The DL command transfers a data file from the host computer to the controller. Instructions in the file will be accepted as a data stream without line
numbers. The file is terminated using <control> Z, <control> Q, <control> D, or \.
Arguments
Argument Min Max Default Resolution Description Notes
n 0 3,999 0 1 Line number to begin program Firmware Rev 1.2a and later
download
n 0 1,999 0 1 Line number to begin program
download
str 1 char 8 chars "" String Name of label in RAM to begin If str = "", download begins at the end of the
download from. current program in RAM
s # # N/A Symbol Begins download at end of
program in RAM
Remarks
Do not insert spaces before label declarations.
_DL gives the number of available labels.
Issuing this command will pause the output of the Data Record until the command is completed.
This command will be rejected by Galil software if sent via the terminal. In order to download a program using a Galil software package, use that
package's prescribed programming interface (I.E. GDK's Editor Tool).

Examples
'Galil DMC Code Example
:DL;' Begin Download
#A;PR 4000;BGA
AMA;MG DONE
EN
\
:'End download​

DL applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control DL 128/326

 PROGRAMMING
DM Dimension Array

DM str[n],str[n],...
Usage DM n ... Arguments specified with an implicit, comma-separated order
Description
The DM command defines a single-dimensional array with a name and n total elements. The first element of the defined array starts with element number
0 and the last element is at n-1.
Arguments
Argument Min Max Default Resolution Description Notes
str 1 char 8 chars N/A String Name of array to dimension
n 1 24,000 N/A 1 Number of array elements to assign to dimensioned Firmware Rev 1.2a and
array later
n 1 16,000 N/A 1 Number of array elements to assign to dimensioned
array
Remarks
Typing in array name with [-1] element marked reports the number of elements for that array.
The first character of str must be alphabetic. The rest can be any alphanumeric characters.
When assigning array elements, the number specified must be less than the current available array space
_DM contains the available array space.
DM ? returns the available array space.
The DM command can allocate any number of array in a single command up to the maximum command line length of the controller being used.

Examples
'Galil DMC Code Example
DM Pets[ 5] ,Dogs[ 2] ,Cats[ 3] ;' Define dimension of arrays, Pets with 5 elements, Dogs with 2 elements, Cats with 3 elements
DM Tests[ 100] ;' Define dimension of array Tests with 100 elements​

'Galil DMC Code Example

:DM? ;' firmware revisions prior to Rev 1.2a only have 16000 elements
24000
:DM MyArray[ 1000]
:DM?
23000
:'DMC-4xxx provides length of array with array[-1]
:MG "MyArray contains",MyArray[ -1] ," elements"
MyArray contains 1000.0000 elements

DM applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control DM 129/326

 SYSTEM CONFIG
DP Define Position

DPm= n
DP n,n,n,n,n,n,n,n
Usage DPm= n Arguments specified with a single axis mask and an assignment (=)
DP n ... Arguments specified with an implicit, comma-separated order
Operands _DPm Operand has special meaning, see Remarks
Description
The DP command sets the current motor position and current command positions to a user specified value. The units are in quadrature counts. This
command will set both the TP and RP values.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
M N N/A Axis Virtual axis to assign value
n - 2,147,483,647 0 1 Value assigned to motor/commanded position (RP and For MT 1,-
2,147,483,648 TP registers) 1,1.5,-1.5
- 2,147,483,647 0 1 Value assigned to step/commanded position (RP and TD For MT 2,-
2,147,483,648 registers) 2,2.5,-2.5
Remarks
The DP command sets the commanded reference position for axes configured as steppers. The units are in steps.
Example: "DP 0" This will set the registers for TD and RP to zero, but will not effect the TP register value. When equipped with an encoder, use
the DE command to set the encoder position for stepper mode.
The DP command is useful to redefine the absolute position.
For example, you can manually position the motor by hand using the Motor Off command, MO. Turn the servo motors back on with SH and
then use DP0 to redefine the new position as your absolute zero.
The operand _DPm, as well as _TPm, holds the current main encoder position.
n=? will return the encoder position, as returned by TP.

Examples
'Galil DMC Code Example
:DP 0,100,200,400;' Sets the current position of the A-axis to 0, the B-axis to 100, the C-axis to 200, and the D-axis to 400
:DP ,-50000;' Sets the current position of B-axis to -50000. The A, C and D axes remain unchanged.
:DP ? ,? ,? ,? ;' Interrogate the position of A, B, C and D axis.
0, -50000, 200, 400
:DP ? ;' Interrogate the position of A axis
0

'Galil DMC Code Example

:DP 0;' Sets the current position of the A-axis to 0
:DP -50000;' Sets the current position of A-axis to -50000.
:DP ? ;' Interrogate the position of A
-50000​

DP applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control DP 130/326

 SYSTEM CONFIG
DR Configures I O Data Record Update Rate

DR n0, n1
Usage DR n ... Arguments specified with an implicit, comma-separated order
Operands _DR0 Operand has special meaning, see Remarks
_DR1
Description
DR specifies and enables the rate for the controller to output its data record.
For ethernet-based controllers, the controller creates a QR record and sends it to the unsolicited UDP Ethernet Handle at the specified rate. See the User
Manual for the data record map.

Arguments
Argument Min Max Default Resolution Description Notes
n0 2 30,000 0 2 Data update rate specified in samples n = 0 turns off data record output.
between packets.
0 0 0 0 Turn off data record output
n1 0 7 see Notes 1 Ethernet handle to output data record 0=A,1=B,2=C,3=D,4=E,5=F,6=G,7=H.
packet
Remarks
If a small sample period and a small update rate is used, the controller may become noticeably slower as a result of maintaining a high update rate.
If n1 is omitted, then the CF unsolicited message port is used by default.
The DR port specified with n1 must be a UDP handle.
_DR0 contains the data record update rate (n0).
_DR1 contains the specified handle (n1). Will return an integer 0-7 for handles A-H.
Issuing any of the following commands will pause the output of the data record until the command is complete: BN, BP, BV, BX, BZ, DL, LS, LV, QD,
QU, UL

Examples
'Galil DMC Code Example
:WH
IHA
:DR1000,0
G​x​~​P​
_​`​@~​P​
_​H​`~​P​
_​0​~​P​
:DR0

'Note: The data record is in a binary, non-printable format

'(the output above is normal when printing to the terminal)​

DR applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control DR 131/326

 FILTER/CONTROL
DS Range in which PID and antifriction bias are turned off (off band)

DSm= n
DS n,n,n,n,n,n,n,n
Usage DSm= n Arguments specified with a single axis mask and an assignment (=)
DS n ... Arguments specified with an implicit, comma-separated order
Operands _DSm Operand holds the value last set by the command
Description
When the controller is holding position, and the absolute value of the error TE is less than DS, the PID control loop, as well as anti-friction biases ZP and
ZN, will be disabled. This is used in combination with DB to avoid oscillation when holding position. DS and DB are disabled during motion, and only apply
when holding position.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 32,767 0 1 Position range for PID deadband
Remarks
DB should be set greater than or equal to DS.

Examples
'Galil DMC Code Example
DSA = 100;' set off band on the A axis to +/-100 counts
DBA = 200;' set on band on the A axis to +/-200 counts​

DS applies to CER,CLS,NAN
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control DS 132/326

 CONTOUR MODE
DT Delta Time

DT n
Usage DT n ... Arguments specified with an implicit, comma-separated order
Description
The DT command sets the time interval for Contour Mode. The time interval is 2N samples. With TM 1000, there are 1024 samples per second.
Sending the DT command once will set the time interval for all contour data until a new DT command (or CDm=n) is sent.
Arguments
Argument Min Max Default Resolution Description Notes
n 1 8 0 1 Set time interval for contour mode in 2^n samples.
-1 -1 N/A 0 n=-1 to pause the contour mode See Remarks.
Remarks
By default the sample period is 1 msec (set by the TM command); with n=1, the time interval would be 2 msec
n = -1 allows a pre-load of the contour buffer or to asynchronously pause the contour buffer. DT-1 during contour mode will pause the contour
buffer (and commanded movement).
A positive DT will resume contour mode from paused position of buffer.
DT can be overridden with the =t parameter within a CD segment.

Examples
'Galil DMC Code Example
:DT 4;' Specifies time interval to be 16 msec (TM1000)
:DT 7;' Specifies time interval to be 128 msec

'Galil DMC Code Example

REM basic contour example
#Cont0;' Define label #Cont0
CM ABCD ;' Specify Contour Mode
DT 4;' Specify time increment for contour
CD 200,350,-150,500;' Specify incremental positions on A,B,C and C axes
' A-axis moves 200 counts B-axis moves 350 counts C-
' axis moves -150 counts C-axis moves 500 counts
CD 100,200,300,400 ;' New position data
CD 0,0,0,0=0;' End of Contour Buffer/Sequence
#Wait;' Wait for all segments to process (buffer to empty)
WT 16,1;' wait for 1 DT time segment (2^4)
JP#Wait,( _CM<>511)
EN;' End program​

'Galil DMC Code Example

REM contour example for pre-loading of contour buffer
#Cont1;' Define label #Cont1
CM AB ;' Specify Contour Mode
DT -1;' Pause Contour Mode to allow pre-load of buffer
CD 100,200;' Countour Data pre-loaded in buffer
CD 400,200;' Countour Data pre-loaded in buffer
CD 200,100;' Countour Data pre-loaded in buffer
CD 300,50;' Countour Data pre-loaded in buffer
AI -1;' Wait for Analog input 1 to go low
DT 8;' Set positive DT to start contour mode
CD 0,0,0,0=0;' End of Contour Buffer/Sequence
#Wait;' Wait for all segments to process (buffer to empty)
WT 16,1;' wait for 1 DT time segment (2^4)
JP#Wait,( _CM<>511)
EN;' End program​

'Galil DMC Code Example

REM contour example for pre-loading of contour buffer
#Cont1;' Define label #Cont1
CM A ;' Specify Contour Mode
DT -1;' Pause Contour Mode to allow pre-load of buffer
CD 100;' Countour Data pre-loaded in buffer
CD 400;' Countour Data pre-loaded in buffer
CD 200;' Countour Data pre-loaded in buffer
CD 300;' Countour Data pre-loaded in buffer
AI -1;' Wait for Analog input 1 to go low
DT 8;' Set positive DT to start contour mode
CD 0=0;' End of Contour Buffer/Sequence
#Wait;' Wait for all segments to process (buffer to empty)
WT 16,1;' wait for 1 DT time segment (2^4)
JP#Wait,( _CM<>31)
EN;' End program​

Galil Motion Control DT 133/326

 DT applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control DT 134/326

 FILTER/CONTROL
DV Dual Velocity (Dual Loop)

DVm= n
DV n,n,n,n,n,n,n,n
Usage DVm= n Arguments specified with a single axis mask and an assignment (=)
DV n ... Arguments specified with an implicit, comma-separated order
Operands _DVm Operand holds the value last set by the command
Description
The DV function changes the operation of the PID filter. When DV is enabled the KD (derivative) term operates on the auxiliary encoder instead of the
main encoder.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 1 0 1 State of dual loop mode n = 0 disables Dual loop. n = 1 enables Dual loop
Remarks
The DV command is useful in backlash and resonance compensation.
DV must be set properly for commutation to be successful with internal sine drives.
When DVm=0, the controller will use the main encoder for sine drive commutation.
When DVm=1, the controller will use the aux encoder for sine drive commutation.
Correcting for Positive Feedback
With motor off (MO) check the motor encoder with TD and load encoder with TP. Manually move the motor/load and reissue the TD and TP
commands to confirm both encoders count in the same direction.
If the encoders count in opposing directions, change the polarity of one encoder using the CE command or by changing the wiring. Consult user
manual.
If positive feedback still persists, switch the motor polarity or reverse the direction of both encoders.
Off on error (OE) and error limits (ER) can be used to shut down the motor in the event of a runaway.
Using DV with Large motor/load encoder ratio
When using Dual Loop mode with a large motor:load ratio and/or running at high velocities where low position error at speed is required, FV should be
used to compensate for the derivative contribution from the higher resolution motor encoder.
The estimated FV setting required to compensate for the derivative contribution can be calculated by the equation:
FV = (KD/4)*(motor/load)
motor/load = effective motor to load ratio
For example: KD = 200, motor encoder changes 5000 counts per 1000 counts of load encoder (motor/load = 5/1)
FV = (200/4)*(5/1) = 250

Examples
'Galil DMC Code Example
DV 1,1,1,1;' Enables dual loop on all axes
DV 0;' Disables DV on A axis
DV,,1,1;' Enables dual loop on C axis and D axis. Other axes remain unchanged.
DV 1,0,1,0;' Enables dual loop on A and C axis. Disables dual loop on B and D axis.
MG_DVA ;' Returns state of dual velocity mode for A axis​

DV applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control DV 135/326

 ECAM/GEARING
EA Choose ECAM master

EA m
Usage EA mm Argument is an axis mask
Description
The EA command selects the master axis for the electronic cam mode. Any axis may be chosen.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign as ECAM master
M N N/A Axis Virtual axis to assign as ECAM master N is default
Remarks
The ECAM mode runs off of the master's main encoder (TP) even when the axis is running in stepper mode.
When using the M or N imaginary axes, the commanded position is used.

Examples
'Galil DMC Code Example
REM example using A axis as ECAM master and B axis as ECAM slave
#CAMONE
master= 400
slave= 8192
EB0; 'Disable ECAM Mode
EA A ; 'Set Master Axis as A
EM master,slave
EP master/4,0
ET[ 0] = ,0
ET[ 1] = ,2048
ET[ 2] = ,4096
ET[ 3] = ,6144
ET[ 4] = ,8192
DP0,0
SHAB
'NOTE - (EP Value)*(# of Cam Points) must be >= to Master Modulus
JG100;BGA
EB1
EG,0; 'Start ECAM profile
EN

EA applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control EA 136/326

 ECAM/GEARING
EB Enable ECAM

EB n
Usage EB n ... Arguments specified with an implicit, comma-separated order
Operands _EB Operand has special meaning, see Remarks
Description
The EB function enables or disables the cam mode. In this mode, the starting position of the master axis is specified within the cycle.
Arguments
Argument Value Description Notes
n 0 Stop ECAM mode Default
1 Start ECAM mode
Remarks
When the EB command is given, the master axis position is modularized.
_EB holds the enabled state, 1 or 0

Examples
'Galil DMC Code Example
EB1;' Starts ECAM mode
EB0;' Stops ECAM mode
var = _EB;' Return status of cam mode​

EB applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control EB 137/326

 ECAM/GEARING
EC ECAM Counter

EC n
Usage EC n ... Arguments specified with an implicit, comma-separated order
Operands _EC Operand has special meaning, see Remarks
Description
The EC function sets the index into the ECAM table. This command is only useful when entering ECAM table values without index values and is most useful
when sending commands in binary. See the command, ET.
Arguments
Argument Min Max Default Resolution Description Notes
n 0 256 0 1 Set the ECAM table index
Remarks
_EC contains the current value of the index into the ECAM table.

Examples
'Galil DMC Code Example
EC0;' Set ECAM index to 0
ET 200,400;' Set first ECAM table entries to 200,400
ET 400,800;' Set second ECAM table entries to 400,800
var= _EC;' Set the ECAM index value to a variable​

EC applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control EC 138/326

 PROGRAMMING
ED Edit

ED n
Usage ED n ... Arguments specified with an implicit, comma-separated order
_ED
Operands _ED1 Operand has special meaning, see Remarks
_ED4
Description
The ED command puts the controller into the Edit subsystem. The ED command is used when using Telnet style interface (not Galil Software). In the Edit
subsystem, programs can be created, changed, or destroyed.
Arguments
Argument Min Max Default Resolution Description Notes
n 0 3,999 see Notes 1 Line number to Firmware Rev 1.2a and later. Default n is the last line of
begin editing program space with commands.
n 0 1,999 see Notes 1 Line number to Default n is the last line of program space with commands.
begin editing
Remarks
This command will be rejected by Galil software if sent to via the terminal. In order to edit a program using a Galil software package, use that
package's prescribed programming interface (I.E. GDK's Editor Tool).
The commands in the Edit subsystem are the following.
ED Commands
Key Combination Function
<ctrl>D Deletes a Line
<ctrl>I Inserts a line before the current
<ctrl>P Displays the previous line
<ctrl>Q Exits the ED subsystem
Enter Saves a line and moves cursor to next
Operand Usage
_ED0 contains the line number of the last line to have an error.
_ED1 contains the number of the thread where the error occurred (for multitasking).
_ED0 returns 0 if no error has occurred.
_ED1 returns -1 if no error has occurred.
_ED4 when evaluated in an embedded code thread, this operand will contain the thread id of the calling thread. This is useful for DMC code to
determine which thread it is running in. See example below.

Examples
'Galil DMC Code Example
:ED
#START
PR 2000
BGA
xx;' bad command line
EN
#CMDERR Routine which occurs upon a command error
V=_ED0
MG "An error has occurred" {n}
MG "In line", V{F3.0}
ST
ZS0
EN
ctrl-Q
:'Hint: Remember to quit the Edit Mode prior to executing or listing a program.​

'Galil DMC Code Example

'Using _ED4
XQ#id,1
XQ#id,2
XQ#id,3
XQ#id,4
XQ#id,5
XQ#id,6
XQ#id,7
#id
MG{Z10.0}"This message is from thread",_ED4
EN
' Returns...
' :XQ
Galil Motion Control ED 139/326
 ' This message is from thread 1
' This message is from thread 2
' This message is from thread 3
' This message is from thread 4
' This message is from thread 5
' This message is from thread 6
' This message is from thread 7
' This message is from thread 0​

ED applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ED 140/326

 ECAM/GEARING
EG ECAM go (engage)

EGm= n
EG n,n,n,n,n,n,n,n
Usage EGm= n Arguments specified with a single axis mask and an assignment (=)
EG n ... Arguments specified with an implicit, comma-separated order
Operands _EGm Operand has special meaning, see Remarks
Description
The EG command engages an ECAM slave axis at a specified position of the master. Once a slave motor is engaged, its position is redefined to fit within the
cycle.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n - 2,147,483,647 0 1 Master position to n = outside of master axis position range causes
2,147,483,648 engage ECAM slave slave to engage immediately.
Remarks
_EGm contains ECAM status for specified slave axis. 0 = axis is not engaged, 1 = axis is engaged.
n = ? Returns 1 if specified axis is engaged and 0 if disengaged.
This command is not a trippoint. This command will not hold the execution of the program flow. If the execution needs to be held until master position
is reached, use MF or MR command.

Examples
'Galil DMC Code Example
EG 700,1300;' Engages the A and B axes at the master position 700 and 1300 respectively.
B = _EGB ;' Return the status of B axis, 1 if engaged​

EG applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control EG 141/326

 SYSTEM CONFIG
EI Event Interrupts

EI n1,n2,n3
Usage EI n ... Arguments specified with an implicit, comma-separated order
Operands _EI Operand has special meaning, see Remarks
Description
The EI command is used to enable interrupts on events. EI enables interrupts for the predefined event conditions in the table below. When a condition
(e.g. Axis A profiled motion complete) occurs after EI is armed, a particular status byte value (e.g. $D0 or 208) is delivered to the host PC along with the
interrupt.
Interrupts are issued as automatically dispatched UDP packets. GalilTools version 1.2.1.0 or newer required for software support.
Arguments
Argument Min Max Default Resolution Description Notes
n1 0 65,535 0 1 16-bit interrupt mask 0 turns off interrupts. See Remarks for bit mask
n2 Used to select the specific digital input trigger. Bit 15
0 255 0 1 8-bit input mask of n1 must be set for the n2 mask to be used.
n3 -1 7 -1 1 Preconfigured UDP handle -1 disabled, 0-7 indicate Handles A-H, respectively
for interrupt transmission
Remarks
_EI contains the interrupt mask n1
n1 = 0 means "don't interrupt" and clears the queue when issued
The interrupts marked with * in the table below must be re-enabled with EI after each occurrence
Bit 15 of n1 must be set for the n2 input mask to be used
If the handle specified by n3 is not UDP or is not initialized, an error will occur
GalilTools software will auto configure n3, allowing the user to ignore its use in most cases
n1 Bit Mask
Interrupt Bits
n1=2^bit Hex Status Byte Hex
bit (decimal) Condition
(decimal)
0 $0001 (1) $D0 (208) Axis A profiled motion complete _BGA = 0
1 $0002 (2) $D1 (209) Axis B profiled motion complete _BGB = 0
2 $0004 (4) $D2 (210) Axis C profiled motion complete _BGC = 0
3 $0008 (8) $D3 (211) Axis D profiled motion complete _BGD = 0
4 $0010 (16) $D4 (212) Axis E profiled motion complete _BGE = 0
5 $0020 (32) $D5 (213) Axis F profiled motion complete _BGF = 0
6 $0040 (64) $D6 (214) Axis G profiled motion complete _BGG = 0
7 $0080 (128) $D7 (215) Axis H profiled motion complete _BGH = 0
8 $0100 (256) $D8 (216) All axes profiled motion complete
9 $0200 (512) $C8 (200) * Excess position error _TEm >= _ERm
10 $0400 (1024) $C0 (192) * Limit switch _LFm=0 /_LRm=0 Must be profiling motion in direction of activated limit
switch for interrupt to occur.
11 $0800 (2048) $D9 (217) Reserved
12 $1000 (4096) Reserved
13 $2000 (8192) $DB (219) Application program stopped _XQn = -1
14 $4000 (16384) $DA (218) Reserved
15 $8000 (32768) $E1-$E8 (225-232) * Digital input(s) 1-8 low (use n2 for mask)
UI, user interrupt $F0-$FF (240-255) User Interrupt, See UI command
command
n2 Bit Mask
Input Interrupts
bit n2 = 2^bit hex (decimal) Status Byte hex (decimal) Condition
0 $01 (1) $E1 (225) * Digital input 1 is low @IN[1] = 0
1 $02 (2) $E2 (226) * Digital input 2 is low @IN[2] = 0
2 $04 (4) $E3 (227) * Digital input 3 is low @IN[3] = 0
3 $08 (8) $E4 (228) * Digital input 4 is low @IN[4] = 0
4 $10 (16) $E5 (229) * Digital input 5 is low @IN[5] = 0
5 $20 (32) $E6 (230) * Digital input 6 is low @IN[6] = 0
6 $40 (64) $E7 (231) * Digital input 7 is low @IN[7] = 0
Galil Motion Control EI 142/326
 7 $80 (128) $E8 (232) * Digital input 8 is low @IN[8] = 0
UDP Interrupts Framing
The UDP packet can contain up to 16 individual status bytes and is framed as follows
Format Header (Fixed Status Byte (1-16 bytes) Payload Byte Count (0x03 - 0x12) [Includes
Byte) header and footer in count]
Example 0x01 0xD0F1DBE1 0x06
Example Interrupt Axis A Profiled Motion Complete; User Interrupt 1; Application
Decoded Packet Program Stopped; Digital Input 1 is low 6 bytes in payload
Indicator
Examples
'Galil DMC Code Example
'Interrupt when motion is complete on all axes OR if a limit switch is hit:
'From the table, enable bits 8 and 10. n1 = 256 + 1024 = 1280
EI 1280
'
'Interrupt when digital input 3 is low.
'Enable bit 15 of n1 and bit 2 of n2.
EI 32768,4​

EI applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control EI 143/326

 PROGRAMMING
ELSE Else function for use with IF conditional statement

ELSE
Usage ELSE n ... Arguments specified with an implicit, comma-separated order
Description
The ELSE command is an optional part of an IF conditional statement. The ELSE command must occur after an IF command and it has no arguments. It
allows for the execution of a command only when the argument of the IF command evaluates False. If the argument of the IF command evaluates false,
the controller will skip commands until the ELSE command. If the argument for the IF command evaluates true, the controller will execute the commands
between the IF and ELSE command.
Arguments
ELSE is a command with no parameters
Remarks
None

Examples
'Galil DMC Code Example
IF ( @IN[ 1] =0) ;' IF conditional statement based on input 1
IF ( @IN[ 2] =0) ;' 2nd IF conditional statement executed if 1st IF conditional true
MG "IN1 AND IN2 ARE ACTIVE";' Message to be executed if 2nd IF conditional is true
ELSE;' ELSE command for 2nd IF conditional statement
MG "ONLY IN1 IS ACTIVE";' Message to be executed if 2nd IF conditional is false
ENDIF;' End of 2nd conditional statement
ELSE;' ELSE command for 1st IF conditional statement
IF ( @IN[ 2] =0) ;' 3rd IF conditional statement executed if 1st IF conditional false
MG "ONLY IN2 IS ACTIVE";' Message to be executed if 3rd IF conditional statement is true
ELSE;' ELSE command for 3rd conditional statement
MG "IN1 AND IN2 INACTIVE";'Message to be executed if 3rd IF conditional statement is false
ENDIF;' End of 3rd conditional statement
ENDIF;' End of 1st conditional statement​

ELSE applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ELSE 144/326

 ECAM/GEARING
EM Ecam modulus

EMm= n
EM n,n,n,n,n,n,n,n
Usage EMm= n Arguments specified with a single axis mask and an assignment (=)
EM n ... Arguments specified with an implicit, comma-separated order
Operands _EMm Operand holds the value last set by the command
Description
The EM command defines the change in position over one complete cycle of the master.
The field for the master axis is the cycle of the master position. For the slaves, the field defines the net change in one cycle.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
M N N/A Axis Virtual axis to assign value Virtual axes are only valid as ECAM
masters
n 2 8,388,607 N/A 1 Position change over one full ECAM For defining master axis
cycle
0 2,147,483,647 N/A 1 Position change over one full ECAM For defining slave axis
cycle
Remarks
If a slave will return to its original position at the end of the cycle, then n=0.
If the change is negative, specify the absolute value for n.

Examples
'Galil DMC Code Example
REM example using A axis main encoder as master B axis main encoder as the slave
#cam
REM define A axis encoder as master for ECAM
EA A
REM
REM EM command options
REM ----
REM define slave modulus as 0 (returns to original position)
REM and define master modulus as 4000
EM 4000,0
REM
REM another valid EM settings for this configuration
REM ----
'EMA= 4000;' define A axis master modulus as 0
'EMB= 0;' define B axis slave modulus as 0
REM
REM ----
REM define master increment as 1000 counts/table entry
EP 1000
ET[ 0] = , 0
ET[ 1] = , 1000
ET[ 2] = , 2000
ET[ 3] = , 1000
ET[ 4] = , 0
REM enable ECAM mode
EB 1
REM engage when master is at 0 position
EG 0,0
EN

'Galil DMC Code Example

EAC ;' Select C axis as master for ECAM.
EM 0,3000,2000;' Define the changes in A and B to be 0 and 3000 respectively. Define master cycle as 2000.
V = _EMA ;' Return cycle of A​

EM applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control EM 145/326

 PROGRAMMING
EN End

EN n0,n1,n2
Usage EN n ... Arguments specified with an implicit, comma-separated order
Description
The EN command is used to designate the end of a program or subroutine. If a subroutine was called by the JS command, the EN command ends the
subroutine and returns program flow to the point just after the JS command.
A return parameter can be specified to EN from a subroutine to return a value from the subroutine to the calling stack.
Arguments
Argument Min Max Default Resolution Description Notes
n0 Specify trippoint status when n0=1 restores trippoints. n0=0 does not
0 1 0 1 returning from subroutine restore trippoints
n1 Set status of CI interrupt when n1=1 restores CI interrupt. n1=0 does
0 1 0 1 returning from #COMINT not restore CI interrupt
n2 - 2,147,483,647 0 1 Return a value from a Accesible from the calling program with
2,147,483,648 subroutine. _JS. See JS for more information
Remarks
The EN command is used to end the automatic subroutines #MCTIME #COMINT and #CMDERR.
Use the RE command to end the #POSERR and #LIMSWI subroutines.
Use the RI command to end the #ININT subroutine

Examples
'Galil DMC Code Example
#A;' Program A
PR 500;' Move A axis forward 500 counts
BGA ;' Begin motion
AMA ;' Pause the program until the A axis completes the motion
EN;' End of Program​

'Galil DMC Code Example

#example
'test program showing restoring trippoints with EN
XQ#err,1;' Execute thread to generate error
AI1;' Wait for input 1 to trigger
MG"hello";' After input, message out
EN

#err
'dummy thread that runs to cause an error
XX123;' Invalid command
'causes CMDERR to be called, interrupting thread 0
EN

#CMDERR
'error subroutine running on thread 0
tc= _TC;' Save error code
EN1;' End routine, restore AI trippoint.​

EN applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control EN 146/326

 PROGRAMMING
ENDIF End of IF conditional statement

ENDIF
Usage ENDIF n ... Arguments specified with an implicit, comma-separated order
Description
The ENDIF command is used to designate the end of an IF conditional statement. An IF conditional statement is formed by the combination of an IF and
ENDIF command. An ENDIF command must always be executed for every IF command that has been executed. It is recommended that the user not
include jump commands inside IF conditional statements since this causes re-direction of command execution. In this case, the command interpreter may
not execute an ENDIF command.
Arguments
ENDIF is a command with no parameters
Remarks
None

Examples
'Galil DMC Code Example
IF ( @IN[ 1] =0) ;' IF conditional statement based on input 1
IF ( @IN[ 2] =0) ;' 2nd IF conditional statement executed if 1st IF conditional true
MG "IN1 AND IN2 ARE ACTIVE";' Message to be executed if 2nd IF conditional is true
ELSE;' ELSE command for 2nd IF conditional statement
MG "ONLY IN1 IS ACTIVE";' Message to be executed if 2nd IF conditional is false
ENDIF;' End of 2nd conditional statement
ELSE;' ELSE command for 1st IF conditional statement
IF ( @IN[ 2] =0) ;' 3rd IF conditional statement executed if 1st IF conditional false
MG "ONLY IN2 IS ACTIVE";' Message to be executed if 3rd IF conditional statement is true
ELSE;' ELSE command for 3rd conditional statement
MG "IN1 AND IN2 INACTIVE";'Message to be executed if 3rd IF conditional statement is false
ENDIF;' End of 3rd conditional statement
ENDIF;' End of 1st conditional statement​

ENDIF applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ENDIF 147/326

 SYSTEM CONFIG
EO Echo

EO n
Usage EO n ... Arguments specified with an implicit, comma-separated order
Operands _EO Operand holds the value last set by the command
Description
The EO command turns the echo on or off. If the echo is off, characters input over the bus will not be echoed back.
Arguments
Argument Value Description Notes
n 0 Echo Off
1 Echo On Default
Remarks
This command is defaulted to EO1. Galil software upon connection will set EO0
The EO command is accepted over the serial port only.
The ethernet port will not echo commands

Examples
'Galil DMC Code Example
EO 0;' Turns echo off
EO 1;' Turns echo on​

EO applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control EO 148/326

 ECAM/GEARING
EP Cam table master interval and phase shift

EP n0,n1
Usage EP n ... Arguments specified with an implicit, comma-separated order
Operands _EP Operand holds the value last set by the command
Description
The EP command defines the ECAM table intervals and offset. The offset is the master position of the first ECAM table entry. The interval is the difference
of the master position between 2 consecutive table entries. This command effectively defines the size of the ECAM table. Up to 257 points may be
specified.
Arguments
Argument Min Max Default Resolution Description Notes
n0 1 32,767 256 1 Master position interval Cannot be changed while ECAM is running
n1 -2,147,483,648 2,147,483,647 0 1 ECAM table phase shift Can be modified during ECAM
Remarks
_EP contains the value of the interval n0.
The offset parameter 'n1' can also be used to instantaneously phase shift the graph of the slave position verses the master position. This can be used
to make on-the-fly corrections to the slaves.
See application note #2502 for more details. http://www.galil.com/download/application-note/note2502.pdf

Examples
'Galil DMC Code Example
EP 20;' Sets the cam master points to 0,20,40 . . .
d = _EP;' Set the variable d equal to the ECAM internal master interval
EP,100;' Phase shift all slaves by 100 master counts​

EP applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control EP 149/326

 ECAM/GEARING
EQ ECAM quit (disengage)

EQm= n
EQ n,n,n,n,n,n,n,n
Usage EQm= n Arguments specified with a single axis mask and an assignment (=)
EQ n ... Arguments specified with an implicit, comma-separated order
Operands _EQm Operand has special meaning, see Remarks
Description
The EQ command disengages an electronic cam slave axis at the specified master position. Separate points can be specified for each axis. If a value is
specified outside of the master's range, the slave will disengage immediately.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n - 2,147,483,647 N/A 1 Master position to disengage If n = outside of master position range,
2,147,483,648 the slave axis specified. disengage slave axis immediately.
Remarks
_EQn contains 1 if engage command issued and axis is waiting to engage, 2 if disengage command issued and axis is waiting to disengage, and 0 if
ECAM engaged or disengaged.
n = ? Returns 1 if engage command issued and axis is waiting to engage, 2 if disengage command issued and axis is waiting to disengage, and 0 if
ECAM engaged or disengaged.
This command is not a trippoint. This command will not hold the execution of the program flow.
If the execution needs to be held until master position is reached, use MF or MR command.

Examples
'Galil DMC Code Example
EQ 300,700;' Disengages the A and B motors at master positions 300 and 700 respectively.​

'Galil DMC Code Example

EQ 300;' Disengages the A motor at master position 300.​

EQ applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control EQ 150/326

 ERROR CONTROL
ER Error Limit

ERm= n
ER n,n,n,n,n,n,n,n
Usage ERm= n Arguments specified with a single axis mask and an assignment (=)
ER n ... Arguments specified with an implicit, comma-separated order
Operands _ERm Operand holds the value last set by the command
Description
The ER command sets the magnitude of the position errors for each axis that will trigger an error condition. When the limit is exceeded, the Error output
will go low (true) and the controller's red light will be turned on. If the Off On Error (OE1) command is active, the motors will be disabled.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n -1 2,147,483,647 16,384 1 Set the position error limit in n=0 enables Error output. n=-1 disables Error
counts output.
Remarks
The error limit specified by ER should be high enough as not to be reached during normal operation.
Examples of exceeding the error limit would be a mechanical jam, or a fault in a system component such as encoder or amplifier
For debugging purposes, ER0 and ER-1 can be used to turn the red LED on and off.

Examples
'Galil DMC Code Example
:ER 200,300,400,600;' Set the A-axis error limit to 200, the B-axis error limit to 300, the C-axis error limit to 400, and the D-axis error limit to 600.
:ER ,1000;' Sets the B-axis error limit to 1000, leave the A-axis error limit unchanged.
:ER ? ,? ,? ,? ;' Return A,B,C and D values
00200,00100,00400,00600
:ER ? ;' Return A value
00200
:V1= _ERA ;' Assigns V1 value of ERA
:MG V1;' Returns V1
00200​

ER applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ER 151/326

 VECTOR/LINEAR
ES Ellipse Scale

ES n0,n1
Usage ES n ... Arguments specified with an implicit, comma-separated order
Description
The ES command divides the resolution of one of the axes in a vector mode (VM). This function allows for the generation of circular motion when encoder
resolutions differ. It also allows for the generation of an ellipse instead of a circle. The resolution change applies for the purpose of generating the VP and
CR commands, effectively changing the axis with the higher resolution to match the coarser resolution.
Arguments
Argument Min Max Default Resolution Description Notes
n0 1 65,535 1 1 First value used for resolution scaling See Remarks for usage
n1 1 65,535 1 1 Second value used for resolution scaling See Remarks for usage
Remarks
For VM xy
When n0 > n1, the resolution of x will be multiplied by n0/n1
When n0 < n1, the resolution of y will be multiplied by n1/n0
The ES command will apply to the selected coordinate system, S or T. To select the coordinate system, use the command CAS or CAT.

Examples
'Galil DMC Code Example
VMAB ;ES 3,4;' Divide B resolution by 4/3
VMCA ;ES 2,3;' Divide A resolution by 3/2
VMAC ;ES 3,2;' Divide A Resolution by 3/2
'Note: ES must be issued after VM.​

'Galil DMC Code Example

VMAN ;ES 3,2;' Divide A Resolution by 3/2
'Note: ES must be issued after VM.​

ES applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ES 152/326

 ECAM/GEARING
ET Electronic cam table

ET n,n,n,n,n,n,n,n
ET[n0] = n,n,n,n,n,n,n,n
Usage ET n ... Arguments specified with an implicit, comma-separated order
Description
The ET command sets the ECAM table entries for the slave axes. The values of the master axes are not required. The slave entry (n) is the position of the
slave axes when the master is at the point (m i) + o, where i is the interval and o is the offset as determined by the EP command.
Arguments
Argument Min Max Default Resolution Description Notes
n0 0 256 N/A 1 Index of the ECAM table entry
n -2,147,483,648 2,147,483,647 0 1 Position of the slave axis at the specified table point.
Remarks
[n0] can be omitted only if EC has initialized the index count. In this case, each ET command will increment the index counter by 1.
n=? Returns the slave position for the specified point.

Examples
'Galil DMC Code Example
ET[ 0] = 0,,0;' Specifies the position of the slave axes A and C to be synchronized with the starting point of the master.
ET[ 1] = 1200,,400;' Specifies the position of the slave axes A and C to be synchronized with the second point of the master
EC 0;' Set the table index value to 0, the first element in the table
ET 0,,0;' Specifies the position of the slave axes A and C to be synchronized with the starting point of the master.
ET 1200,,400;' Specifies the position of the slave axes A and C to be synchronized with the second point of the master​

ET applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ET 153/326

 ECAM/GEARING
EW ECAM Widen Segment

EW n0=n1,n2=n3
Usage EW n ... Arguments specified with an implicit, comma-separated order
_EW0
Operands _EW1 Operand has special meaning, see Remarks
_EW2
_EW3
Description
The EW command allows widening the length of one or two ECAM segments beyond the width specified by EP. For ECAM tables with one or two long
linear sections, this allows placing more points in the curved sections of the table. There are only two widened segments, and if used they are common for
all ECAM axes.
Arguments
Argument Min Max Default Resolution Description Notes
n0 1 255 -1 1 Index of first widened segment If n0 = -1, no segment is widened
n1 1 2,147,483,647 0 1 Length of first widened In master counts
segment
Index of second widened If n2 = -1, no segment is widened. n2 must
n2 3 255 -1 1
segment be > n0
n3 1 2,147,483,647 0 1 Length of second widened In master counts
segment
Remarks
Remember that the widened segment lengths must be taken into account when determining the modulus (EM) for the master.
The second widened segment cannot be used unless the first widened segment is also being used.
The segments chosen should not be the first or last segments, or consecutive segments.
Operand Usage
_EW0 contains n0, the index of the first widened segment.
_EW1 contains n1, the length of the first widened segment.
_EW2 contains n2, the index of the second widened segment
_EW3 contains n3, the length of the second widened segment.

Examples
'Galil DMC Code Example
EW 41=688;' Widen segment 41 to 688 master counts
EW 41=688, 124=688;' Widen segments 41 and 124 to 688 master counts​

EW applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control EW 154/326

 ECAM/GEARING
EY ECAM Cycle Count

EY n
Usage EY n ... Arguments specified with an implicit, comma-separated order
Operands _EY Operand holds the value last set by the command
Description
The EY command sets or gets the ECAM cycle count. This is the number of times that the ECAM axes have exceeded their modulus as defined by the EM
command. EY will increment by one each time the master exceeds its modulus in the positive direction, and EY will decrement by one each time the
master exceeds its modulus in the negative direction.
Arguments
Argument Min Max Default Resolution Description Notes
n -2,147,483,648 2,147,483,647 0 1 Current ECAM cycle count
Remarks
_EY returns the current cycle count
EY can be used to calculate the absolute position of an axis with the following equation:
Absolute position = EY * EM + TP

Examples
'Galil DMC Code Example
MG _EY * _EMY + _TPY ;' print absolute position of master (Y)​

EY applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC18x6
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control EY 155/326

 FILTER/CONTROL
FA Acceleration Feedforward

FAm= n
FA n,n,n,n,n,n,n,n
Usage FAm= n Arguments specified with a single axis mask and an assignment (=)
FA n ... Arguments specified with an implicit, comma-separated order
Operands _FAm Operand holds the value last set by the command
Description
The FA command sets the acceleration feedforward coefficient. This coefficient is scaled by the set acceleration and adds a torque bias voltage during the
acceleration phase and subtracts the bias during the deceleration phase of a motion.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 8,191 0 1/4 Value of proportional term
Remarks
The Feedforward Bias product is limited to 10 Volts.
If the feedforward coefficient is changed during a move, then the change will not take effect until the next move.
FA operates on PA, PR, IP, JG and PVT mode.
FA does not operate in:
Contour Mode (CM)
Axis is Gearing or ECAM slave
Coordinated motion (LM, VM)
Acceleration Feedforward Bias = FA * AC * (1.5 10-7) * ((TM/1000)^2)
Deceleration Feedforward Bias = FA * DC * (1.5 10-7) * ((TM/1000)^2)

Examples
'Galil DMC Code Example
'Set feedforward coefficient to 10 for the A-axis
'and 15 for the B-axis. The effective bias will
'be 0.75V for A and 2.25V for B.

:AC 500000,1000000
:FA 10,15
:MG _FAA ,_FAB
10 15​

FA applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control FA 156/326

 FILTER/CONTROL
FC Distance-selectable feedforward gain

FCm= n
FC n,n,n,n,n,n,n,n
Usage FCm= n Arguments specified with a single axis mask and an assignment (=)
FC n ... Arguments specified with an implicit, comma-separated order
Operands _FCm Operand holds the value last set by the command
Description
Adds a bias to the torque output TT proportional to the commanded velocity if the distance from the end of the move is less than FN. FC is the same as
FV but activated FN counts from the end of the move and both positive and negative values are allowed.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n -8,191 8,191 0 1 Value of distance selectable feedforward gain
Remarks
Valid only in -NAN and -CER firmware
Bias in volts = 1.22 E-6 * FC . (commanded Velocity in counts/s)

Examples
'Galil DMC Code Example
SPA = 100000;'set speed to 100,000 cnts/second
FCA = 10;' set distance-selectable velocity feedforward gain to 10
FNA = 50000;' set distance from end of move when FC is engaged to 5000 counts
PRA = 100000;' command move of 10,000 counts
BGA ;' begin move
EN
' Move shown below with KP 0,KD 0,KI 0,K1 0,K2 0,K3 0​

FC applies to CER,NAN
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control FC 157/326

 INDEPENDENT MOTION
FE Find Edge

FE mm
Usage FE mm Argument is an axis mask
Description
The FE command moves a motor until a transition is seen on the home input for that axis. The direction of motion depends on the initial state of the
homing input (use the CN command to configure the polarity of the home input). Once the transition is detected, the motor decelerates to a stop.
This command is useful for creating custom homing sequences.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH N/A Multi-Axis Mask Axes to Find Edge
Remarks
Find Edge only searches for a change in state on the Home Input. Use FI (Find Index) to search for the encoder index. Use HM (Home) to search for
both the Home input and the Index.
Remember to specify BG after each of these commands
Speed of Find Edge is set with the SP command and should be low enough to allow for a minimum of a 2 sample period pulse width on the home
signal. With TM 1000, the pulse width must be at least 2ms.
Direction of Travel
_CN1 value Home input digital state _HMn state Direction of travel if FE begun in this state
-1 pull-up or non-active opto 1 Backward
-1 grounded or active opto 0 Forward
1 pull-up or non-active opto 0 Forward
1 grounded or active opto 1 Backward
Examples
'Galil DMC Code Example
:FE;' Set find edge mode
:BG;' Begin find edge
:FEA ;' Only find edge on A
:BGA​

'Galil DMC Code Example

:FEB ;' Only find edge on B
:BGB
:FECD ;' Find edge on C and D
:BGCD​

FE applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control FE 158/326

 INDEPENDENT MOTION
FI Find Index

FI mm
Usage FI mm Argument is an axis mask
Description
The FI and BG commands move the motor until an encoder index pulse is detected.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH N/A Multi-Axis Mask Axes to Find Index
Remarks
The controller looks for a transition from low to high. There are 2 stages to the FI command. The first stage jogs the motor at the speed and direction
of the JG command until a transition is detected on the index line. When the transition is detected, the position is latched and the motor will decelerate
to a stop. In the second stage, the motor will reverse direction and move to the latched position of the index pulse at the speed set by the HV
command. At the conclusion of FI, the position is defined as zero.
Find Index only searches for a change in state on the Index. Use FE to search for the Home. Use HM (Home) to search for both the Home input and
the Index. Remember to specify BG after each of these commands.

Examples
'Galil DMC Code Example
#HOME;' Home Routine
JG 1000,-2000;' Set the speed and direction for the first phase of the FI move
HV 500,500;' Set the speed for the second phase of the FI move
FI AB ;' Queue up a find edge move on the A and B axes
' Direction of phase 2 is opposite of phase 1.
BG B ;' Begin FI move on B axis
AM B ;' After the move has finished on axis B,
BG A ;' Begin FI move on the A axis
AM A ;' After the move has finished on axis A,
MG "FI done";' Output a message indicating the FI move is complete.
EN

FI applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control FI 159/326

 ERROR CONTROL
FL Forward Software Limit

FLm= n
FL n,n,n,n,n,n,n,n
Usage FLm= n Arguments specified with a single axis mask and an assignment (=)
FL n ... Arguments specified with an implicit, comma-separated order
Operands _FLm Operand has special meaning, see Remarks
Description
The FL command sets the forward software position limit. If this limit is exceeded during motion, motion on that axis will decelerate to a stop. Forward
motion beyond this limit is not permitted.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n -2,147,483,648 2,147,483,647 2,147,483,647 1 Value of software forward limit 2147483647 turns off forward limit
Remarks
The forward limit is activated at n+1. n = 2147483647 effectively disables the forward soft limit.
The software limit is specified in counts for a servo system or in microsteps for a stepper system.
When the forward software limit is activated, the automatic subroutine #LIMSWI will be executed if it is included in the program.
If motion is commanded when the axis is already passed the FL value, the controller will return error code 22. See TC for details.

Examples
'Galil DMC Code Example
#TEST;' Test Program
AC 1000000;' Acceleration Rate
DC 1000000;' Deceleration Rate
FL 15000;' Forward Limit
JG 5000;' Jog Forward
BGA ;' Begin
AMA ;' After Limit
RPA ;' Tell Position
EN;' End

'Hint: Galil controllers also provide hardware limits.​

FL applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control FL 160/326

 FILTER/CONTROL
FN Distance from end of move when FC is engaged

FNm= n
FN n,n,n,n,n,n,n,n
Usage FNm= n Arguments specified with a single axis mask and an assignment (=)
FN n ... Arguments specified with an implicit, comma-separated order
Operands _FNm Operand holds the value last set by the command
Description
Adds a bias to the torque output TT proportional to the commanded velocity if the distance from the end of the move is less than FN. FC is the same as
FV but activated FN counts from the end of the move and both positive and negative values are allowed.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 2,147,483,647 0 1 Distance from end of move for FC to engage
Remarks
Valid only in -NAN and -CER firmware
Bias in volts = 1.22 . E-6 . FC . (commanded Velocity in counts/s)

Examples
'Galil DMC Code Example
SPA = 100000;'set speed to 100,000 cnts/second
FCA = 10;' set distance-selectable velocity feedforward gain to 10
FNA = 50000;' set distance from end of move when FC is engaged to 5000 counts
PRA = 100000;' command move of 10,000 counts
BGA ;' begin move
EN
'Move shown below with KP 0,KD 0,KI 0,K1 0,K2 0,K3 0​

FN applies to CER,NAN
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control FN 161/326

 FILTER/CONTROL
FV Velocity Feedforward

FVm= n
FV n,n,n,n,n,n,n,n
Usage FVm= n Arguments specified with a single axis mask and an assignment (=)
FV n ... Arguments specified with an implicit, comma-separated order
Operands _FVm Operand has special meaning, see Remarks
Description
The FV command sets the velocity feedforward coefficient. This coefficient generates an output bias signal in proportions to the sample to sample change
in reference position (RP).
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 8,191.75 0 0.25 Value of proportional term
0 8,191 0 1 Value of proportional term -CER firmware only.
Remarks
FV also applies to Contour Mode (CM) and in gearing when an axis is a slave
Velocity feedforward bias = FV * (Velocity [cts/s]) * (1.20 10-6) * (TM/1000)
With FVA=10, TM 1000 and the velocity is 200,000 count/s, the velocity feedforward bias equals 2.40 volts

Examples
'Galil DMC Code Example
'Set feedforward coefficients to 10 and 20 for A and B respectively.
'This effective bias will be 0.360 volts for A and 1.92 volts for B.

:FV 10,20
:JG 30000,80000
:MG _FVA ,_FVB
10 20​

FV applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control FV 162/326

 ECAM/GEARING
GA Master Axis for Gearing

GAm0= m
GA m,m,m,m,m,m,m,m
Usage GAm0= m Arguments are single axis masks and are specified with a single axis mask and an assignment (=)
GA m ... Arguments are single axis masks specified with an implicit, comma-separated order
Description
The GA command specifies the master axes for electronic gearing. Multiple masters for gearing may be specified. A slave axis may have only one master.
The masters may be the main encoder input, auxiliary encoder input, or the commanded position of any axis. The master may also be the commanded
vector move in a coordinated motion of LM or VM type. When the master is a simple axis, it may move in any direction and the slave follows. When the
master is a commanded vector move, the vector move is considered positive and the slave will move forward if the gear ratio is positive, and backward if
the gear ratio is negative. The slave axes and ratios are specified with the GR command and gearing is turned off by the command GR0.
Arguments
Argument Min Max Default Resolution Description Notes
m0 A H N/A Axis Slave axis to assign master m0<>m
m A H N/A Axis Master axis main encoder as the slave's
master
CA CH N/A Axis Master axis commanded position as the Valid arguments:
slave's master CA,CB,CC,CD,CE,CF,CG,CH
DA DH N/A Axis Master axis aux encoder as the slave's Valid arguments:
master DA,DB,DC,DD,DE,DF,DG,DH
S T N/A Axis Vector plane as the slave's master
M N N/A Axis Virtual axis as the slave's master
Remarks
m=? returns the GA setting
When gearing is used in a gantry application, gearing off of the commanded position is recommended
When an axis is geared to a master axis, the slave's geared profile will be superimposed to the slave's commanded profile
Gearing is disabled in the following conditions:
The gear ratio is set to 0
A limit switch is reached
The axis is commanded to stop with the ST command
If it it is desired that gearing is not disabled when a limit switch is reached or an ST command is issued, enable Gantry Mode (GM command).

Examples
'Galil DMC Code Example
REM setup gearing where B axis is master for A and C axes.
#gear
MO B ;' Turn off servo to B motor
GA B ,,B ;' Specify master axis as B on A and C
GR .25,,-5;' Specify A and C gear ratios
SH B ;' Enable B axis
PRB = 1000;BG B ;' Move B axis 1000 counts
' A axis will be commanded to move 250 counts positive
' C axis will be commanded to move -5000 counts
EN;' End program​

'Galil DMC Code Example

REM imaginary axis example
#imag
GAA = N ;' set the imaginary N axis as the master of the A axis
GRA = 2.5;' set the gear ratio for the A axis as 2.5
PRN = 1000;' Move N axis 1000 counts
PRA = 1000;' Move A axis 1000 counts (will be superimposed to the profiled position due to gearing)
BG AN
' (A axis will be commanded to move 3500 counts positive >> 2500 due to gearing + 1000 due to commanded move)
EN;' End Program​

GA applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control GA 163/326

 ECAM/GEARING
GD Gear Distance

GD n,n,n,n,n,n,n,n
GDm= n
Usage GD n ... Arguments specified with an implicit, comma-separated order
Operands _GDm Operand holds the value last set by the command
Description
The GD command sets the distance of the master axis over which the specified slave will be engaged, disengaged or changed to a new gear setting. Using
this command will cause the master axis and the slave axis positions to differ due to the gradual gear shift. To correct for this, see the _GP operand
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Slave axis to assign value
n 0 32,767 0 1 Absolute Value of Gearing Distance 0 engages gearing instantly
Remarks
The distance is entered as an absolute value, the motion of the master may be in either direction.
If the distance is set to 0, then the gearing will engage instantly.

Examples
'Galil DMC Code Example
#A
GA ,A ;' Sets the A axis as the gearing master for the B axis
GD,5000;' Set distance over which gearing is engaged to 5000 counts of the master axis.
JG 5000;' Set the A axis jog speed to 5000 cts/sec
BG A ;' Begin motion on the A axis
AS A ;' Wait until A axis reaches the set speed of 5000 counts/sec
GR ,1;' Engage gearing on the B axis with a ratio of 1:1, the
'distance to fully engage gearing will be 5000 counts of the master axis
WT 1000;' Wait 1 second
GR ,3;' Set the gear ratio to three. The ratio will be changed
'over the distance set by the GD command
WT 1000;' Wait 1 second
GR ,0;' Disengage the gearing between the B axis slave and the
'master. The gearing will be disengaged over the number of
'counts of the master specified with the GD command above
EN;' End program​

'Galil DMC Code Example

#A
GA DA ;' Set the aux encoder input as the gearing master
GD 5000;' Set distance over which gearing is engaged to 5000 counts of the master axis.
GR 1;' Set a gear ratio of 1:1, the distance to fully
'engage gearing will be 5000 counts of the master axis
WT 1000;' Wait 1 second
GR 3;' Set the gear ratio to three. The ratio will be changed
'over the distance set by the GD command
WT 1000;' Wait 1 second
GR 0;' Disengage the gearing between the axis aux encoder
'The gearing will be disengaged over the number of
'counts of the master specified with the GD command above
EN;' End program​

GD applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control GD 164/326

 ECAM/GEARING
GM Gantry mode

GMm= n
GM n,n,n,n,n,n,n,n
Usage GMm= n Arguments specified with a single axis mask and an assignment (=)
GM n ... Arguments specified with an implicit, comma-separated order
Operands _GMm Operand holds the value last set by the command
Description
The GM command specifies the axes in which the gearing function is performed in the Gantry mode. In this mode, the geared slaves will not be stopped
by the ST command or by limit switches.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 1 0 1 Value of GM command 1 Enables Gantry Mode, 0 disables Gantry Mode
Remarks
Only setting Gantry Mode of the slave to 0 (GMm= 0) will disable Gantry Mode

Examples
'Galil DMC Code Example
GM 1,1,1,1;' Enable GM on all axes
GM 0;' Disable GM on A-axis, other axes remain unchanged
GM ,,1,1;' Enable GM on C-axis and D-axis, other axes remain unchanged
GM 1,0,1,0;' Enable GM on A and C-axis, disable GM on B and D axis​

'Galil DMC Code Example

GA DA ;' Set master for A axis to the A axis Aux encoder input
GM 1;' Enable Gantry Mode on A axis
GR 1;' Set Gear Ratio to 1
WT 1000
ST;' Axis will still be in gearing Mode
WT 1000
GM 0;' Disable Gantry Mode (Axis still gearing)
WT 1000
ST;' Will clear gearing mode
EN

GM applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control GM 165/326

 ECAM/GEARING
GR Gear Ratio

GRm= n
GR n,n,n,n,n,n,n,n
Usage GRm= n Arguments specified with a single axis mask and an assignment (=)
GR n ... Arguments specified with an implicit, comma-separated order
Operands _GRm Operand holds the value last set by the command
Description
GR specifies the Gear Ratios for the geared axes in the electronic gearing mode. The master axis is defined by the GA command.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Slave axis to assign gear ratio
n -127 127 0 1/65,536 Value of Gear Ratio of Slave n = 0 disables gearing
Remarks
The gear ratio may be different for each geared axis.
The master can go in both directions.
Gearing is disabled in the following conditions:
The gear ratio is set to 0
A limit switch is reached
The axis is commanded to stop with the ST command
If it it is desired that gearing is not disabled when a limit switch is reached or an ST command is issued, enable Gantry Mode (GM command).

Examples
'Galil DMC Code Example
REM setup gearing where B axis is master for A and C axes.
#gear
MOB ;' Turn off servo to B motor
GAB ,,B ;' Specify master axis as B
GR .25,,-5;' Specify A and C gear ratios
SHB ;' Enable B axis
PRB = 1000;BGB ;' Move B axis 1000 counts
' A axis will be commanded to move 250 counts positive
' C axis will be commanded to move 5000 counts negative (-5000)
EN;' End program​

'Galil DMC Code Example

REM setup gearing where virtual axis, N, is master for axis A.
#gear
GA N ;' Specify master axis as N (imaginary Axis)
GR -2;' Specify gear ratio or -2
PRN = 1000;BGN ;' Move N axis 1000 counts
WT 1000
MG _RPA ,_RPN ;' will indicate -2000 on A and 1000 on N
EN;' End program

:'execution of gearing example

:XQ
:
-2000.0000 1000.0000

GR applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control GR 166/326

 INDEPENDENT MOTION
HM Home

HM mm
Usage HM mm Argument is an axis mask
Operands _HMm Operand has special meaning, see Remarks
Description
The HM command performs a three stage homing sequence for servo systems and a two stage sequence for stepper motors.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH ABCDEFGH Multi-Axis Mask Axis to performing Homing Routine No argument homes all axes
Remarks
The HM command is derived of FE and FI commands. Custom homing sequences can be created by using the FE (Find Edge) and FI (Find Index)
commands.
The sequence of FE and FI commands varies depending upon if the axis is configured for a stepper or servo
Step One. Servos and Steppers
During the first stage of the homing sequence, the motor moves at the user-programmed speed until detecting a transition on the homing input for
that axis. The speed for step one is set with the SP command.
The direction for this first stage is determined by the initial state of the homing input. The state of the homing input can be configured using the
second field of the CN command.
Once the homing input changes state, the motor decelerates to a stop.
Step Two. Servos and Steppers
At the second stage, the motor changes directions and approaches the transition again at the speed set with the HV command. When the transition is
detected, the motor is stopped instantaneously.
Step Three. Servos only
At the third stage, the motor moves in the positive direction at the speed set with the HV command until it detects an index pulse via latch from the
encoder. It returns to the latched position and defines it as position 0.
Operand
_HMm state as a function of CN,n and Home digital input
_CN1 value Home input digital state _HMn state Direction of travel if HM begun in this state
-1 pull-up or non-active opto 1 Backward
-1 grounded or active opto 0 Forward
1 pull-up or non-active opto 0 Forward
1 grounded or active opto 1 Backward
Examples
'Galil DMC Code Example
:HM;' Set Homing Mode for all axes
:BG;' Home all axes
:HMA ;' Set Homing Mode for axis A
:BGA ;' Home only the A-axis​

HM applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control HM 167/326

 ETHERNET
HS Handle Assignment Switch

HSm0= m
Usage HSm0= m Arguments are single axis masks and are specified with a single axis mask and an assignment (=)
HS m ... Arguments are single axis masks specified with an implicit, comma-separated order
Description
The HS command is used to switch the ethernet handle assignments between two handles. Handles are opened when a connection is established by an
external client (TCP or UDP), or when a handle is assigned explicitly with the IH command. Should those assignments need modifications, the HS
command allows the handles to be reassigned.
Arguments
Argument Min Max Default Resolution Description Notes
m0 A H N/A Handle First handle to switch
S S N/A Handle First handle to switch S = current handle sending command. Not valid in
program
m A H N/A Handle Second handle to
switch
S S N/A Handle Second handle to S = current handle sending command. Not valid in
switch program
Remarks
A handle encapsulates the following 4 pieces of information:
1. Local IP address (same for all handles)
2. Remote IP address
3. Local Port
4. Remote Port
Handles are used as a pointer to the network socket in commands such as SAh, MBh, {Eh}, and IHh where h is the handle letter

Examples
'Galil DMC Code Example
:HSC = D ;' Connection for handle C is assigned to handle D. Connection for handle D is assigned to handle C.
:HSS = E ;' Executing handle connection is assigned to handle E. Connection for handle E is assigned to executing handle.​

HS applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control HS 168/326

 INDEPENDENT MOTION
HV Homing Velocity

HVm= n
HV n,n,n,n,n,n,n,n
Usage HVm= n Arguments specified with a single axis mask and an assignment (=)
HV n ... Arguments specified with an implicit, comma-separated order
Operands _HVm Operand holds the value last set by the command
Description
Sets the slew speed for the FI final move to the index and all but the first stage of HM.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 22,000,000 256 2 Value of Homing Velocity in For MT settings of 1,-1,1.5 and -1.5
cnts/second (Servos)
0 6,000,000 256 2 Value of Homing Velocity in For MT settings of 2,-2,2.5 and -2.5
cnts/second (Steppers)
Remarks
None

Examples
'Galil DMC Code Example
HVA = 1000;' set homing speed
HMA ;' home to home switch then index
BGA ;' begin motion
AMA ;' wait for motion complete
EN;' end program​

HV applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC18x6
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control HV 169/326

 PROGRAMMING
HX Halt Execution

HX n
Usage HX n ... Arguments specified with an implicit, comma-separated order
_HX0
_HX1
_HX2
Operands _HX3 Operand has special meaning, see Remarks
_HX4
_HX5
_HX6
_HX7
Description
The HX command halts the execution of any program that is running.The parameter n specifies the thread to be halted.
Arguments
Argument Min Max Default Resolution Description Notes
n 0 7 N/A 1 Thread number to halt If n omitted, all threads are halted.
Remarks
When used as an operand, _HXn contains the running status of thread n with:
0 Thread not running
1 Thread is running
2 Thread has stopped at trippoint

Examples
'Galil DMC Code Example
XQ #A;' Execute program #A, thread zero
XQ #B,3;' Execute program #B, thread three
HX0;' Halt thread zero
HX3;' Halt thread three​

HX applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control HX 170/326

 ETHERNET
IA IP Address

IA n0, n1, n2, n3

IA n4
IA < o
Usage IA n ... Arguments specified with an implicit, comma-separated order
_IA0
_IA1
Operands _IA2 Operand has special meaning, see Remarks
_IA3
_IA4
_IA5
Description
The IA command assigns the controller IP address and the TCP time out. The IP address can also be assigned via Galil software or from an external server.
The controller defaults to DHCP and will receive an IP address from a DHCP server if present. To manually set an IP address over the serial connection,
send DH0 to disable DHCP prior to setting the new IP address with IA.
GalilTools and GalilSuite software packages feature a DHCP/BOOTP capability to assign the IP address to the controller. Please refer to the user manuals for
those products for more information.
Arguments
Argument Min Max Default Resolution Description Notes
n0 0 255 0 1 Byte 3 of the IP address
n1 0 255 0 1 Byte 2 of the IP address
n2 0 255 0 1 Byte 1 of the IP address
n3 0 255 0 1 Byte 0 of the IP address
n4 - 2,147,483,647 0 1 The full IP address specified as a signed 32 bit two's
2,147,483,648 complement integer
o 1 2,147,483,647 250 1 The time in update samples between TCP retries Up to 5 retries
occur
Remarks
When specifying the IP address with IA, remember to use commas as delimeters instead of periods.
n4 = ? will return the IP address of the controller in comma seperated format.
Setting the IP address over Ethernet to a new value will cause an immediate disconnect/timeout. Reconnect to the controller on the new IP address
and issue a BN to save the new value to flash.
To change the IP address manually over Ethernet on a controller which was initially assigned via DHCP, send "DH 0;IA n0,n1,n2,n3" as one command
line. Reconect on the new IP and issue BN to save.
Operands
_IA0 contains the IP address representing a 32 bit signed number (Two's complement). See the example below.
_IA1 contains the value for o (retry time).
_IA2 contains the number of available handles.
_IA3 contains the number of the handle using this operand where the number is 0 to 7. 0 represents handle A, 1 handle B, etc. This is used by a
remote device to detect its outgoing handle (see WH).
_IA4 contains the number of the handle that lost communication last, contains a -1 on reset to indicate no handles lost.
_IA5 returns autonegotiation Ethernet speed. Returns 10 for 10-Base T and returns 100 for 100-Base T, it will return -1 if there is no physical link.
_IA6 returns autonegotiation Ethernet speed for Ethernet port 2. Returns 10 for 10-Base T and returns 100 for 100-Base T, it will return -1 if there is
no physical link.
This only applies to DMC-40x0's with the C022 Communication Board.

Examples
'Galil DMC Code Example
IA 151,12,53,89;' Assigns the controller with the address 151.12.53.89
IA 2534159705;' Assigns the controller with the address 151.12.53.89
IA < 500;' Sets the timeout value to 500 msec​

'Galil DMC Code Example

REM The individual IP address bytes can be derived within embedded code using _IA0
a= @INT[ ( _IA0&( $FF000000) ) /$1000000] &$FF
b= @INT[ ( _IA0&( $00FF0000) ) /$10000]
c= @INT[ ( _IA0&( $0000FF00) ) /$100]
d= @INT[ ( _IA0&( $000000FF) ) ]
REM IP address = a.b.c.d​

Galil Motion Control IA 171/326

 IA applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control IA 172/326

 INTERROGATION
ID Identify

ID
Usage ID Command takes no arguments
Description
The ID command is used to query the controller for the hardware configuration and factory programming.
Arguments
ID is a command with no arguments
Remarks
Refer to the Examples section for actual controller responses
The following are descriptions of the ID response
The ID command follows this pattern:

:ID
FW, firmware revision
DMC, 4000, options, Rev #, nre #
CMB, communication board model #, options, Rev #
ICM1, Interconnect model # for axes A-D, options, Rev #
ICM2, Interconnect model # for axes E-H, options, Rev #
AMP1, Amplifier model # for axes A-D, options, Rev #
AMP2, Amplifier model # for axes E-H, options, Rev #
:

Where the firmware revision is the string returned by the ^R^V command,
options are any ordered options associated with that hardware component,
model # refers to the Galil part number for that product,
Rev # is the hardware revision for that component,
nre # is the NRE number for that component. This field will not be present if there is no NRE number, and can appear on any component after the Rev
field.
If a particular component is not present - i.e. the second amplifier on a one axis controller, it will not be listed in ID.
If the ICM is a standard I000 or I200 with no options, it will not be listed in ID.

Examples
'Galil DMC Code Example
'Part Number: DMC-4080(16BIT)-C012-I000-I000-D3540-D3040
:ID
FW, DMC4080 Rev 1.3a
DMC, 4000, 16 bit, Rev 6
CMB, 41012, 3.3v, Rev 0
AMP1, 43540, Rev 3
AMP2, 43040, Rev 6

ID applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,RIO47xxx,DMC52xx0,RIO574x0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ID 173/326

 PROGRAMMING
IF IF conditional statement

IF (ex)
Usage IF n ... Arguments specified with an implicit, comma-separated order
Description
The IF command is used in conjunction with an ENDIF command to form an IF conditional statement. The arguments consist of one or more conditional
statements and each condition must be enclosed with parenthesis (). If the conditional statement(s) evaluates true, the command interpreter will continue
executing commands which follow the IF command. If the conditional statement evaluates false, the controller will ignore commands until the associated
ENDIF command or an ELSE command occurs in the program.
Arguments
Argument Min Max Default Resolution Description Notes
ex N/A N/A N/A Expression Conditional statement for IF statement See Remarks
Remarks
Conditions are tested with the following logical operators:
< less than or equal to
> greater than
= equal to
<= less than or equal to
>= greater than or equal to
<> not equal
Bit wise operators | and & can be used to evaluate multiple conditions.
A true condition = 1 and a false condition = 0.
Each condition must be placed in parenthesis for proper evaluation by the controller.
'Galil DMC Code Example
IF( ( var0=1) &( var1=2) ) ;' valid IF statement

IF var0=1&var1=2;' invalid IF statement

IF ( var0=1&var1=2) ;' invalid IF statement​

Examples
'Galil DMC Code Example
#A
IF ( _TEA <1000) ;' IF conditional statement based on a motor position
MG "Motor is within 1000 counts of zero";' Message to be executed for true
ENDIF;' End of IF conditional statement
EN;' End Program​

'Galil DMC Code Example

#input
IF ( @IN[ 1] =0) ;' IF conditional statement based on input 1
MG "Input 1 is Low";' Message to be executed if "IF" statement is true
ENDIF;' End of IF conditional statement
EN

'Galil DMC Code Example

#var
v1= @AN[ 1] *5;' some calculation for variable v1
IF( ( v1>25) &( @IN[ 4] =1) ) ;' Conditions based on V1 variable and input 4 status
MG "Conditions met";' Message to be executed if "IF" statement is true
ENDIF;' End of IF statement
EN

'Galil DMC Code Example

REM The conditions of an if statement can be simplied with the fact that
REM a true condition = 1 and a false condition = 0.
#true
v1= 1
IF ( v1)
MG "True v1=",v1
ENDIF
#false
v1= 0
IF ( v1)
'if statement evaluates false
ELSE
MG "False v1=",0
ENDIF
EN

IF applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
Galil Motion Control IF 174/326
 ©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control IF 175/326

 ETHERNET
IH Open IP Handle

IHm= n0,n1,n2,n3 <o >p

IHm= n <o >p
IHm= >p
Usage IHm= n Arguments specified with a single axis mask and an assignment (=)
_IHm0
_IHm1
Operands _IHm2 Operand has special meaning, see Remarks
_IHm3
_IHm4
Description
The IH command is used when the controller is operated as a master (client) to open a handle and connect to a slave (server).
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Handle Handle to assign connection
S T N/A Handle Special handle designator used See Remarks
when closing handles
n0 0 255 0 1 Byte 3 of the slave IP address
n1 0 255 0 1 Byte 2 of the slave IP address
n2 0 255 0 1 Byte 1 of the slave IP address
n3 0 255 0 1 Byte 0 of the slave IP address
n - 2,147,483,647 0 1 Slave IP address as a 32 bit value
2,147,483,648
o 0 65,535 see Notes 1 Specify the slave port to connect If o is omitted, the controller selects
over the port starting at 1000
p 1 2 2 1 Specify the connection type to n = 2 is TCP. n = 1 is UDP.
open
-3 -1 N/A 1 Specify the connection type to See Remarks
close when closing a handle
Remarks
All 4 bytes must be assigned for an IP address to be valid.
IHm=? returns the IP address as 4, 1-byte numbers.
Use the following equation to change the 4 byte IP (n0,n1,n2,n3) to a single 32 bit number, n.
n = (n0*2^24) + (n1*2^16) + (n2*2^8) + n3.
When using Modbus, port 502, note that Galil Modbus supports one master per slave.
Opening a Handle
To open a handle, the user must specify:
The IP address of the slave.
(optional) The port number of the slave. If not specified, the firmware will choose a port.
Modbus connections must always be specified as port 502.
(optional)The connection type as TCP/IP or UDP/IP. If not specified, the controller will make a TCP connection.
Issue the IH command on an available handle with the correct settings for IP (n0-n3), port (o) and connection type (p).
See TH to list handle status.
Closing a Handle
Closing multiple handles is done with the T handle identifier along with a connection type p selector.
IHT => p closes all handles matching the p type selector, where p = -1 closes UDP handles, p = -2 closes TCP handles and p = -3 closes all
handle types.
Closing individual handles, other than the handle being used to send the IH command, is done with IHN => -1 where n is the handle to close (A-H).
Closing the handle that sent the command is done with the S handle identifier, along with connection type p selector.
IHS => p closes the handle that sent the command if its type matches the p selector,where p = -1 closes UDP handles, p = -2 closes TCP
handles and p = -3 closes all handle types.
Operand Usage
Operand Reported Value Description of Value Notes
_IHm0 -2147483648 to 2147483648 IP address of handle m as a 32 bit number (n)
_IHm1 0 to 65535 Slave port number for handle m
_IHm2 0 Handle is free Handle 'Available' in TH
1 Handle connected as UDP slave
2 Handle connected as TCP slave
Galil Motion Control IH 176/326
 -1 Handle connected as UDP master
-2 Handle connected as TCP master
-5 Attempting to establish UDP handle
-6 Attempting to establish TCP handle
_IHm3 0 ARP was successful
1 ARP failed or still in progress
_IHm4 1 Waiting for ACK from slave controller after issuing a command
2 Received ":" as response to a command
3 Received "?" as response to a command
4 Connection timed-out waiting for a response to a command
Examples
'Galil DMC Code Example
IHA = 251,29,51,1;' Open handle A at IP address 251.29.51.1
'TCP is used as default
IHA = -2095238399;' Open handle A at IP address 251.29.51.1
'When the IH command is given,
'the controller initializes an ARP
'on the slave device before opening a handle.
'This operation can cause a small time delay
'before the controller responds​

'Galil DMC Code Example

'setting up a modbus handle
MW1;' setup modbus wait
IHE = 192,168,100,200<502>2;' setup a modbus handle to slave
#wt;' wait for handle to be connected
WT2;' before issuing a command
JP#wt,_IHE 2<>-2;'
SB5003;' Set output 3 on slave
WT1000;' 1 second wait
MBE = ,5,3,0;' Clear output 3 using MB command
EN

IH applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control IH 177/326

 IO
II Input Interrupt

II n0,n1,n2,n3
Usage II n ... Arguments specified with an implicit, comma-separated order
Description
The II command enables the input interrupt function for the specified inputs.
The II command is used along with the #ININT subroutine to execute specific code when inputs specified by II are in the desired state.
Arguments
Argument Min Max Default Resolution Description Notes
n0 0 8 0 1 Lowest input to use for interrupt trigger n0=0 disables input interrupt
n1 1 8 N/A 1 Highest input to use for interrupt trigger n1 must be >= n0, If omitted n1=n0
n2 Use bitmask as alternative selection of If n0 and n1 are used, n2 is ignored,
1 255 N/A 1 input interrupt triggers see Remarks
n3 0 255 0 1 Bitmask specifying required input state for Default=interrupt triggers on low
interrupt trigger inputs, see Remarks
Remarks
The argument n2 is a bitmask for the inputs selected for the input interrupt function. This field is ignored if n0 and n1 are used.
For example, if n2 = 15, the binary equivalent is 00001111. This means that inputs 1-4 would be selectd by the II function, and 5-8 would not
be.
This argument n3 is bistmask showing which state the input must be in for the II function to trigger.
For example, if n0=1 and n1=4, the inputs 1,2,3 and 4 have been activated. If the value for n3 is 2 (the binary equivalent of 2 is 00000010),
then input 2 must be a '1' and inputs 1,3, and 4 must be a "0", for II to trigger the #ININT subroutine.
The RI command is used to return from the #ININT routine.

Examples
'Galil DMC Code Example
II 1,1,,0;' Specify interrupt on input 1 only, and triggers when input 1 = 0.
EN;' End Program
#ININT ;' Interrupt subroutine
' The code the user wants to run when II triggers goes here.
WT100;' Debounce the input.
RI 1;' Return to main program, re-enabling trip point.
' Specify RI 0 if it is not desired to re-enable trip points.​

II applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control II 178/326

 ETHERNET
IK Block Ethernet ports

IK n
Usage IK n ... Arguments specified with an implicit, comma-separated order
Description
The IK command blocks client connections to the controller on most ports below port number 1000. Specific port numbers and ports above 1000 are
unaffected.
Arguments
Argument Value Description Notes
n 0 Allow controller to receive Ethernet packets on any port
1 Blocks Ethernet packets on ports lower than 1000. Default. Ports 0,23,68, and 502 are unaffected.
Remarks
A Galil Ethernet controller simultaneusly operates as a server (listening for Ethernet connections from a client) and a client (able to create connections
to a server).
Ports 0, 23, 68 and 502 are used for standard client connections to the controller.

Examples
'Galil DMC Code Example
:IK1;' Blocks undesirable port communication
:IK0;' Allows all Ethernet ports to be used

IK applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control IK 179/326

 FILTER/CONTROL
IL Integrator Limit

ILm= n
IL n,n,n,n,n,n,n,n
Usage ILm= n Arguments specified with a single axis mask and an assignment (=)
IL n ... Arguments specified with an implicit, comma-separated order
Operands _ILm Operand holds the value last set by the command
Description
The IL command limits the effect of the integrator gain in the filter to a certain voltage.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n -9.9982 9.9982 9.9982 20/65,536 Value of Integrator limit n< 0 (negative value) freezes the effect of the
in volts integrator during the move
Remarks
IL is the absolute value of the integrator limit. For example:
ILA= 2 limits the output of the integrator of the A-axis to the +/-2 Volt range.
KD and KP terms remain active in any case. The output from the KD and KP terms is not affected.
A negative parameter will freeze the effect of the integrator during the move. For Example:
ILA= -3 limits the integrator output of the A axis to +/-3V but freezes the contribution of the Integrator loop during motion.
If, at the start of the motion, the integrator output is 1.6 Volts, that level will be maintained through the move and the integrator will not accumulate
during the move.
Once the profiled move has completed (RP has reached final commanded position), the integrator loop will be enabled.
When using the -CER firmware, the default value of IL is -9.9982.

Examples
'Galil DMC Code Example
KI 2,3,5,8;' Integrator constants
IL 3,2,7,2;' Integrator limits
IL ? ;' Returns the A-axis limit​

IL applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control IL 180/326

 PROGRAMMING
IN Input Variable

IN str,arg
Usage IN n ... Arguments specified with an implicit, comma-separated order
Description
The IN command allows a variable to be input from a keyboard. When the IN command is executed in a program, the prompt message is displayed. The
operator then enters the variable value followed by a carriage return. The entered value is assigned to the specified variable name. The IN command holds
up execution of following commands in a program until a carriage return or semicolon is detected. If no value is given prior to a semicolon or carriage
return, the previous variable value is kept.
Arguments
Argument Min Max Default Resolution Description Notes
str 0 chars 74 chars N/A String The prompt message See Remarks
arg N/A N/A N/A N/A The variable where the response will be placed
Remarks
The IN command may only be used in thread 0
Do not include a space between the comma at the end of the input message and the variable name
Entire command must be less than the total maximum line length. This determines the maximum length of str.
Backlash'\' character will clear the IN command trippoint. The variable will not be overwritten in (will be last set value).
The IN command can only be used with a serial connection to the controller
Input Interrupts, Error Interrupts and Limit Switch Interrupts will still be active during the prompt

Examples
'Galil DMC Code Example
'Operator specifies length of material to be cut in inches and speed in inches/sec (2 pitch lead screw, 2000 counts/rev encoder).

#A;' Program A
IN "Enter Speed(in/sec)",V1;' Prompt operator for speed
IN "Enter Length(in)",V2;' Prompt for length
V3= V1*4000;' Convert units to counts/sec
V4= V2*4000;' Convert units to counts
SP V3;' Speed command
PR V4;' Position command
BG A ;' Begin motion
AM A ;' Wait for motion complete
MG "MOVE DONE";' Print Message
EN;' End Program​

IN applies to DMC500x0,DMC40x0,DMC42x0,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control IN 181/326

 INDEPENDENT MOTION
IP Increment Position

IPm= n
IP n,n,n,n,n,n,n,n
Usage IPm= n Arguments specified with a single axis mask and an assignment (=)
IP n ... Arguments specified with an implicit, comma-separated order
Description
The IP command allows for a change in the command position while the motor is moving. This command does not require a BG.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n -2,147,483,648 2,147,483,647 N/A 1 Value of incremental move
Remarks
_IPm contains the current position of the motor
The IP command has four effects depending on the mode of motion being executed.
IP operation based upon modes of motion
Case Equivalent Commands Description
Motor is IPm=n Equivalent to Motor will move to specified position with the predefined AC,DC,SP values.
standing still PRm=n;BGm
Motor is PRm=n0; BGm;IPm=n1
moving Equivalent to PRm= Motor will move a relative move of (n0+n1).
toward (n0+n1); BGm
position n
JGm=n0;BGm;IPm=n1 The motor will instantly try to servo to a position which is the current instantaneous position plus the
Motor is in
Jog Mode Equivalent to Continuing jog specified IP position. SP and AC parameters have no effect. This command is useful when synchronizing 2
from (current position + n1) axes in which one of the axis' speed is indeterminate due to a variable diameter pulley.
Motor is a GAm= m0; GRm=n0;
slave in IPm=n1 Equivalent to GAm= The motor will move with the predefined AC,DC,SP values superimposed on top of the existing gearing
gearing m0; GRm=n0; PRm=n1; motion.
mode BGm
Examples
'Galil DMC Code Example
IP 50;' 50 counts with set acceleration and speed
#CORRECT;' Label
AC 100000;' Set acceleration
JG 10000;BGA ;' Jog at 10000 counts/sec rate
WT 1000;' Wait 1000 msec
IP 10;' Move the motor 10 counts instantaneously
STA ;' Stop Motion
EN

IP applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control IP 182/326

 INDEPENDENT MOTION, SYSTEM CONFIG
IT Independent Time Constant - Smoothing Function

ITm= n
IT n,n,n,n,n,n,n,n
Usage ITm= n Arguments specified with a single axis mask and an assignment (=)
IT n ... Arguments specified with an implicit, comma-separated order
Operands _ITm Operand holds the value last set by the command
Description
The IT command filters the acceleration and deceleration functions of independent moves such as JG, PR, PA to produce a smooth velocity profile. The
resulting profile, known as smoothing, has continuous acceleration and results in reduced mechanical vibrations. IT sets the bandwidth of the filter where 1
means no filtering and 0.004 means maximum filtering.
The IT command also filters the individual axes during Vector Mode (VM) and Linear Interpolation Mode (LM).
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0.004 1 1 1/256 Value of independent smoothing 1 = no filtering, 0.004 = maximum
function filtering
Remarks
The IT filtering results in longer motion time.
The use of IT will not effect the trippoints AR and AD.
The trippoints AR & AD monitor the profile prior to the IT filter and therefore can be satisfied before the actual distance has been reached if IT is
NOT 1.
Details on the IT filtering can be found in Application Note #3412
http://www.galil.com/download/application-note/note3412.pdf

Examples
'Galil DMC Code Example
:IT 0.8, 0.6, 0.9, 0.1;' Set independent time constants for a,b,c,d axes
:IT ? ;' Return independent time constant for A-axis
0.8000​

'Galil DMC Code Example

REM example showing increased time due to IT filtering
#move
IT 1
t= TIME;'store time reference
PR 1000
BGA ;AMA
MG TIME-t;'display move time
IT 0.01
t= TIME;'store time reference
PR 1000
BGA ;AMA
MG TIME-t;'display move time
EN

:'program execution output

:XQ
:
508.0000
1112.0000

IT applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control IT 183/326

 INDEPENDENT MOTION
JG Jog

JGm= n
JG n,n,n,n,n,n,n,n
Usage JGm= n Arguments specified with a single axis mask and an assignment (=)
JG n ... Arguments specified with an implicit, comma-separated order
Operands _JGm Operand has special meaning, see Remarks
Description
The JG command sets the jog mode and the jog slew speed of the axes.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
N M N/A Axis Virtual axis to assign value
n - 22,000,000 25,000 2 Value of jog speed in For MT settings of 1,-1,1.5 and -1.5 (Servos)
22,000,000 cnts/second
-6,000,000 6,000,000 25,000 2 Value of jog speed in For MT settings of 2,-2,2.5 and -2.5
cnts/second (Steppers)
- 50,000,000 25,000 2 Vale of jog speed in cnts/second ICM-42100 with AF>=5
50,000,000
Remarks
When jogging, the motion controller profiles a continuous move at the commanded speed.
To stop the motion, use the ST command.
JG 2 is the minimum non-zero speed
_JGm contains the absolute value of the jog speed for the specified axis.
The JG command will set the SP register with the absolute value of the 'n' value.
Resolution
The resolution of the JG command is dependent upon the update rate setting (TM).
With the default rate of TM 1000 the resolution is 2 cnts/second.
The equation to calculate the resolution of the JG command is:
resolution = 2*(1000/TM)
example:
With TM 250 the resolution of the JG command is 8 cnts/second
resolution = 2*(1000/250) = 8

Examples
'Galil DMC Code Example
#jg
JG 100,500,2000,5000
' Sets for jog mode with a slew speed of 100 counts/sec for the A-axis,
' 500 counts/sec for the B-axis,
' 2000 counts/sec for the C-axis,
' and 5000 counts/sec for D-axis.
BG;' Begin Motion
WT 1000;' Wait one second
JG ,,-2000;' Change the C-axis to slew in the negative direction at -2000 counts/sec.
EN

JG applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control JG 184/326

 PROGRAMMING
JP Jump to Program Location

JP #str,(ex)
JP n,(ex)
Usage JP n ... Arguments specified with an implicit, comma-separated order
Description
The JP command causes a jump to a program location on a specified condition. The program location may be any program line number or label. A jump
is taken if the specified condition is true. Multiple conditions can be used in a single jump statement.
JP can be used for relative jumps and for jump tables, see Examples.
Arguments
Argument Min Max Default Resolution Description Notes
str 1 char 7 chars N/A String Label name for jump destination Must be a valid label in application
code
n 0 see Notes N/A 1 Line number for jump destination Maximum is number of lines of
controller program memory - 1
ex N/A N/A N/A Expression Conditional statement/s that must If omitted, JP automatically evaluates
evaluate true for jump to occur as true
Remarks
The logical operators that can be used in the conditional statement are:
< less than
> greater than
= equal to
<= less than or equal to
>= greater than or equal to
<> not equal to
The conditional statements are combined in pairs using the operands "&" and "|".
The "&" operand between any two conditions requires that both statements must be true for the combined statement to be true.
The "|" operand between any two conditions requires that only one statement be true for the combined statement to be true.
Each condition must be placed in parentheses for proper evaluation by the controller.
'Galil DMC Code Example
REM Use of parentheses
JP#a,( ( var0=1) &( var1=2) ) ;' valid conditional jump
JP#a,var0=1&var1=2;' invalid conditional jump​

Examples
'Galil DMC Code Example
JP #POS1,( V1<5) ;' Jump to label #POS1 if variable V1 is less than 5
JP #A,( ( V7*V8) =0) ;' Jump to #A if V7 times V8 equals 0
JP #B,( @IN[ 1] =1) ;' Jump to #B if input 1 = 1
JP #C;' Jump to #C unconditionally​

Jump Table
'Galil DMC Code Example
REM Example of jumping to a label plus an offset
REM #error is a subroutine that prints an error
REM message based on the value of an error
REM variable, ecode
#a
REM Set error code and then JS to sub
ecode = 1
JS #error
ecode = 3
JS #error
ecode = 56;' bad error code
JS #error
EN
'
'***************
'Example of a Jump table
#error
REM First check that ecode is valid
IF ( ecode < 0)
ecode = 4
ENDIF
IF ( ecode > 4)
ecode = 4
ENDIF
REM Call the helper label with an offset
JP#error_h + ecode

Galil Motion Control JP 185/326

 'CRITICAL! Do not change line
' spacing in following text
#error_h;MG "No error, zero";EN
MG "Error code 1, foo";EN
MG "Error code 2, bar";EN
MG "Error code 3, baz";EN
MG "Invalid error code";EN
REM ecode indexes the line to execute
REM above, relative to #error_h
REM
REM Returned messages:
REM Error code 1, foo
REM Error code 3, baz
REM Invalid error code​

Relative Jump
'Galil DMC Code Example
REM A loop for delaying 1000 samples (~ 1 sec)
REM sample time
MG "Relative jump"
t= TIME
REM print sampled time
MG t
REM loop until TIME increments 1000 samples
REM _XQ0-1 points back to the beginning of the line
JP _XQ0-1,( TIME < ( t+1000) )
REM print current time
MG TIME
REM This is NOT thread safe as
REM _XQ0 refers to thread 0 only
REM For easier readability and stability, use labels
REM wherever possible
MG "Label-based jump"
t= TIME
MG t
#wait
JP#wait, ( TIME < ( t+1000) )
MG TIME
REM Also, where possible use trippoints
MG "Trippoint"
t= TIME
MG t
WT 1000;' see WT for units
MG TIME
EN

REM Relative jump

REM 3459.0000
REM 4459.0000
REM Label-based jump
REM 4461.0000
REM 5461.0000
REM Trippoint
REM 5463.0000
REM 6464.0000​

JP applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control JP 186/326

 PROGRAMMING
JS Jump to Subroutine

JS #str(arg,arg,arg,arg,arg,arg,arg,arg), (ex)
JS n(arg,arg,arg,arg,arg,arg,arg,arg), (ex)
Usage JS n ... Arguments specified with an implicit, comma-separated order
Operands _JS Operand has special meaning, see Remarks
Description
Allows the program to jump to a subroutine and return back after completion. This command is often used to call reusable code.
Arguments
Argument Min Max Default Resolution Description Notes
str 1 char 7 chars N/A String Label Name for jump Must be a valid label in application code
destination
Line number for jump Firmware Rev 1.2a and later. May be a value or a
n 0 3,999 N/A 1 destination variable, but not an evaluated statement with
parenthesis
n 0 1,999 N/A 1 Line number for jump May be a value or a variable, but not an
destination evaluated statement with parenthesis
Conditional statement/s that
ex N/A N/A N/A N/A must evaluate true for jump If omitted, the jump is taken
to occur
A value, variable, or array to referenced from within the subroutine as ^a-^h,
arg N/A N/A N/A N/A pass to the subroutine being respectively. See Remarks for a table of valid
called args
Remarks
JS can be nested, called up to 16 deep
When used after JS is called, the _JS operand contains the returned value of the subroutine called by JS
Basic Usage
The JS command will change the sequential order of execution of commands in a program
If the jump is taken, program execution will continue at the line specified by the destination parameter, which can be either a line number or label. A
variable holding a line number or an expression resulting in the calculation of a line number can also be used
The line number of the calling JS command is saved and after an EN command is encountered (End of subroutine), program execution will continue
with the instruction following the calling JS command.
A jump is taken if the specified condition is true. Each condition must be placed in parenthesis for proper evaluation by the controller.
Code flexibility/reuse. A single subroutine can be written and called many times and from various locations in code. The stack "remembers" where to
return when completed. This is opposite from a "blind jump" (JP).
Conditional Syntax
Condition Validity
JS#A,(var1=0)&(var2=1) This conditional statement is valid
JS#A,var1=0&var2=1 This conditional statement is not valid
Passing Values on the Stack
Parameters can be passed on the subroutine stack
Passing parameters in a subroutine has many advantages including the following
Variable Scope/ Local variables. A subroutine can run with a protected variable space. Local variables exist only in the extent of the subroutine,
and no external thread or stack level can access local variables. Local variables can be used for counters, indices, and other helper variables
Each thread has its own stack, therefore subroutines are reentrant. In other words, multiple threads can be running the same subroutine
simultaneously at various stack depths.
Support for recursion. Although the subroutine stack is only 16 deep, recursion is possible. A stack depth of 16 is sufficient for many recursive
tasks. E.G. recursing axes, handles, and thread status.
Parameter passing. A calling command can explicitly specify the inputs to a subroutine. The subroutine can pass one value back to the calling
command. More returns are possible with pass by reference and array passing.
Constants, Variables, and Arrays may be passed up a subroutine stack.
Variables may be passed by value or by reference. If passed by value, a copy is made in the subroutine stack, leaving the original variable immutable.
If passed by reference, the original variable's value will be changed when the subroutine writes to its local variable. This is similar, but not exactly
analogous to a C pointer.
A variable passed by reference is automatically dereferenced; the variable pointer is not exposed to the user. Following the C syntax, a by-reference
pass is accomplished with the ampersand (&) in the invoking call.
IMPORTANT NOTE: When passing a variable by reference, do not allocate any new variables in the called subroutine.
Arrays can be passed in the stack, though only by reference. No "&" is used when passing arrays, by-reference is assumed. To pass an array, use its
name in quotations.
IMPORTANT NOTE: Arrays to be passed must have names that are 6 characters or less.
The number of elements in an array is returned by reading index -1, e.g. array[-1].

Galil Motion Control JS 187/326

 To return a value on the stack, write the value in the EN command upon ending the subroutine. The parent stack can access this value via _JS.
Examples of valid args (see examples for demo of each concept)
What to pass arg Example
Value the value JS #square(7)
Variable's value variable name JS #sub(var)
Variable by reference ampersand + variable name JS #sub(&var)
Array by reference array name in quotes JS#sub("array")
Examples
'Galil DMC Code Example
REM Example of pulsing an output
pulse= 0
JS#pulse,( pulse > 0) ;'JS not taken
WT 2000
pulse= 3
JS#pulse,( pulse > 0) ;'JS taken
WT 2000
pulse= 5
JS#pulse;'unconditionally take jump
EN
'
'
REM Subroutine called after
REM setting pulse variable
#pulse
SB 1;' set bit 1
WT 500;' delay 500 ms
CB 1;' clear bit 1
WT 500;' delay 500 ms
pulse= pulse-1;' decrement pulse
JP#pulse,pulse>0;' continue till zero
EN;' return to calling JS

Advanced Usage Examples

'Galil DMC Code Example
REM Run all examples
#all
JS#val
JS#var
JS#varref
JS#array
EN
REM Example for each way to pass to a subroutine
REM ********************************************
REM Pass a Value
#val
JS #square( 3)
MG _JS
EN
#square
REM Return the passed value squared
EN ,,( ^a*^a)
REM ********************************************
REM Pass a variable's value
#var
val= 7
REM call the same sub above
JS #square( val)
MG _JS
EN
REM ********************************************
REM Pass a variable by reference
#varref
val= 9
JS #square2( &val)
MG val
EN
#square2
REM change the value of the variable
^a= ^a*^a
REM don't return anything
EN
REM ********************************************
REM Pass an array by reference
#array
DM array[ 100]
array[ 42] = 11
JS #square3( "array")
MG array[ 42]
EN
#square3
REM change the array element
^a [ 42] = ^a [ 42] *^a [ 42]
REM don't return anything
EN
Galil Motion Control JS 188/326
 REM ********************************************
REM Controller Response
REM :XQ#all
REM :
REM 9.0000
REM 49.0000
REM 81.0000
REM 121.0000​

'Galil DMC Code Example

#ADD
JS#SUM( 1,2,3,4,5,6,7,8) ;' Call subroutine, pass values
MG_JS;' Print return value, will print 36.0000
EN

#SUM;' Sums values passed to it. Expects 8 numbers

EN,,^a+^b+^c+^d+^e+^f+^g+^h;' Return the sum​

'Galil DMC Code Example

'Dimension two arrays
DM array1[ 10]
DM array2[ 100]
'Zero the contents of each array
JS#ZeroAry( "array1", 0)
JS#ZeroAry( "array2", 0)
EN

'Zero the contents of an array

#ZeroAry;'(^a array,^b starting index)
^a [ ^b] = 0
^b= ( ^b+1)
JP#ZeroAry,( ^b < ^a [ -1] )
EN

'Galil DMC Code Example

REM Using dynamic destinations in a jump table
i= 1;' Counter
#loop
offset= #spell+i;' Calculate offset
JS offset;' Jump to offset
i= i+1;' Increment Counter
JP#loop,i<=3;' Loop through 3 states
EN
'
#spell;' Subroutine containing various words
MG"One";EN;' Prints "One" if this line is called (i=1)
MG"Two";EN;' Prints "Two" if this line is called (i=2)
MG"Three";EN;' Prints "Three" if this line is called (i=3)

REM Controller responds with:

REM One
REM Two
REM Three​

JS applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control JS 189/326

 FILTER/CONTROL
K1 Proportional gain during motion

K1m= n
K1 n,n,n,n,n,n,n,n
Usage K1m= n Arguments specified with a single axis mask and an assignment (=)
K1 n ... Arguments specified with an implicit, comma-separated order
Operands _K1m Operand holds the value last set by the command
Description
K1 is the proportional gain in effect when the profiler is commanding motion (RP is changing). When no motion is commanded (RP constant), KP is in
effect. Some systems will oscillate when holding position unless the gains are lowered.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 1,023.875 6 1/8 Value of proportional term
Remarks
Valid only in -CLS, -NAN and -CER firmware

Examples
'Galil DMC Code Example
K1X = 10;' set X axis P gain in effect during motion
K2X = 1;' set X axis I gain in effect during motion
K3X = 100;'set X axis D gain in effect during motion
KPX = 6;' set X axis P gain in effect when holding position
KIX = 0;' set X axis I gain in effect when holding position
KDX = 64;' set X axis D gain in effect when holding position​

K1 applies to CER,CLS,NAN
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control K1 190/326

 FILTER/CONTROL
K2 Integrator gain during motion

K2m= n
K2 n,n,n,n,n,n,n,n
Usage K2m= n Arguments specified with a single axis mask and an assignment (=)
K2 n ... Arguments specified with an implicit, comma-separated order
Operands _K2m Operand holds the value last set by the command
Description
K2 is the integral gain in effect when the profiler is commanding motion (RP is changing). When no motion is commanded (RP constant), KI is in effect.
Some systems will oscillate when holding position unless the gains are lowered.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 255.999 0 1/1,024 Value of integrator term
Remarks
Valid only in -NAN, -CER, -CLS firmware

Examples
'Galil DMC Code Example
K1X = 10;' set X axis P gain in effect during motion
K2X = 1;' set X axis I gain in effect during motion
K3X = 100;'set X axis D gain in effect during motion
KPX = 6;' set X axis P gain in effect when holding position
KIX = 0;' set X axis I gain in effect when holding position
KDX = 64;' set X axis D gain in effect when holding position​

K2 applies to CER,CLS,NAN
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control K2 191/326

 FILTER/CONTROL
K3 Derivative gain during motion

K3m= n
K3 n,n,n,n,n,n,n,n
Usage K3m= n Arguments specified with a single axis mask and an assignment (=)
K3 n ... Arguments specified with an implicit, comma-separated order
Operands _K3m Operand holds the value last set by the command
Description
K3 is the derivative gain in effect when the profiler is commanding motion (RP is changing). When no motion is commanded (RP constant), KD is in effect.
Some systems will oscillate when holding position unless the gains are lowered.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 4,095.875 64 1/8 Value of derivative term
Remarks
Valid only in -NAN and -CER firmware

Examples
'Galil DMC Code Example
K1X = 10;' set X axis P gain in effect during motion
K2X = 1;' set X axis I gain in effect during motion
K3X = 100;'set X axis D gain in effect during motion
KPX = 6;' set X axis P gain in effect when holding position
KIX = 0;' set X axis I gain in effect when holding position
KDX = 64;' set X axis D gain in effect when holding position​

K3 applies to CER,NAN
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control K3 192/326

 FILTER/CONTROL
KD Derivative Constant

KDm= n
KD n,n,n,n,n,n,n,n
Usage KDm= n Arguments specified with a single axis mask and an assignment (=)
KD n ... Arguments specified with an implicit, comma-separated order
Operands _KDm Operand holds the value last set by the command
Description
KD designates the derivative constant in the control filter. The derivative gain outputs a voltage based on the rate of change of the error. The filter
transfer function follows:

Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 4,095.875 64 1/8 Value of derivative term
Remarks
n=? will return the currently set value of KD
m=* will set the KD value for all axes/channels
For further details see the section "Theory of Operation" in the controller user manual.

Examples
'Galil DMC Code Example
:KD 12,14,16,20;' Implicit notation to set A,B,C,D axis derivative term
:KDC = 8;' Explicit notation to set C
:KD ,,8;' Implicit notation to set C
:KD ? ,? ,? ,? ; ' Return A,B,C,D values
12, 14, 8, 20
:KDC = ? ;' Return C value
8
:MG _KDA ;' Message the operand for the A axis
12

'Galil DMC Code Example

REM Zeroing the PID filter allows the
REM motor command signal to be
REM used as a programmable DAC
KI* = 0;' Zero KI
KP* = 0;' Zero KP
KD* = 0;' Zero KD
ER -1,-1;' Rurn off position error limit
OF 1,2;' Set one volt on A and two volts on B
EN

KD applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control KD 193/326

 FILTER/CONTROL
KI Integrator

KIm= n
KI n,n,n,n,n,n,n,n
Usage KIm= n Arguments specified with a single axis mask and an assignment (=)
KI n ... Arguments specified with an implicit, comma-separated order
Operands _KIm Operand holds the value last set by the command
Description
The KI command sets the integral gain of the control loop. The integrator term will reduce the position error at rest to zero. It fits in the control equation
as follows:

Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 255.999 0 1/1,024 Value of Integral term
Remarks
n=? will return the currently set value of KI
m=* will set the KI value for all axes/channels
For further details see the section "Theory of Operation" in the controller user manual.

Examples
'Galil DMC Code Example
:KIC = 8;' Explicit notation to set C
:KI ,,8;' Implicit notation to set C
:KI ? ,? ,? ,? ; ' Return A,B,C,D values
7, 14, 8, 20
:KIC = ? ;' Return C value
8
:MG _KIA ;' Message the operand for the A axis
7

'Galil DMC Code Example

REM Zeroing the PID filter allows the
REM motor command signal to be
REM used as a programmable DAC
KI* = 0;' Zero KI
KP* = 0;' Zero KP
KD* = 0;' Zero KD
OF 1,2;' Set one volt on A and two volts on B
EN

KI applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2,CLS,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control KI 194/326

 FILTER/CONTROL
KP Proportional Constant

KPm= n
KP n,n,n,n,n,n,n,n
Usage KPm= n Arguments specified with a single axis mask and an assignment (=)
KP n ... Arguments specified with an implicit, comma-separated order
Operands _KPm Operand holds the value last set by the command
Description
KP designates the proportional constant in the controller filter. The proportional gain outputs a control signal proportional to the amount of error. The filter
transfer function follows.

Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 4,095.875 6 1/8 Value of proportional term
Remarks
n=? will return the currently set value of KP
For further details see the section "Theory of Operation" in the controller user manual.

Examples
'Galil DMC Code Example
:KP 12,14,16,20;' Implicit notation to set a,b,c,d axis proportional term
:KPC = 8;' Explicit notation to set C
:KP ,,8;' Implicit notation to set C
:KP ? ,? ,? ,? ; ' Return A,B,C,D values
7, 14, 8, 20
:KPC = ? ;' Return C value
8
:MG _KPA ;' Message the operand for the A axis
12

'Galil DMC Code Example

REM Zeroing the PID filter allows the
REM motor command signal to be
REM used as a programmable DAC
KI* = 0;' Zero KI
KP* = 0;' Zero KP
KD* = 0;' Zero KD
OF 1,2;' Set one volt on A and two volts on B
EN

KP applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2,CLS,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control KP 195/326

 STEPPER MOTOR
KS Step Motor Smoothing

KSm= n
KS n,n,n,n,n,n,n,n
Usage KSm= n Arguments specified with a single axis mask and an assignment (=)
KS n ... Arguments specified with an implicit, comma-separated order
Operands _KSm Operand holds the value last set by the command
Description
The KS parameter sets the amount of smoothing of stepper motor pulses. Larger values of KS provide greater smoothness. KS adds a single pole low pass
filter onto the output of the motion profiler.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0.25 64 2 1/32 Value of smoothing constant
Remarks
This is most useful when operating in full or half step mode.
KS effect on timing:
This parameter will increase the time to complete a motion time by 3KS sampling periods.
KS will cause an overall delay in the generation of output steps.

Examples
'Galil DMC Code Example
:KSC = 8;' Explicit notation to set C
:KS ,,8;' Implicit notation to set C
:KS ? ,? ,? ,? ; ' Return A,B,C,D values
7, 14, 8, 20
:KSC = ? ;' Return C value
8
:MG _KSA ;' Message the operand for the A axis
7

KS applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control KS 196/326

 PROGRAMMING, INTERROGATION
LA List Arrays

LA
Usage LA Command takes no arguments
Description
The LA command returns a list of all arrays in memory. The size of each array will be included next to each array name in square brackets.
Arguments
LA is an interrogation command with no parameters
Remarks
The listing will be in alphabetical order.

Examples
'Galil DMC Code Example
:DM gold[ 100] ,silver[ 50] ,plat[ 200] ;' Dimensions arrays with given name and the number of array elements in square brackets
:LA;' Commands the controller to list arrays in alphabetical order
gold[100]
plat[200]
silver[50]
:DA *[ ] ;' Dialocates all arrays
:LA;' List arrays now returns with no arrays

LA applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control LA 197/326

 SYSTEM CONFIG
LB LCD Bias Contrast

LB n
Usage LB n ... Arguments specified with an implicit, comma-separated order
Operands _LB Operand holds the value last set by the command
Description
The LB command sets the Bias contrast on the LCD.
Arguments
Argument Min Max Default Resolution Description Notes
n -15 15 15 1 Sets LCD Contrast A -n will turn on the optional backlight
Remarks
A higher absolute value of n increases the bias contrast

Examples
'Galil DMC Code Example
:LB 8;' Sets the LCD bias contrast to 8
:MG _LB;' Returns set LDC bias contast
8.0000
:LB -5;' Sets the LDC bias contrast to 5 and turns on optional backlight​

LB applies to DMC500x0,DMC40x0
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control LB 198/326

 STEPPER MOTOR
LC Low Current Stepper Mode

LCm= n
LC n,n,n,n,n,n,n,n
Usage LCm= n Arguments specified with a single axis mask and an assignment (=)
LC n ... Arguments specified with an implicit, comma-separated order
Operands _LCm Operand holds the value last set by the command
Description
The LC command enables low current mode for stepper motors. Low current mode reduces the holding current of the stepper motors while at rest.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 1 0 1 n= 0, Default, stepper drive provides 100% current at rest; n= 1,
25% holding current when motor at rest.
2 32,767 0 1 Specifies "n" samples after move before going to 0% holding
current
Low Current Mode Timing

Low Current Mode Timing Diagram

Remarks
The MT command must be issued prior to the LC command.
Using LC with an internal Galil Stepper drive (SDM)
A setting of LC 0 is required to to shut off all current to the motor in the "motor off" (MO) state.
Using LC will reduce current consumption, but there will be a reduction of holding torque at rest
Consult the user manual for more details regarding your specific amplifier
Using LC with external amplifiers
When using external amplifiers low current mode will simply disable the motors by toggling the amplifier enable line during rest

Examples
'Galil DMC Code Example
#ex
MTA = -2;'specify stepper mode for A axis
LCA = 15;'specify motor to go to low current
' 15 samples after motion has completed
EN

LC applies to DMC500x0,DMC40x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control LC 199/326

 ERROR CONTROL
LD Limit Disable

LDm= n
LD n,n,n,n,n,n,n,n
Usage LDm= n Arguments specified with a single axis mask and an assignment (=)
LD n ... Arguments specified with an implicit, comma-separated order
Operands _LDm Operand holds the value last set by the command
Description
Allows user to disables forward and/or reverse limit switches.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 4 0 1 Sets limit disable state See table below for details
Argument Value Description Notes
n 0 Both limit switches are enabled Default
1 Forward limit switch disabled
2 Reverse limit switch disabled
3 Both limit switches disabled
Remarks
n = ? will return the current setting of LD
When this feature should be used:
To gain additional digital inputs if limit switches are not being utilized.
To prevent noise from causing the limit switchs conditions even though no limit switches are connected.
LD does not disable software limits set by BL and FL.

Examples
'Galil DMC Code Example
:LD 3,1,2; 'Implicit notation to set channel A, B, and C
:MG _LDA ;' 'Message the operand for the A channel
3.0000
:LDC = 3;' 'Explicit notation to set channel C-only
:LD* = ? ;' 'Queries the value of LD for all channels
3, 1, 3, 0

'Galil DMC Code Example

REM use forward limit switch as an extra I/O point
#io
LDA = 1;'disable forward limit switch
io= _LFA ;'set state of limit switch to variable "io"
'Use "io" in an IF statement
IF io=1
MG "Input On"
ELSE
MG "Input Off"
ENDIF
EN

LD applies to DMC40x0,DMC42x0,DMC41x3,DMC18x6,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control LD 200/326

 VECTOR/LINEAR
LE Linear Interpolation End

LE
LE?
Usage LE Command takes no arguments
Operands _LEm Operand has special meaning, see Remarks
Description
The LE command indicates to the controller that the end of the sequence is coming up. This allows the controller to slow down through multiple
segments, if required. LE is required to exit the linear interpolation mode gracefully (stop code, SC, 101).
Arguments
The LE command has no arguments. See the ? Remark below.
Remarks
_LEm will return the total move length in encoder counts for the selected coordinate system, where m is S or T.
If not spcified, the LE command will apply to the last selected coordinate system, S or T.
To select the coordinate system, use the command CA S or CA T.
The VE command is interchangeable with the LE command.
LE ? Returns the total vector move length in encoder counts for the current coordinate system

Examples
'Galil DMC Code Example
CA S ; 'Specify S coordinated motion system
LM CD ; 'Specify linear interpolation mode for C and D axes
LI ,,100,200; 'Specify linear distance
LE; 'Ends linear interpolation distance
BG S ; 'Begin motion of the S-coodrinate system​

LE applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control LE 201/326

 VECTOR/LINEAR
LI Linear Interpolation Distance

LIm= n <o >p

LI n,n,n,n,n,n,n,n <o >p
Usage LIm= n Arguments specified with a single axis mask and an assignment (=)
LI n ... Arguments specified with an implicit, comma-separated order
Description
The LI command specifies the incremental distance of travel for each axis in the Linear Interpolation (LM) mode. LI parameters are relative distances given
with respect to the current axis positions.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n -8,388,607 8,388,607 0 1 Assigns linear interpolation point for that axis.
Specifies the vector speed to be commanded at the beginning of For MT 1,-
o 2 22,000,000 N/A 2 the linear segment. The controller will start accelerating or 1,1.5 and -
decelerating at the start of the sequence to this speed. 1.5.
Specifies the vector speed to be commanded at the beginning of For MT 2,-
2 6,000,000 N/A 2 the linear segment. The controller will start accelerating or 2,2.5 and -
decelerating at the start of the sequence to this speed. 2.5.
Specifies the vector speed to be achieved at the end of the linear For MT 1,-
p 2 22,000,000 N/A 2 segment. The controller will decelerate or accelerate during the 1,1.5 and -
segment and will reach the specified speed at the end of the 1.5.
segment.
Specifies the vector speed to be achieved at the end of the linear For MT 2,-
2 6,000,000 N/A 2 segment. The controller will decelerate or accelerate during the 2,2.5 and -
segment and will reach the specified speed at the end of the 2.5.
segment.
Argument Value Description Notes
o -1 Specifies vector speed to be set by Vector Speed Variable (VV command) See VV command
Remarks
The CA command is used to set the coordinated system (S or T) for which an LI segment is executed. The default is the S coordinate system (CAS).
The controller always uses the axis specifications from LM, not LI, to compute the speed.
For example: if LM specfies that A-, B-, and C-axis are to be used in linear interpolation mode, but LI only specifies positions for B- and C-, the A-
axis will still be used in calculating the overall vector speed.
The maximum independent speed of any axis configured as a stepper must not exceed the maximum value allowable via the SP setting.
The slew speed, set by VS, 'o' or 'p' for linear interpolation mode, is the vector speed based on the axes specified in the LM mode. For example, if LM
ABC designates linear interpolation for the A,B and C axes the speed of these axes (Va, Vb, and Vc respectively) will be computed from:

The Linear End (LE) command must be given after the last LI segment in a sequence. LE tells the controller to decelerate to a stop at the last LI
command.
The BG S or BG T command should be issued before the total LI distance reaches 1,073,741,824 (2^30) encoder counts.
Linear Interpolation Mode Buffer
1. Up to 511 LI segments may be given ahead of the begin sequence (BG S or BG T) command.
2. Additional LI commands may be sent during motion when the controller sequence buffer frees additional space for new vector segments.
3. It is the responsibility of the user to keep enough LI segments in the controller's sequence buffer to ensure continuous motion.
4. _LMm (_LMS and _LMT) contains the available spaces for LI segments that can be sent to the buffer.
1. 511 returned means the buffer is empty and 511 LI segments can be sent.
2. A 0 returned means the buffer is full and no additional segments can be sent.
3. See the LM command for full details.

Galil Motion Control LI 202/326

Examples
'Galil DMC Code Example
LM ABC ; 'Specify linear interpolation mode between A-, B-, and C- axis
LI 500,,400; 'Specifies linear interpolation point, B-axis remains stagnat but is still part of the interpolation.
LI 1000,2000,3000; 'Specify linear interpolation point
LE; 'Last segment of sequence
BG S ; 'Begin sequence​

LI applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control LI 203/326

 INTERROGATION
LL List Labels

LL
Usage LL Command takes no arguments
Description
The LL command returns a listing of all of the program labels in memory.
Arguments
LL is an interrogation command with no arguments
Remarks
The LL command label listing will be in alphabetical order.
The LL command returns all of the program labels in memory and their associated line numbers

Examples
'Galil DMC Code Example
:LL
#FIVE=5
#FOUR=4
#ONE=1
#THREE=3
#TWO=2​

LL applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control LL 204/326

 VECTOR/LINEAR
LM Linear Interpolation Mode

LM mm
Usage LM mm Argument is an axis mask
Operands _LMm Operand has special meaning, see Remarks
Description
The LM command specifies the linear interpolation mode and specifies the axes for linear interpolation.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH N/A Multi-Axis Mask Axes to use for linear interpolation mode
Remarks
Any set of axis may be used for linear interpolation.
LI commands are used to specify the travel distances between various linear interpolation moves.
Several LI commands may be given as long as the controller sequence buffer has room for additional segments
See the LI command for more information regarding the Linear Inerpolation Buffer
The LE command specifies the end of the linear interpolation sequence.
Once the LM command has been given, it does not need to be given again unless the VM command has been used
Operand/Queries
_LMm contains the number of spaces available in the sequence buffer for the 'm' coordinate system, S or T.
The LM command will apply to the selected coordinate system, S or T. To select the coordinate system, use the command CA S or CA T.

Examples
'Galil DMC Code Example
LM ABCD ; 'Specify linear interpolation mode
VS 10000;VA 100000;VD 1000000; 'Specify vector speed, acceleration and deceleration
LI 100,200,300,400; 'Specify linear distance
LI 200,300,400,500; 'Specify linear distance
LE; BG S ; 'Last vector, then begin motion​

LM applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control LM 205/326

 INTERROGATION
LS List

LS n0,n1
Usage LS n ... Arguments specified with an implicit, comma-separated order
Description
The LS command returns a listing of the programs in memory.
Arguments
Argument Min Max Default Resolution Description Notes
n0 0 3,998 0 1 Firmware Rev 1.2a and later. Specifies the line in the program for
which the listing will start
n0 0 1,998 0 1 Specifies the line in the program for which the listing will start
n1 1 1,999 1,999 1 Specifies the line at which the listing will end
Remarks
n0 < n1 must always be true
If n0 or n1 is omitted, default values are used
n0 and n1 can also specify a label, for example:
"LS #label,20" would print out program lines from #label to line 20.
Issuing this command will pause the output of the Data Record until the command is completed.

Examples
'Galil DMC Code Example
:LS #a,6; ' List program starting at #A through line 6
2 #a
3 PR 500
4 BG A
5 AM
6 WT 200
'Hint: Remember to quit the Edit Mode Q prior to giving the LS command. (DOS)​

LS applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control LS 206/326

 SYSTEM CONFIG
LU LCD Update

LU n
Usage LU n ... Arguments specified with an implicit, comma-separated order
Operands _LU Operand has special meaning, see Remarks
Description
The LU command turns the automatic axes status update on the LCD on or off.
Arguments
Argument Value Description Notes
n 0 Turns off the automatic LCD axis updates This allows users to print their own messages to the LCD.
1 Turns on the automatic LCD axis updates Default
Remarks
_LU contains the current setting of the LU command, either 1 or 0.
Automatic LCD Axis Status Updates
The LCD displays the following pattern:
ABCDEFGH
mmmmmmmm
where m is the axis status for axes ABCDEFGH and is:
Axis Status Description Related Commands/ Example Causes
I Idle ST
i Low power Idle LCm=1, MTm=-2, ST
O Motor Off MO
M Motion - Axis Running in independent mode PA/PR/JG etc, BG
E Error - Positions Error exceeded TEn>ERn ER, TE
S Stop - Stopped from ST command ST
L Limit - Decelerating or stopped by a limit switch Profiled motion into hardware limit switch
A Abort - Stopped by abort AB
V Vector - Running in Vector or Linear Interpolation Mode LM, LI, VM, VP, CR
C Contour - Running in Contour Mode CM
P PVT - Runnning in PVT mode PV, BT
H Homing - Running in a Homing Routine HM, BG
e ECAM - Running in ECAM mode EG
F Fault - Amplifier Fault Internal amp fault, e.g. over current
Examples
'Galil DMC Code Example
LU 0; 'Turns off the automatic LCD axis status updates
MG {L1}"DMC-40x0"; 'Messages the string DMC-40x0 to line 1 of the LCD screen
MG {L2}"Galil MC"; 'Messages Galil MC to line 2 of the LCD screen
LU 1; 'Turns on the automatic LCD status updates​

LU applies to DMC500x0,DMC40x0
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control LU 207/326

 INTERROGATION
LV List Variables

LV
Usage LV Command takes no arguments
Description
The LV command returns a listing of all of the program variables in memory. The listing will be in alphabetical order.
Arguments
LV is an interrogation command with no parameters
Remarks
Use the _UL operand for total number of variables available for your controller.
See the UL command for more details.
Issuing this command will pause the output of the Data Record until the command is completed.

Examples
'Galil DMC Code Example
:LV
apple = 60.0000
banana = 25.0000
zebra = 37.0000

LV applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control LV 208/326

 SYSTEM CONFIG
LZ Omit leading zeros

LZ n
Usage LZ n ... Arguments specified with an implicit, comma-separated order
Operands _LZ Operand has special meaning, see Remarks
Description
The LZ command is used for formatting the values returned from interrogation commands, variables, and arrays. By enabling the LZ function, all leading
zeros of returned values will be removed.
Arguments
Argument Value Description Notes
n 0 Does not remove leading zeros from interrogated values
1 Removes leading zeros from interrogated values Default
Remarks
_LZ contains the state of the LZ function. '0' is disabled and '1' is enabled.

Examples
'Galil DMC Code Example
:LZ 0; 'Disable the LZ function
:var1= 10; 'Sets variable var1 to the value of 10.
:TP A ; 'Interrogate the controller for current position of A-axis
0000021645.0000
:var1= ? ; 'Request value of variable var1
0000000010.0000
:LZ 1; 'Enable LZ function
:TP A ; 'Interrogate the controller for current position of A-axis
21645.0000
:var1= ? ; 'Request value of variable var1
10.0000​

'Galil DMC Code Example

:LZ 0; 'Disable the LZ function
:TB; 'Tell status bits
001
:LZ 1; 'Inhibit leading zeros
:TB; 'Tell status

LZ applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control LZ 209/326

 ETHERNET
MB Modbus

MBm= n0, n1, n2, n3, str[]

Usage MBm= n Arguments specified with a single axis mask and an assignment (=)
Description
The MB command is used to communicate with I/O devices using the Modbus TCP/IP protocol. The MB command supports the first two levels of Modbus
commands. The function code -1 designates that the first level of Modbus is used (creates raw packets and receives raw data). The other codes are the
10 major function codes of the second level. The format of the command varies depending on each function code.
Galil Modbus supports one master per slave.
Arguments
Level 2 Modbus Function Codes
Function Code, n1 Modbus Definition Slaved Galil Description (RIO only)
01 Read Coil Status (Read Bits) Read Digital Outputs (RIO only)
02 Read Input Status (Read Bits) Read Digital Inputs (RIO only)
03 Read Holding Registers (Read Words) Read Analog Inputs (RIO only)
04 Read Input Registers (Read Words) Read Analog Outputs (RIO only)
05 Force Single Coil (Write One Bit) Write Digital Output (RIO only)
06 Preset Single Register (Write One Word) Write Digital Outputs (RIO only)
07 Read Exception Status (Read Error Code) Read Digital Outputs (RIO only)
15 Force Multiple Coils (Write Multiple Bits) Write Digital Outputs (RIO only)
16 Preset Multiple Registers (Write Words) Write Analog Outputs (RIO only)
17 Report Slave ID
01: MBm= n0, 1, n2, n3, str[]
Read Coil Status (Read Bits)
Argument Min Max Default Resolution Description Notes
m A H N/A Handle Handle to send Modbus command
n0 0 255 1 see Notes Unit ID Default to Handle number (A=1, B=2, etc.)
n2 0 9,999 N/A 1 Address of first coil
n3 0 99 N/A 1 Quantity of coils Or, number of IO points to read
str 1 char 8 chars N/A String Name of array to store values str[0] holds the first value.
'Galil DMC Code Example
MBC = ,1,2,8,example[ ] ;' Read inputs 2-9 from handle C, save to example[]
'equivalent to reading Digital Outputs or registers mapped to 100xxx​

02: MBm= n0, 2, n2, n3, str[]

Read Input Status (Read Bits)
Argument Min Max Default Resolution Description Notes
m A H N/A Handle Handle to send Modbus command
n0 0 255 1 see Notes Unit ID Default to Handle number (A=1, B=2, etc.)
n2 0 9,999 N/A 1 Address of first input
n3 0 99 N/A 1 Quantity of inputs Or, number of IO points to read
str 1 char 8 chars N/A String Name of array to store values str[0] holds the first value.
'Galil DMC Code Example
MBC = ,2,4,3,example[ ] ;' Read inputs 4,5 and 6 from handle C, save to example[]
'equivalent to reading Digital Inputs or registers mapped to 000xxx​

03: MBm= n0, 3, n2, n3, str[]

Read Holding Registers (Read Words)
Argument Min Max Default Resolution Description Notes
m A H N/A Handle Handle to send
Modbus command
n0 0 255 see Notes 1 Unit ID Default to Handle number (A=1, B=2, etc.)
n2 0 9,999 N/A 1 Address of first
register
n3 0 99 N/A 1 Quantity of registers
to read
Name of array to str[0] holds the first value. 2 bytes per element. Array
str 1 char 8 chars N/A String store values must be as large as the value for n3
Galil Motion Control MB 210/326
 'Galil DMC Code Example
MBB = ,3,1,4,example[ ] ;' Read registers 1 through 4 from handle B, save to example[]
'equivalent to reading Analog Outputs, or registers mapped to 400xxx​

04: MBm= n0, 4, n2, n3, str[]

Read Input Registers (Read Words)
Argument Min Max Default Resolution Description Notes
m A H N/A Handle Handle to send
Modbus command
n0 0 255 see Notes 1 Unit ID Default to Handle number (A=1, B=2, etc.)
n2 0 9,999 N/A 1 Address of first
register
n3 1 99 N/A 1 Quantity of registers
to read
Name of array to str[0] holds the first value. 2 bytes per element. Array
str 1 char 8 chars N/A String store values must be as large as the value for n3
'Galil DMC Code Example
MBB = ,4,1,2,example[ ] ;' Read registers 1 through 2 from handle B, save to example[]
'equivalent to reading Analog Inputs, or registers mapped to 300xxx​

05: MBm= n0, 5, n2, n3

Force Single Coil (Write One Bit)
Argument Min Max Default Resolution Description Notes
m A H N/A Handle Handle to send Modbus command
n0 0 255 see Notes 1 Unit ID Default to Handle number (A=1, B=2, etc.)
n2 0 9,999 N/A 1 Address of coil
n3 0 1 0 1 Set coil status 0 = turn off coil. 1 = turn on coil
'Galil DMC Code Example
MBB = ,5,11,1;' Set coil 11 high
'equivalent to setting a Digital Output (SB/CB)​

06: MBm= n0, 6, n2, n3

Preset Single Register (Write One Word)
Argument Min Max Default Resolution Description Notes
m A H N/A Handle Handle to send Modbus command
n0 0 255 see Notes 1 Unit ID Default to Handle number (A=1, B=2, etc.)
n2 0 9,999 N/A 1 Address of holding register
n3 0 65,535 0 1 Set register value
'Galil DMC Code Example
MBC = ,6,10,128;' Write 128 to holding register 10 on handle C
'equivalent to setting digital outputs on the RIO, or setting registers addressed 400xxx​

07: MBm= n0, 7, str[]

Read Exception Status (Read Error Code)
Argument Min Max Default Resolution Description Notes
m A H N/A Handle Handle to send Modbus
command
n0 0 255 see Notes 1 Unit ID Default to Handle number (A=1, B=2, etc.)
str 1 char 8 chars N/A String Name of array to store value str[0] holds the received value, one byte
only.
When using function code 7 with a Galil slave, array element zero will be set to the byte value of the combined first 8 digital outputs.
Only one byte in the array will be populated, element zero of array str[].
'Galil DMC Code Example
MBE = ,7,example[ ] ;' Read register and store in example[0]​

15: MBm= n0, 15, n2, n3, str[]

Force Multiple Coils (Write Multiple Bits)
Argument Min Max Default Resolution Description Notes
m A H N/A Handle Handle to send Modbus
command
n0 0 255 see Notes 1 Unit ID Default to Handle number (A=1, B=2, etc.)
n2 0 9,999 N/A 1 Address of first coil
n3 1 16 N/A 1 Quantity of coils
str 1 char 8 chars N/A String Array to set values for coils str[0] holds the first value. 16 bits per
element
Galil Motion Control MB 211/326
 'Galil DMC Code Example
example[ 0] = 255;'
MBC = ,15,0,16,example[ ] ;' Set 1st byte of coils high and 2nd byte of coils low
'equivalent to setting digital outputs on RIO, or setting coils addressed 000xxx​

16: MBm= n0, 16, n2, n3, str[]

Preset Multiple Registers (Write Words)
Argument Min Max Default Resolution Description Notes
m A H N/A Handle Handle to send Modbus
command
n0 0 255 see Notes 1 Unit ID Default to Handle number (A=1, B=2, etc.)
n2 0 9,999 N/A 1 Address of first register
n3 0 99 N/A 1 Quantity of registers
Array containing modbus str[0] holds the first value. 2 bytes per element. Array
str 1 char 8 chars N/A String data size must be > n3
'Galil DMC Code Example
example[ 0] = $AEAE
MBD = ,16,2,1,example[ ] ;' Set $AEAE to holding register 2 on handle D
'equivalent to setting analog outputs, or writing to holding registers addressed 400xxx​

17: MBm= n0,17,str[]

Report Slave ID
Argument Min Max Default Resolution Description Notes
m A H N/A Handle Handle to send Modbus command
n0 0 255 see Notes 1 Unit ID Default to Handle number (A=1, B=2, etc.)
str 1 char 8 chars N/A String Name of array to receive data str[0] holds the value.
'Galil DMC Code Example
MBB = ,17,example[ ] ;' store slave ID of device on handle B to example[]​

Raw Modbus Packet Send

MBm= n0,-1,n2,str[]
Raw Modbus Send
Argument Min Max Default Resolution Description Notes
m A H N/A Handle Handle to send Modbus command
n0 0 255 1 see Notes Unit ID Default to Handle number (A=1, B=2,
etc.)
n2 0 999 N/A 1 Number of array bytes to send
str 1 char 8 chars N/A String Name of array containing outgoing Array size >= n2. See Remarks
data

MB applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control MB 212/326

 TRIPPOINT
MC Motion Complete

MC mm
Usage MC mm Argument is an axis mask
Description
The MC command is a trippoint command that holds up execution until motion is complete on the specified axes. The MC command, unlike the AM (after
motion command) requires that both the motion profiler has completed motion AND that the motor encoder has reached the specified position before
continuing execution.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH ABCDEFGH Multi-Axis Axis to assign Any combination of the axis is valid. If no axis is specified,
Mask value command applies to all axis.
Remarks
Motion must be actively profiling on an axis for the MC command to take affect. If the MC command is issued for an axis which is not profiling motion,
the trippoint will immediately clear.
Using MC with Stepper Motors
In the case of stepper motors, MC will monitor the number of step pulses are generated to complete the move.
The MC command is recommended when operating with stepper motors in leiu of AM since the generation of step pulses can be delayed due to
the stepper motor smoothing function, KS. In this case, the MC command would only be satisfied after all steps are generated.
Using MC as part of the #MCTIME error routine
1. The command TW can be used to set an acceptable amount of time between when the motion profiler has completed and the encoder is in position;
if this condition is not satisfied, a timeout error occurs.
1. When a timeout occurs, the trippoint will clear and the stop code will be set to 99.
2. Thread 0 of the DMC program will also jump to the special label #MCTIME, if present.
1. See the #MCTIME automatic subroutine, TW and SC commands for more information

Examples
'Galil DMC Code Example
#move; 'Label #move
TW 1000,1000; 'Set motion complete timeout to 1000 milliseconds per axis
PR 2000,4000; 'Position relative Move on A- and B-axis
BG AB ; 'Start the motion on A- and B-axis
MC AB ; 'After the move is complete on A and B axes
MG "DONE"; 'Print message
EN; 'End of Program
'
'
#MCTIME ; 'Motion Complete timeout Subroutine
MG "Motion Timeout"; 'Print failure message
SC; 'Print stop codes
EN; 'End subroutine​

MC applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control MC 213/326

 ETHERNET
ME Modbus array write enable

ME n
Usage ME n ... Arguments specified with an implicit, comma-separated order
Description
The ME command enables the ability for Modbus masters to write to array locations in the hardware's array table. When enabled, array locations can be
written to as 16 bit integers or as 32 bit floating point by a modbus master by specifying different address ranges. ME is not required to read array
locations, reads are always supported.
Arguments
Argument Value Description Notes
n 0 Disables the ability for Modbus masters to write to the array table Default
1 Enables ability for Modbus masters to write to the array table
Remarks
Array writes when enabled by ME are done using function code 16
Galil Modbus supports one master per slave.
A useful utility for determining the 32 bit floating point value for a given fractional number can be found here: http://babbage.cs.qc.cuny.edu/IEEE-
754/index.xhtml
DMC-40x0 requires firmware revision 1.2d or newer for use as Modbus slave.
Modbus Register Map
Each element is accessible as a 16 bit unsigned integer (Modbus registers 1xxx) -OR- as a 32 bit floating point number (Modbus registers 2xxx).
The table below shows the mapping for a Modbus master writing to the controller with ME 1 set.
1000 (0-999) elements are available for read/write on the DMC-40x0. Other array elements are not exposed to Modbus.
Modbus Register Map to Galil Array A[]
Modbus Registers: 1000-1999 2000-2999
Available Modbus function codes 3 (read) and 16 (write) 3 (read) and 16 (write)
Number Type 16 bit unsigned integer 32 bit floating point
References in A[] array A[0]-A[999] A[0]-A[999]
Number written to A[] Integer only, fraction not changed Galil 4.2 format (internal from float conversion)
Number read from A[] Integer only, fraction not read 32 bit float (internal to float conversion)
Example Modbus Master Write MBH=0,16,1000,1,write[] MBH=0,16,2001,2,write[]
Example Modbus Master Read MBH=0,3,1000,1,read[] MBH=0,3,2001,2,read[]
Embedded Array Mapping
Once enabled, the entire array table can be written remotely. These writes can span across dimensioned user arrays. It is the user's responsibility to
partition the array table and to read/write remotely to the correct location.
When using multiple array names, the array table is partitioned alphabetically (all captital letters first).
For example, a partioned array of Grape[600] and Orange[200] would place the first 600 registers in Grape[], and the next 200 registers in
Orange[]. The last 200 elements would be inaccesible from embedded code. If the user then dimensioned the array Apple[200], the register
mapping would change. The first 200 registers would read/write from Apple[], the next 600 from Grape[], and finally the last 200 from
Orange[].
Additionally, all captial letters come before lowercase letters. For example, a partioned array of Banana[100] and apple[200] would place the first
100 registers in Banana[] and the next 200 registers in apple[].
For simplicity, Galil recommends that a single array be dimensioned with the array name "A".

Examples
'Galil DMC Code Example
:DA *[ ] ;' Deallocates all arrays
:DM A[ 400] ;' Allocates array for Modbus Read/Write
:ME0;' Disables write access
:ME1;' Enables write access
:ME? ;' Interrogate current value
1

'Galil DMC Code Example

'This example is written for a Galil modbus master to a DMC-40x0, DMC-41x3, DMC-42x0, DMC-3x01x, or RIO-47xxx (with expanded memory)
'Master is E.G. DMC-21x3, RIO, DMC-40x0
'This code runs on the master.
'Assumes a Modbus handle is available at H,
' and that ME1 has been set on the remote device
MW1;' Turn on modbus wait
DM write[ 2] ;' Dimension an array for holding data to transmit

write[ 0] = 1234;' Assign an integer to element 0

MBH = 0,16,1000,1,write[ ] ;' Send the integer to register 1000 on the remote
write[ 0] = $42F6;' Set the 32 bit float in two steps, the value is 123.456
write[ 1] = $E978
MBH = 0,16,2001,2,write[ ] ;' Send the float to register 2001 on the remote
'note that register 2000 would have stepped on the integer memory written at 1000

DM read[ 2] ;' Dimension an array for holding read data

MBH = 0,3,1000,1,read[ ] ;' Read the integer at register 1000
MG"Integer=",read[ 0] ;' Print the read integer

Galil Motion Control ME 214/326

 MBH = 0,3,2001,2,read[ ] ;' Read the float at register 1000
float= ( read[ 0] *$10000) + read[ 1] ;' Construct the float. Shifting necesary for high bytes
MG"Float=", float{$8.0};' Print the float in hex​

ME applies to DMC40x0,DMC42x0,DMC41x3,DMC30010,RIO47xxx
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ME 215/326

 TRIPPOINT
MF Forward Motion to Position

MFm= n
MF n,n,n,n,n,n,n,n
Usage MFm= n Arguments specified with a single axis mask and an assignment (=)
MF n ... Arguments specified with an implicit, comma-separated order
Description
This command will hold up the execution of the following command until the specified motor moves forward and crosses the position specified.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n - 2,147,483,647 N/A 1 Position required to be crossed before subsequent
2,147,483,648 commands will be executed.
Remarks
Although multiple positions can be specified, only one of the MF conditions must be satisfied for subsequent code execution.
MF command references absolute position.
The MF command only requires an encoder and does not require that the axis be under servo control.
The accuracy of the MF command is the number of counts that occur in 2*TM sec. Multiply the speed by 2*TM sec to obtain the maximum error.
Example with speed of 20,000 counts/second and TM of 1000 (1000 us).
Maximum error = 2 * 1000 E-6 seconds * 20,000 counts/second = 40 counts
When using a stepper motor:
This condition is satisfied when the stepper position (as determined by the output buffer - TD) has crossed the specified Forward Motion
Position.

Examples
'Galil DMC Code Example
#test; 'Program Test
DP 0; 'Define zero
JG 1000; 'Jog mode (speed of 1000 counts/sec)
BG A ; 'Begin move
MF 2000; 'After passing the position 2000
v1= _TPA ; 'Assign V1 A position
MG "Position is",v1; 'Print Message
ST A ; 'Stop
EN; 'End of Program​

MF applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control MF 216/326

 INTERROGATION
MG Message

MG "str", {^n0}, n1
Usage MG n ... Arguments specified with an implicit, comma-separated order
Description
The MG command is used to send strings, operands, variables, and array values to a specified destination.
Arguments
Argument Value Description Notes
str String A string including alphanumeric characters to be displayed Limited to 76 characters
n0 ASCII character in decimal Allows users to print ASCII characters Range of 0-255
n1 Numeric value Prints the numeric value specified See Examples for valid uses of n1.
Variable name Prints the numeric value stored by the variable
Operand Prints the numeric value stored by the operand
Array element Prints the numeric value stored by the array element
Mathematical expression Prints the numeric value of the solved equation
Argument Value Description Notes
n Operand Prints the numeric value stored by the operand
Remarks
Multiple strings, variables, and ASCII characters may be used; each must be separated by a comma.
Solicited Messages
From a host terminal, application code, or device, sending the MG command will return with the requested information. This is known as a
solicited command, because the host sends the command and expects a response.
Unsolicited Messages
From embedded DMC code, the MG command will send an unsolicited, asynchronous message from the controller to the host. This can be
used to alert an operator, send instructions, or return a variable value. This is known as an unsolicited command because the host is not
explicitly requesting it.
The CW command controls the ASCII format of all unsolicited messages.
Unsolicited messages can go to any of the Ethernet handles or serial ports.
The CF command sets the default communication port for routing unsolicited messages.
Formatting
Formatters can be placed after each argument in to modify how it is printed.
{Fm.n} Display variable in decimal format with m digits to left of decimal and n to the right.
{Zm.n} Same as {Fm.n} but suppresses leading zeros.
{$m.n} Display variable in hexadecimal format with m digits to left of decimal and n to the right.
{Sn} Display variable as a string of length n, where n is 1 through 6. If n is greater than the length of the string stored in the variable, null chars
(0x00) will be inserted at the end of the string.
{N} Suppress carriage return at the end of the message.
Message Routing
MG can override the default CF setting by using the following modifiers at the beginning of the message, right after MG.
{Pn} Sends the message out the Serial port n, where n is 1 or 2 denoting Main or Auxilary (where equipped).
{Ex} Sends the message out the Ethernet handle x, where x is A,B,C,D,E,F,G, or H
Printing to the LCD
Like with other message routing modifiers, the following should be placed at the beginning of the message, right after MG.
{Lx} Sends the message to the LCD, where x is 1 or 2 for the top or bottom line of the LCD, respectivly.
The message cannot be more than 8 characters when sent to the LCD screen; excess characters will not be shown.
The LU command must be set to 0 for user messages sent to the LCD to appear.

Examples
Valid uses of n1 argument
'Galil DMC Code Example
:'Values
:MG 1234.5678
1234.5678
:'
:'Variables
:var= 12345678.9101
:MG var
12345678.9101
:'
:'Operands
:MG @AN[ 1]
0.0121
:'
:'Array Elements
:DM arr[ 3]
:arr[ 0] = 0
:arr[ 1] = 1
:arr[ 2] = 2
:MG arr[ 0] ,arr[ 1] ,arr[ 2]
0.0000 1.0000 2.0000
:'
:'Mathematical Expressions
:MG 1+2
3.0000
:MG arr[ 2] +var
12345680.9101

General Use
'Galil DMC Code Example
:MG "Good Morning"; 'Message command displays ASCII string
Good Morning
:total= 1234.5322; 'Assigns variable total with the value 1234.5322
:MG "The answer is...",total{F4.2}; 'Will print the message and the value of variable total formatted with 4 integer digits and 2 fractional digits
The answer is... 1234.53

Galil Motion Control MG 217/326

 :MG {^13}, {^10}, {^48}, {^055}; 'Specifies carriage return, line feed, and the characters 0 and 7 in ASCII decimal values

07
:MG TIME; 'Messages the operand TIME
261928200.0000
:variable= 10; 'Sets the variable equal to 10
:MG variable+5; 'Messages out variable + 5
15.0000
:MG _TI0; 'Messages the value stored in the operand _TI0
255.0000​

'Galil DMC Code Example

CF A ; 'Messages configured to go out Ethernet handle A
MG {EB}var; 'Override CF and send the value of variable var to B handle​

'Galil DMC Code Example

LU 0; 'Turns off automatic axis status updates on the LCD
ct= 1; 'Sets variable ct to 1
rpm= 1432; 'Sets variable rmp to 1432
MG {L1}"CT SPD",{L2}{F1.0}ct," ",{F4.0}rpm; 'Prints "CT SPD" on line one of the LCD and " 1 1432" on the second line.
EN

MG applies to
DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2,RIO574x0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control MG 218/326

 SYSTEM CONFIG
MO Motor Off

MO mm
Usage MO mm Argument is an axis mask
Operands _MOm Operand has special meaning, see Remarks
Description
The MO command turns off the motor command line and toggles the amplifier enable signal.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH ABCDEFGH Multi-Axis Mask Specifies axis to turn off
Remarks
The controller will continue to monitor the motor position
See the TP command for more details
To turn the motor back on use the SH (Servo Here) command.
The MO command is useful for positioning the motors by hand.
_MOm contains 1.000 if the axis is in the motor off state or 0.000 if the axes is in the servo here state.

Examples
'Galil DMC Code Example
MO; 'Turns off all motors
MO A ; 'Turns off the A motor.
MO B ; 'Turns off the B motor.
MO CA ; 'Turns off the C and A motors.
SH; 'Turns all motors on
axis= _MOA ; 'Sets variable axis equal to the A-axis servo status​

MO applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control MO 219/326

 TRIPPOINT
MR Reverse Motion to Position

MRm= n
MR n,n,n,n,n,n,n,n
Usage MRm= n Arguments specified with a single axis mask and an assignment (=)
MR n ... Arguments specified with an implicit, comma-separated order
Description
This command will hold up the execution of subsequent DMC code until the specified axis moves backwards and crosses the position specified.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n - 2,147,483,647 N/A 1 Value of position that must be crossed in the reverse
2,147,483,648 direction
Remarks
MR command references absolute position.
Although multiple positions can be specified, only one of the MR conditions must be satisfied for subsequent code execution.
The MR command only requires an encoder and does not require that the axis be under servo control.
The accuracy of the MR command is the number of counts that occur in 2*TM usec. Multiply the speed by 2*TM usec to obtain the maximum error.
Example with speed of 20,000 counts/second and TM of 1000 (1000 us).
Maximum error = 2 * 1000 E-6 seconds * 20,000 counts/second = 40 counts
When using a stepper motor, this condition is satisfied when the stepper position (as determined by the output buffer - TD) has crossed the specified
reverse motion position.

Examples
'Galil DMC Code Example
#TEST;' Program Test
DP0;' Define zero
JG -1000;' Jog mode (speed of 1000 counts/sec)
BG A ;' Begin move
MR -3000;' After passing the position -3000
V1= _TPA ;' Assign V1 A position
MG "Position is", V1;' Print Message
ST;' Stop
EN;' End of Program​

MR applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control MR 220/326

 SYSTEM CONFIG
MT Motor Type

MTm= n
MT n,n,n,n,n,n,n,n
Usage MTm= n Arguments specified with a single axis mask and an assignment (=)
MT n ... Arguments specified with an implicit, comma-separated order
Operands _MTm Operand holds the value last set by the command
Description
The MT command selects the type of the motor and the polarity of the drive signal. Motor types include standard servomotors, which require a voltage in
the range of +/- 10 Volts, and step motors, which require pulse and direction signals. The polarity reversal inverts the analog signals for servomotors, or
inverts logic level of the pulse train for step motors.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
Argument Value Description Notes
n 1 Servo motor Default
-1 Servo motor with reversed polarity
2 Step motor with active low step pulses
-2 Step motor with active high step pulses Valid setting for all Galil SDM stepper drives
2.5 Step motor with reversed direction and active low step pulses
-2.5 Step motor with reversed direction and active high step pulses Valid setting for all Galil SDM stepper drives
Remarks
n = ? will return the value of the motor type for the specified axis.
For step and direction modes (n=2,-2,2.5,-2.5), the auxiliary encoder input for the axis is no longer available.
For step and direction modes (n=2,-2,2.5,-2.5), TM 500 is recommended. Contact Galil for TM greater than 500.
MT 1.5 is no longer supported. If your application requires this functionality please contact an Applications Engineer at Galil.

Examples
'Galil DMC Code Example
MT 1,-1,2,2; 'Configure A as servo, B as reverse servo, C and D as steppers
MT ? ,? ; 'Interrogate motor type for A- and B-axis​

MT applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control MT 221/326

 ETHERNET
MU Multicast Address

MU n0,n1,n2,n3
Usage MU n ... Arguments specified with an implicit, comma-separated order
Operands _MU Operand has special meaning, see Remarks
Description
MU sets the controller's multicast address. This address is used by Galil software to detect an available Ethernet controller on the network.
Arguments
Argument Min Max Default Resolution Description Notes
n0 0 255 239 1 First field of the multicast address
n1 0 255 255 1 Second field of the multicast address
n2 0 255 19 1 Third field of the multicast address
n3 0 255 56 1 Last field of the multicast address
Remarks
Supported on DMC-40x0 firmware rev 1.1e and above.
MU ? returns the current multicast address setting in 4 byte format
_MU contains the 32-bit multicast address number in two's complement.

Examples
'Galil DMC Code Example
:MU 239,255,19,57
:MU?
239, 255, 019, 057
:MG_MU
-268496071.0000
:MG_MU{$8.0}
$EFFF1339

MU applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control MU 222/326

 ETHERNET
MW Modbus Wait

MW n
Usage MW n ... Arguments specified with an implicit, comma-separated order
Operands _MW0 Operand has special meaning, see Remarks
_MW1
Description
Enabling the MW command causes the controller to hold up execution of the program after sending a Modbus command until a response from the
Modbus device has been received. The MW command ensures that the command that was sent to the Modbus device was successfully received before
continuing program execution.
Arguments
Argument Value Description Notes
n 0 Disables Modbus wait
1 Enables Modbus wait Default
Remarks
n = ? returns the state of the Modbus wait, either 1 or 0
If a Modbus response is never received, then thread 0 will jump to the #TCPERR subroutine, if it exists, and TC will report an error code of 123.
MW prevents the controller from sending multiple commands to the same Modbus device before it has a chance to execute them.
Operands
_MW0 returns last function code received
_MW1 returns Modbus error code
_MWn operands
'Galil DMC Code Example
:MG_MW0{$8.0};' $ is the hex formatter
$00000001
:'above is an expected response to function code 1
:MG_MW1{$8.0}
$00000000
:'no error

_MW0 Responses
Function Code Sent Normal _MW0 Response _MW0 Exception Response
1 $01 $81
2 $02 $82
3 $03 $83
4 $04 $84
5 $05 $85
6 $06 $86
7 $07 $87
15 $0F $8F
16 $10 $90
_MW1 Responses
_MW1 returns Exception description
$00 Normal response
$01 The request referenced an illegal function code
$02 The request referenced an illegal data address
Examples
'Galil DMC Code Example
MW1; 'Enables Modbus Wait
SB1001; 'Set Bit 1 on Modbus Handle A
CB1001; 'Clear Bit 1 on Modbus Handle A​

'Galil DMC Code Example

REM Example on Modbus master, DMC-40x0
REM Using _MW operands
:IHH = 192,168,42,43<502>2;' connect to RIO
:MW1
:SB 8001;' set bit one on RIO
::MBH = ,5,1,0;' clear it with MB
::'CB 8001 would also work
:MG_MW0
5.0000
:'funct code 5 confirmed
:MG_MW1
0.0000

Galil Motion Control MW 223/326

 :'no errors
:MBH = ,5,100,1;' invalid output point
::TC1
0
:MG_MW0{$8.0}
$00000085
:'Exception on funct code 5
:MG_MW1{$8.0}
$00000002
:'illegal data address

MW applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control MW 224/326

 FILTER/CONTROL
NB Notch Bandwidth

NBm= n
NB n,n,n,n,n,n,n,n
Usage NBm= n Arguments specified with a single axis mask and an assignment (=)
NB n ... Arguments specified with an implicit, comma-separated order
Operands _NBm Operand holds the value last set by the command
Description
The NB command sets real part of the notch poles. In other words, the NB controls the range of frequencies that will be attenuated.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 62.5 0.5 1/2 Value of the notch bandwidth Max value dependent upon TM setting, see
in Hz Remarks
Remarks
_NBm contains the value of the notch bandwidth for the specified axis.
NB also determines the ratio of NB/NZ which controls the attenuation, or depth, of the notch. See NZ for more details.
See the NF command for recommendations on choosing NZ, NB, and NF values.
See Application note #2431 for additional information on setting the NF, NB and NZ commands
http://www.galil.com/download/application-note/note2431.pdf
Maximum Range
The maximum n argument is specified in Hz and is calculated by the equation below:

where TM is specified in microseconds.

The default TM is 1000, therefore default maximum NB value = 1/(16x1000E-6) = 62.5 Hz

Examples
'Galil DMC Code Example
NBA = 10; 'Sets the real part of the notch pole to 10/2 Hz
notch = _NBA ; 'Sets the variable "notch" equal to the notch bandwidth value for the A axis​

NB applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control NB 225/326

 FILTER/CONTROL
NF Notch Frequency

NFm= n
NF n,n,n,n,n,n,n,n
Usage NFm= n Arguments specified with a single axis mask and an assignment (=)
NF n ... Arguments specified with an implicit, comma-separated order
Operands _NFm Operand holds the value last set by the command
Description
The NF command sets the frequency of the notch filter, which is placed either in series with the PID compensation, or applied to the profiled position.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n -250 250 0 1 Sets the frequency of the notch filter See Remarks
Remarks
n = 0 disables the notch.
n > 0 applies the notch filter in series with the PID compensation. The value of n is the frequency of the notch filter.
n < 0 applies the notch filter to the profiler. The absolute value of n is the frequency of the notch filter.
n < 0 only applies to firmware rev 1.2f and later.
_NFm contains the value of notch filter for the specified axis.
n = ? Returns the value of the Notch filter for the specified axis.
See Application note #2431 for additonal information on setting the NF, NB and NZ commands
http://www.galil.com/download/application-note/note2431.pdf
Chosing NF, NB, and NZ
1. A simple way for attaining NF, NB, and NZ parameters is to follow these simple rules:
1. Estimate the resonance frequency
2. Set NF equal to the resonance frequency
3. Set NB = 1/2NF
4. Set NZ between 0 and 5
2. The ratio of NB/NF is extremly important. See the NB command for more details.
Maximum Range
The maximum n argument is specified in Hz and is calculated by the equation below:

Where TM is in microseconds.
Default TM is 1000, therefore default maximum value = 1E6/(4*1000) = 250 Hz

Examples
'Galil DMC Code Example
NF, 20;' Sets the notch frequency of B axis to 20 Hz​

NF applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control NF 226/326

 PROGRAMMING
NO No Operation

NO str
Operands _NO Operand has special meaning, see Remarks
Description
The NO command performs no action in a sequence and can be used as a comment in a program.
Arguments
Argument Value Description Notes
str String A no action sequence used to document a Comments are limited to the maximum row size in a program. This will vary
program by controller.
Remarks
_NO returns a bit mask indicating which threads are running.
For example:
0 means no threads are running
1 means only thread 0 is running
3 means threads 0 and 1 are running

Examples
'Galil DMC Code Example
#a; 'Program A
NO; 'No Operation
NO This Program ; 'No Operation
NO Does Absolutely; 'No Operation
NO Nothing; 'No Operation
EN; 'End of Program​

NO applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control NO 227/326

 FILTER/CONTROL
NZ Notch Zero

NZm= n
NZ n,n,n,n,n,n,n,n
Usage NZm= n Arguments specified with a single axis mask and an assignment (=)
NZ n ... Arguments specified with an implicit, comma-separated order
Operands _NZm Operand holds the value last set by the command
Description
The NZ command sets the real part of the notch zero. In other words, the NB/NZ ratio controls the amount of attenuation, or depth, of the notch filter.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0.5 62.5 0 0.5 Value of Notch Frequency in Max value dependent upon TM setting, see
Hz Remarks
Remarks
See the NF command for recommendations on chosing NZ, NB, and NF values.
The maximum n argument is determiend by the following equation

Where TM is in microseconds, the default TM is 1000.

See Application note #2431 for additonal information on setting the NF, NB and NZ commands
http://www.galil.com/download/application-note/note2431.pdf
The NB/NZ Ratio
The ratio, NB/NZ controls the amount of attenuation, or depth of the notch.
The larger the ratio of NB/NZ, the larger the attenuation, and vice versa.
If NB/NZ > 1 the signal will amplifiy the output signal causing a resonance.
NB = NZ essentially eliminates the notch

Examples
'Galil DMC Code Example
NZA = 10;' Sets the real part of the notch pole to 10/2 Hz​

NZ applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control NZ 228/326

 ERROR CONTROL
OA Off on encoder failure

OAm= n
OA n,n,n,n,n,n,n,n
Usage OAm= n Arguments specified with a single axis mask and an assignment (=)
OA n ... Arguments specified with an implicit, comma-separated order
Operands _OAm Operand holds the value last set by the command
Description
The OA command turns on or off encoder failure detection. The controller can detect a failure on either or both channels of the encoder. This is
accomplished by checking on whether motion of less than 4 counts is detected whenever the torque exceeds a preset level (OV) for a specified time (OT).
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 1 0 1 Status of encoder failure detection 1 = enabled, 0 = disabled
Remarks
The OA command works like the OE command: if OA is set to 1 and an encoder failure occurs, the axis goes into the motor off (MO) state and the
stop code (SC) is set to 12 if detected during motion.
The encoder failure detection will shut the motor off regardless of profiling status, but the stop code is not updated unless the axis is executing a
profiled move at the time of the detection of the encoder failure.
If included in the application program and OA is set to 1, #POSERR will run when an encoder failure is detected for the axis.
Note that for this function to work properly it is recommended to have a non-zero value for KI.

Examples
'Galil DMC Code Example
OAA = 1;' enable A axis encoder error detection
MG_OAA ;'query OA value for A axis​

'Galil DMC Code Example

OA ,1;' enable B axis encoder error detection​

'Galil DMC Code Example

#setup
'setup the encoder error detection
OTA = 10;' Set time to 10 milliseconds
OVA = 5;' Set voltage to 5
OAA = 1;' Enable encoder detection feature
EN

'Galil DMC Code Example

REM #POSERR example for checking to see if encoder failure occured
REM This procedure is needed because the stop code will only update if
REM the profilier is running at the time the encoder failure is detected.
#POSERR
~a = 0
#loop
IF _MO~a =1
IF ( ( _TE~a <_ER~a ) &( _OE~a ) &( _OA~a ) )
MG "possible encoder failure on ",~a {Z1.0}," axis"
ENDIF
ENDIF
~a = ~a +1
JP#loop,~a <_BV
AI1;' wait for input 1 to go high
SH;' enable all axes
RE

OA applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC18x6,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control OA 229/326

 IO
OB Output Bit

OB n,(ex)
Usage OB n ... Arguments specified with an implicit, comma-separated order
Description
The OB command allows variable control of an output bit based on logical expressions. The OB command defines output bit n as either 0 or 1 depending
on the result from the logical expression.
Arguments
Argument Min Max Default Resolution Description Notes
n 1 48 0 1 Output bit specified Outputs 9-16 only valid on 5-8 axis controller. See
Remarks.
n 1,000 8,999 N/A 1 Modbus output bit specified See Remarks
ex N/A N/A N/A Expression Expression that defines If ex is true/non-zero, set output to 1. If ex is
status of output false/zero, set output to 0
Remarks
An expression is any valid logical expression, variable or array element.
Any non-zero value of the expression results in a one set to the output bit.
Extended IO must be configured as outputs by the CO command for proper operation with the OB command.
Using OB with a Modbus Slave
n = (SlaveAddress*10000) + (HandleNum*1000) + ((Module-1)*4) + (Bitnum-1)
Slave Address is used when the ModBus device has slave devices connected to it and specified as Addresses 0 to 255. Please note that the use
of slave devices for modbus are very rare and this number will usually be 0.
HandleNum is the handle specifier where A is 1, B is 2 and so on.
Module is the position of the module in the rack from 1 to 16.
BitNum is the I/O point in the module from 1 to 4

Examples
'Galil DMC Code Example
OB 1, pos;' If pos<>0, Bit 1 is high.
' If pos=0, Bit 1 is low
OB 2, @IN[ 1] &@IN[ 2] ;' If Input 1 and Input 2 are both high, then
' Output 2 is set high
OB 3, count[ 1] ;' If the element 1 in the array is zero, clear bit 3
OB n, count[ 1] ;' If element 1 in the array is zero, clear bit n​

OB applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,RIO47xxx,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control OB 230/326

 IO
OC Output Compare

OCm = n0, n1
Usage OCm= n Arguments specified with a single axis mask and an assignment (=)
Operands _OC Operand has special meaning, see Remarks
Description
The OC command sets up the Output Compare feature, also known as Pulse on Position. The controller has a special digital output which can be
configured to pulse on a specified absolute encoder position, and optionally on a delta encoder change after that. These operations are known as one-
shot and circular compare, respectively.
Each set of 4 axes, ABCD and EFGH, has one digital output which can be configured to this mode of operation
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to enable Axes A-D share one output compare, axes E-H share
output compare a second output compare output
n0 - 2,147,483,647 N/A 1 Absolute encoder n0 must be within 65535 counts of current position
2,147,483,648 position of first pulse
Incremental 0 indicates single-shot pulse in positive direction, -
n1 -65,536 65,535 N/A 1 encoder distance 65536 indicates single shot when moving in the
between pulses negative direction
Remarks
For controllers with 5-8 axes, two output compares are available. One for the A-D axes, the other for the E-H axes
This command is only valid when both n0 and n1 are specified.

One shot Compare Mode:

The output compare signal will go low, and stay low at a specified absolute encoder position.
This is done by specifying n1 as 0 for positive motion, and -65536 for negative motion
Circular Compare Mode:
After the absolute position of the first pulse (n0), the circular compare can be configured to pulse low at a relative distance thereafter (n1).
This is done by specifying n1 to a non-zero delta position (range of -65535 to 65535)
OCA = 0 will disable the Circular Compare function on axes A-D.
OCE = 0 will disable the Circular Compare function on axes E-H.
The circular compare output is a low-going pulse with a duration of approximately 250 nanoseconds.
Limitations
The Output Compare function is only valid with incremental encoders.
The Output Compare function is not valid with SIN/COS (AF settings of 5-12), standard analog (AF setting of 1), BiSS or SSI feedback (SS or SI
commands).
The OC function cannot work for an axis configured as a stepper.
The auxiliary encoder of the corresponding axis cannot be used when in this mode.
Dual loop mode (which uses the aux encoder input) will not operate when the OC command is enabled.
The OC function requires that the main encoder and auxiliary encoders be configured exactly the same (see the command, CE). For example: CE 0,
CE 5, CE 10, CE 15.
OC only requires an encoder, and is independent of axis tuning, and motion profiling.
Operand Usage
_OC contains the state of the OC function.
_OC = 0 : OC function has been enabled but not generated any pulses.
_OC = 1: OC function not enabled or has generated the first output pulse.
On a 5-8 axis controller, _OC is a logical AND of axes A-D and E-H.

Examples
'Galil DMC Code Example
OCA = 300,100;' Select A encoder as position sensor.
REM First pulse at 300. Following pulses at 400, 500, 600 ...​

'Galil DMC Code Example

REM Output compare can be used to create raster scans.
REM By using circular compare on one axis, followed by an index move on a perpindicular axis
REM raster patterns are easily made.
REM The following image shows a rastered "dot matrix" type image easily created
REM with output compare and a laser on a two dimensional stage.​

Galil Motion Control OC 231/326

 OC applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control OC 232/326

 ERROR CONTROL
OE Off-on-Error

OEm= n
OE n,n,n,n,n,n,n,n
Usage OEm= n Arguments specified with a single axis mask and an assignment (=)
OE n ... Arguments specified with an implicit, comma-separated order
Operands _OEm Operand holds the value last set by the command
Description
The OE command sets the Off On Error function for the controller. The OE command causes the controller to shut off the motor command if a position
error exceeds the limit specified by the ER command, an abort occurs from either the abort input or on AB command, or an amplifier error occurs based
on the description of the TA command.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 0 0 0 Disables the Off On Error Function Default
1 1 0 0 Motor shut off by position error, amplifier error or abort input
2 2 0 0 Motor shut off by hardware limit switch
3 3 0 0 Motor shut off by position error, amplifier error, abort input or by
hardware limit switch
Remarks
For any value of OE <> 0, the axis will be shut off due to amplifier faults on any amplifier axis. See the TA command for conditions of an amplifier fault.
BR1 must be enabled when internal brushless servo amplifiers are installed but the axis is driven with an external amplifier. BR1 disables hall error
checking when OE <> 0
Examples of brushless servo amps that require this consideration include the AMP-43040 (-D3040) or the AMP-20540
Motion Behavior:
If an error or axis-specific abort is detected, and the motion was executing an independent move, only that axis will be shut off.
If the motion is a part of coordinated mode of the types GM, VM, LM or CM, all participating axes will be stopped.

Examples
'Galil DMC Code Example
:OE 1,1,1,1;' Enable OE on all axes
:OE 0;' Disable OE on A-axis, other axes remain unchanged
:OE ,,1,1;' Enable OE on C-axis and D-axis, other axes remain unchanged
:OE 1,0,1,0;' Enable OE on A and C-axis, Disable OE on B and D axis
:MG _OEA ;' Query A axis OE setting
1.0000​

'Galil DMC Code Example

#main
'code to enable the OE command for all error conditions
'and setup the corresponding automatic subroutines
'to display relevent data
'no loop for abort input, as that stops code operation
OE 3,3,3,3
SHABCD
JG* = 1000;' all jog at 1000
BGABCD
#loop
'endless loop
WT1000
JP#loop
EN
#AMPERR
MG "amplifier fault"
MG _TA0,_TA1,_TA2,_TA3
EN

#POSERR
MG "position error fault"
MG _TEA ,_TEB ,_TEC ,_TED
EN

#LIMSWI
MG "limit switch fault"
MG _TSA ,_TSB ,_TSC ,_TSD
EN

OE applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x

Galil Motion Control OE 233/326

 ©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control OE 234/326

 FILTER/CONTROL
OF Offset

OFm= n
OF n,n,n,n,n,n,n,n
Usage OFm= n Arguments specified with a single axis mask and an assignment (=)
OF n ... Arguments specified with an implicit, comma-separated order
Operands _OFm Operand holds the value last set by the command
Description
The OF command sets a bias voltage in the command output or returns a previously set value.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n -9.9982 9.9982 0 20/65,536 Offset voltage applied to MCMD
Remarks
This can be used to counteract gravity or an offset in an amplifier.

Examples
'Galil DMC Code Example
:OF 1,-2,3,5;' Set A-axis offset to 1, the B-axis offset to -2, the C-axis to 3, and the D-axis to 5
:OF -3;' Set A-axis offset to -3 Leave other axes unchanged
:OF ,0;' Set B-axis offset to 0 Leave other axes unchanged
:OF ? ,? ,? ,? ;' Return offsets
-3.0000,0.0000,3.0000,5.0000
:OF ? ;' Return A offset
-3.0000
:OF ,? ;' Return B offset
0.0000​

OF applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control OF 235/326

 IO
OP Output Port

OP n0,n1,n2
Usage OP n ... Arguments specified with an implicit, comma-separated order
_OP0
Operands _OP1 Operand holds the value last set by the command
_OP2
Description
The OP command sets the output ports of the controller in a bank using bitmasks. Arguments to the OP command are bit patterns (decimal or hex) to
set entire banks (bytes) of digital outputs. Use SB, CB or OB to set bits individually.
Arguments
Argument Min Max Default Resolution Description Notes
n0 0 65,535 0 1 Decimal representation: General On a 1-4 axis controller, max is 255 ($FF)
Outputs 1-16 for outputs 1-8 only.
n1 0 65,535 0 1 Decimal representation: Extended
Output (Bank 2,3)
n2 0 65,535 0 1 Decimal representation: Extended
Output (Bank 4,5)
Remarks
Bit patterns for extended I/O banks (where available) configured as inputs have no affect on the IO status.
Output Mapping Examples
Example Command Issued (Hex version) Bits Set Bits Cleared
1-4 axis Set all outputs OP255 (OP$FF) 1-8 -
5-8 axis Set all outputs OP65535 (OP$FFFF) 1-16 -
Clear all outputs OP0 (OP$0000) - 1-16
Alternating on/off OP43690 (OP$AAAA) 2,4,6,8,10,12,14,16 1,3,5,7,9,11,13,15
Set High Byte OP65280 (OP$FF00) 9-16 1-8
Set Low Byte OP255 (OP$00FF) 1-8 9-16
Extended I/O points are updated once per sample. After issuing this command, one sample must pass before the output is updated.

Examples
'Galil DMC Code Example
OP 0;' Clear Output Port -- all bits
OP $85;' Set outputs 1,3,8 and clear the others
MG _OP0;' Returns the parameter "n0"​

OP applies to
DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2,RIO574x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control OP 236/326

 ERROR CONTROL
OT Off on encoder failure time

OTm= n
OT n,n,n,n,n,n,n,n
Usage OTm= n Arguments specified with a single axis mask and an assignment (=)
OT n ... Arguments specified with an implicit, comma-separated order
Operands _OTm Operand holds the value last set by the command
Description
The OT command sets the timeout time for the encoder failure routine. The command sets the time in samples that the encoder failure will wait for motion
after the OV threshold has been exceeded. The controller can detect a failure on either or both channels of the encoder.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 1 32,000 30 1 Number of samples for error detection
Remarks
Encoder error detection is based on whether motion of at least 4 counts is detected whenever the torque exceeds a preset level (OV) for a specified
time (OT).
Note that for this function to work properly it is necessary to have a non-zero value for KI.
See the OA command for more details on this error detection mode

Examples
'Galil DMC Code Example
OTD = 400;' Set D axis encoder error timeout to 400 samples
OT 100,200;' Set A axis to 100 and B axis to 200 sample timeouts​

'Galil DMC Code Example

#setup
OTA = 10;' Set time to 10 milliseconds
OVA = 5;' Set voltage to 5
OAA = 1;' Enable encoder detection feature
EN

'Galil DMC Code Example

REM #POSERR example for checking to see if encoder failure occured
REM This procedure is needed because the stop code will only update if
REM the profilier is running at the time the encoder failure is detected.
#POSERR
~a = 0
#loop
IF _MO~a =1
IF ( ( _TE~a <_ER~a ) &( _OE~a ) &( _OA~a ) )
MG "possible encoder failure on ",~a {Z1.0}," axis"
ENDIF
ENDIF
~a = ~a +1
JP#loop,~a <_BV
AI1;' wait for input 1 to go high
SH;' enable all axes
RE

OT applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC18x6,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control OT 237/326

 ERROR CONTROL
OV Off on encoder failure voltage

OVm= n
OV n,n,n,n,n,n,n,n
Usage OVm= n Arguments specified with a single axis mask and an assignment (=)
OV n ... Arguments specified with an implicit, comma-separated order
Operands _OVm Operand holds the value last set by the command
Description
The OV command sets the threshold voltage for detecting an encoder failure. The controller can detect a failure on either or both channels of the
encoder.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 9.9982 0.9438 20/65,536 Torque voltage to trigger encoder error detection
Remarks
Encoder error detection is accomplished by checking on whether motion of at least 4 counts is detected whenever the torque exceeds a preset level
(OV) for a specified time (OT).
Note that for this function to work properly it is recommended to have a non-zero value for KI.
The value of OV should be high enough to guarantee that the motor would overcome any static friction in the system. If it is too low, there will be
false triggering of the error condition.
The OV value may not be higher than the TL value.
See the OA command for more details on this error detection mode

Examples
'Galil DMC Code Example
OVB = 1.2;' Set B axis encoder detection torque value to 1.2V
OV 0.54;' Set A axis encoder detection torque value to 0.54V​

'Galil DMC Code Example

#setup
'setup the encoder error detection
OTA = 10;' Set time to 10 milliseconds
OVA = 5;' Set voltage to 5
OAA = 1;' Enable encoder detection feature
EN

'Galil DMC Code Example

REM #POSERR example for checking to see if encoder failure occured
REM This procedure is needed because the stop code will only update if
REM the profilier is running at the time the encoder failure is detected.
#POSERR
~a = 0
#loop
IF _MO~a =1
IF ( ( _TE~a <_ER~a ) &( _OE~a ) &( _OA~a ) )
MG "possible encoder failure on ",~a {Z1.0}," axis"
ENDIF
ENDIF
~a = ~a +1
JP#loop,~a <_BV
AI1;' wait for input 1 to go high
SH;' enable all axes
RE

OV applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC18x6,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control OV 238/326

 OPERAND ONLY
P2CD Serial port 2 code

P2CD
Usage variable= P2CD Holds a value
Operands P2CD Operand has special meaning, see Remarks
Description
P2CD returns the status of the auxiliary serial port (port 2). The value of P2CD returns zero after the corresponding string or number is read.
Arguments
P2CD is an operand that holds a value cooresponding to status. See Examples for use in code.
Remarks
P2CD contains the following status codes
P2CD Status Codes
Status Code Meaning
-1 Mode disabled
0 Nothing received
1 Received character, but not carriage return
2 received a string, not a number
3 received a number
Examples
'Galil DMC Code Example
:^R^V
DMC2240 Rev 1.0o
:^R^S
:CC 9600,0,0,0
:MG "TEST" {P2};' send a message to the hand terminal
:MG P2CD;' no characters entered on hand terminal
0.0000
:MG P2CD;' the number 6 was pushed on the hand terminal
1.0000
:MG P2CD;' enter key pushed on hand terminal
3.0000
:MG P2CD;' the character B was pushed (shift f2) then enter
2.0000​

P2CD applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control P2CD 239/326

 OPERAND ONLY
P2CH Serial port 2 character

P2CH
Usage variable= P2CH Holds a value
Operands P2CH Operand has special meaning, see Remarks
Description
P2CH returns the last character sent to the auxiliary serial port (port 2)
Arguments
P2CH is an operand that holds a value cooresponding to ASCII characters sent over the serial port. See Examples for use in code.
Remarks
None

Examples
'Galil DMC Code Example
:^R^V
DMC2240 Rev 1.0o
:^R^S
:CC 9600,0,0,0
:MG "TEST" {P2} ;'send a message to the hand terminal
:MG P2CH {S1} ;'the 6 button was pushed on the hand terminal
6

P2CH applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control P2CH 240/326

 OPERAND ONLY
P2NM Serial port 2 number

P2NM
Usage variable= P2NM Holds a value
Operands P2NM Operand has special meaning, see Remarks
Description
P2NM returns the last number (followed by carriage return) sent to auxiliary serial port (port 2).
Arguments
P2NM is an operand that holds a numerical value sent over the serial port. See Examples for use in code.
Remarks
Converts from ASCII (e.g. "1234") to binary so that a number can be stored into a variable and math can be performed on it.
Numbers from -2147483648 to 2147483647 can be processed.

Examples
'Galil DMC Code Example
:^R^V
DMC2240 Rev 1.0o
:^R^S
:CC 9600,0,0,0
:MG "TEST" {P2} ;'send a message to the hand terminal
:x = P2NM ;'the 1, 2, 3, buttons were pushed
:MG x
123.0000

P2NM applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control P2NM 241/326

 OPERAND ONLY
P2ST Serial port 2 string

P2ST
Usage variable= P2ST Holds a value
Operands P2ST Operand has special meaning, see Remarks
Description
P2ST returns the last string (followed by carriage return) sent to auxiliary serial port (port 2)
Arguments
P2ST is an operand that contains a string. See Examples for usage.
Remarks
No more than 6 characters can be assessed by this operand

Examples
'Galil DMC Code Example
:CC 9600,0,1,0
:MG "TEST" {P2} ;'send a message to the hand terminal
:MG P2ST {S3} ;'the characters ABC were entered
ABC​

P2ST applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control P2ST 242/326

 INDEPENDENT MOTION
PA Position Absolute

PAm= n
PA n,n,n,n,n,n,n,n
Usage PAm= n Arguments specified with a single axis mask and an assignment (=)
PA n ... Arguments specified with an implicit, comma-separated order
Operands _PAm Operand has special meaning, see Remarks
Description
The PA command sets the end target of the Position Absolute Mode of Motion.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
M N N/A Axis Virtual axis to assign value
n - 2,147,483,647 0 1 Absolute position target for n=? returns the commanded position at
2,147,483,648 independant move which motion last stopped
Remarks
The position is referenced to the absolute zero position, defined as position 0.
By default a new PA command may not be issued before the previous PA command has finished executing. This operation may be changed by
running in Position Tracking Mode - See the PT command for more information.
Operand Usage
_PAm contains the last commanded position at which motion stopped.

Examples
'Galil DMC Code Example
:PA 400,-600,500,200;' A-axis will go to 400 counts B-axis will go to -600 counts
:' C-axis will go to 500 counts D-axis will go to 200 counts
:BG;' Execute Motion
:PA ? ,? ,? ,? ;' Returns the current commanded position after motion has completed
400, -600, 500, 200
:PA 700;' A-axis will go to 700 on the next move while the
:BG;' B,C and D-axis will travel the previously set relative distance
:' if the preceding move was a PR move, or will not move if the
:' preceding move was a PA move.​

'Galil DMC Code Example

DP10000;' set current position to 10000
PA3000;' move to absolute position 3000, which is a -7000 count move
BGA ;' begin -7000 count move
EN

PA applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control PA 243/326

 SYSTEM CONFIG
PF Position Format

PF n0.n1
Usage PF n ... Arguments specified with an implicit, comma-separated order
Operands _PF Operand holds the value last set by the command
Description
The PF command allows the user to format the position numbers such as those returned by TP. The number of digits of integers and the number of digits
of decimal can be selected with this command. An extra digit for sign and a digit for decimal point will be added to the total number of digits.
Arguments
Argument Min Max Default Resolution Description Notes
n0 -8 10 10 1 Number of places displayed Negative numbers force data to display in
preceding the decimal point hexadecimal format
n1 0 4 0 1 Number of places displayed after the
decimal point
Remarks
If PF is minus, the format will be hexadecimal and a dollar sign will precede the characters. Hex numbers are displayed as 2's complement with the first
bit used to signify the sign.
If a number exceeds the format, the number will be displayed as the maximum possible positive or negative number (i.e. 999.99, -999, $8000 or
$7FF).
The PF command formats the values returned from the following commands:
BL? IP ? TD
DE ? LE ? TE
DP ? PA ? TN
EM ? PR ? TP
FL ? RL VE
GP RP
Examples
'Galil DMC Code Example
:DP 2l;' Set position of A axis for example
:TP A ;' Tell position of A in default format
21
:PF 5.2;' Change format to 5 digits of integers and 2 of decimal
:TP A
21.00
:PF-5.2;' Change format to hexadecimal
:TP A
$00015.00​

PF applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control PF 244/326

 FILTER/CONTROL
PL Pole

PLm= n
PL n,n,n,n,n,n,n,n
Usage PLm= n Arguments specified with a single axis mask and an assignment (=)
PL n ... Arguments specified with an implicit, comma-separated order
Operands _PLm Operand holds the value last set by the command
Description
The PL command adds a low-pass filter in series with the PID compensation.
The crossover frequency is entered directly as an argument to PL. To maintain compatibility with earlier versions, a value less than 1 may also be specified.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 250 0 1 Crossover frequency created by 'Max' is a function of TM. See Remarks. n =
the PL command 0 disables the Pole filter.
0 0.9999 0 2/65,536 Value used to generate pole filter See Remarks for the equation used. n = 0
crossover frequency disables the Pole filter
Remarks
At lower TM settings, the maximum pole frequency is increased. The maximum value of the PL command is determined by the value of TM according
to the following equation
Max = (1/4 * 10^6) * (1/TM)
The digital transfer function of the filter is (1 - n) / (Z - n) and the equivalent continuous filter is A/(S+A) where A is the filter cutoff frequency: A=(1/T)
ln (1 / n) rad/sec and T is the sample time.
Calculated Pole
To convert from the desired crossover (-3 dB) frequency in Hertz to the value given to PL, use the following formula

where
n is the argument given to PL (less than 1)
T is the controller's servo loop sample time in seconds (TM divided by 1,000,000)
Fc is the crossover frequency in Hertz
Example: Fc=36Hz TM=1000 n=e^(-0.001*36*2*pi) =0.8
The following shows several example crossover frequencies achieved with various values of PL

n Fc (Hz)
0 Infinite (off)
0.2 256
0.4 145
0.6 81
0.8 36
0.999 0
Examples
'Galil DMC Code Example
'Set A-axis Pole to 0.95, B-axis to 0.9, C-axis to 0.8, D-axis pole to 0.822
:PL .95,.9,.8,.822
Query all Pole values
:PL ? ,? ,? ,?
0.9527,0.8997,0.7994,0.8244
Return A Pole only
:PL?
0.9527​

PL applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control PL 245/326

 INDEPENDENT MOTION
PR Position Relative

PRm= n
PR n,n,n,n,n,n,n,n
Usage PRm= n Arguments specified with a single axis mask and an assignment (=)
PR n ... Arguments specified with an implicit, comma-separated order
Operands _PRm Operand holds the value last set by the command
Description
The PR command sets the incremental distance and direction of the next move. The move is referenced with respect to the current position. .
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
M N N/A Axis Virtual axis to assign value
n - 2,147,483,647 N/A 1 Incremental distance for n = ? returns the current incremental
2,147,483,648 independent move distance specified
Remarks
_PRm contains the current incremental distance for the specified axis.

Examples
'Galil DMC Code Example
:PR 100,200,300,400;' On the next move the A-axis will go 100 counts,
:BG;' the B-axis will go to 200 counts forward, C-axis will go 300 counts and the D-axis will go 400 counts.
:PR ? ,? ,? ;' Return relative distances
100,200,300
:PR 500;' Set the relative distance for the A axis to 500
:BG;' The A-axis will go 500 counts on the next move while the B-axis will go its previously set relative distance.​

'Galil DMC Code Example

'using PA/PR, you can query PR for the incremental distance
:DP 10000
:PA 8000
:PR ?
-2000​

PR applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control PR 246/326

 INDEPENDENT MOTION
PT Position Tracking

PTm= n
PT n,n,n,n,n,n,n,n
Usage PTm= n Arguments specified with a single axis mask and an assignment (=)
PT n ... Arguments specified with an implicit, comma-separated order
Operands _PTm Operand holds the value last set by the command
Description
The PT command will place the controller in the position tracking mode. In this mode, the controller will allow the user to issue absolute position commands
that begin motion immediately without requiring a BG command. The absolute position may be specified such that the axis will begin motion, continue in
the same direction, reverse directions, or decelerate to a stop
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 1 0 1 Setting for position tracking mode of n = 1 enables PT mode, n = 0 disables
motion PT mode
Remarks
The PA command is used to give the controller an absolute position target. Motion commands other than PA are not supported in this mode.
The motion profile is trapezoidal with the parameters controlled by acceleration, deceleration, and speed (AD, DC, SP).
When in the PT mode the ST command will exit the mode.
The AM and MC trip points are not valid in this mode.
MF and MR are recommended with this mode as they allow the user to specify both the absolute position, and the direction. The AP trip point
may also be used.
Position Tracking is not valid on virtual axes

Examples
'Galil DMC Code Example
DPA = 0;' Start position at absolute zero
PTA = 1;' Start PT mode on A axis
PA 1000;' Move to position 1000, motion starts right away
MF 500;' Wait till position 500 reached
PA -1000;' Reverse direction to move to position -1000
EN

'Galil DMC Code Example

#A
PT 1,1,1,1;' Enable the position tracking mode for axes A, B, C, and D
' NOTE: The BG command is not used to start the PT mode.
#LOOP;' Create label #LOOP in a program. This small program will
' update the absolute position at 100 Hz. Note that the
' user must update the variables v1, v2, v3 and v4 from the
' host PC, or another thread operating on the controller.
'
PA v1,v2,v3,v4;' Command ABCD axes to move to absolute positions. Motion
' begins when the command is processed. BG is not used
' to begin motion in this mode. In this example, it is
' assumed that the user is updating the variable at a
' specified rate. The controller will update the new
' target position every 10 milliseconds (WT10).
WT10;' Wait 10 milliseconds
JP#LOOP;' Repeat by jumping back to label LOOP​

PT applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control PT 247/326

 PVT MODE
PV PVT Data

PVm= n0,n1,n2
Usage PVm= n Arguments specified with a single axis mask and an assignment (=)
Operands _PVm Operand has special meaning, see Remarks
Description
The PV command is used to enter PVT data into the PVT buffer. Data is entered by specifying the target delta position, target velocity, and delta time for
the segment duration.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n0 - 44,000,000 0 1 Position target for PVT
44,000,000 segment
n1 - 22,000,000 0 2 Velocity target for PVT
22,000,000 segment
n2 Number of samples for PVT n2 = -1 clears the PVT buffer, n2 = 0 exits PVT
0 2,048 0 2 segment mode. See Remarks
Remarks
n2 is in samples and sample time is defined by TM
With TM 1000 set, n2 = 1024 is equal to 1 second
If t is omitted from the PVT command, the previous n2 value is used
For more details on PVT mode of motion see the user manual.
Operand Usage
_PVm contains the number of spaces available in the PV buffer for the specified axis. Each axis has a 255 segment PVT buffer

Examples
'Galil DMC Code Example
PVA = 100,2000,256;' Move 100 counts over 256 samples, end at 2000 cnts per sec
PVA = 500,1000,128;' Move 500 counts over 128 samples, end at 1000 cnts per sec
PVA = 1000,2500;' Move 1000 counts over 128 samples, end at 2500 cnts per sec
PVA = 0,0,0;' End PVT mode​

Desired X/Y Trajectory

X Position X Speed at end of Time (ms at TM1000) Y Position Y Speed at end of Time (ms at TM1000)
(relative/absolute) time period (c/s) (relative/time from start) (relative/absolute) time period (c/s) (relative/time from
start)
0/0 0 0/0 0/0 0 0/0
100/100 200 256/256 -50/-50 500 100/100
200/300 200 50/306 -100/-150 -100 510/610
300/600 0 50/356 300/150 0 50/660
'Galil DMC Code Example
DP0,0;' Define zero position
PVA = 100,200,256;' Command X axis to move 100 counts reaching an ending speed of 200c/s in 256 samples
PVB = -50,500,100;' Command Y axis to move -50 counts reaching an ending speed of 500c/s in 100 samples
PVB = -100,-100,510;' Command Y axis to move -100 counts reaching an ending speed of -100c/s in 510 samples
PVA = 200,200,50;' Command X axis to move 200 counts reaching an ending speed of 200c/s in 50 samples
PVA = 300,0,50;' Command X axis to move 300 counts reaching an ending speed of 0c/s in 50 samples
PVB = 300,0,50;' Command Y axis to move 300 counts reaching an ending speed of 0c/s in 50 samples
PVB = ,,0;' Exit PVT mode on Y axis
PVA = ,,0;' Exit PVT mode on X axis
' When the PVT mode is exited, the axis will be in the "SH" state
' (assuming position error is not exceeded, etc)
BTAB ;' Begin PVT on X and Y axis
AMAB ;' Trip point will block until PVT motion on X AND Y is complete
EN;' End program​

PV applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control PV 248/326

 SYSTEM CONFIG
PW Password

PW str,str
Usage PW n ... Arguments specified with an implicit, comma-separated order
Description
The PW command sets the password used to lock the controller. Locking the controller prevents interrogation of the controller program space.
Arguments
Argument Min Max Default Resolution Description Notes
str 0 chars 8 chars "" String String to be used for Both parameters must match for the PW command
password to succeed.
Remarks
The password can only be changed when the controller is in the unlocked state. See the ^L^K for more details.
The password is burnable but cannot be interrogated. If you forget the password and the controller is locked you must master reset the controller to
gain access.
Quotes are not used to frame the password string. If quotes are used, they are part of the password.

Examples
'Galil DMC Code Example
:PWapple,orange
?
:TC1
138 Passwords not identical
:PWapple,apple
:^L^K apple,1​

'Galil DMC Code Example

:PWtest,test;' Set password to "test"
:^L^K test,1;' Lock the program
:ED;' Attempt to edit program
?
:TC1
106 Privilege violation​

PW applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,RIO47xxx,DMC18x6
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control PW 249/326

 SYSTEM CONFIG
QD Download Array

QD str[],n0,n1
Usage QD n ... Arguments specified with an implicit, comma-separated order
Description
The QD command transfers array data from the host computer to the controller. QD array[], start, end requires that the array name be specified along
with the index of the first element of the array and the index of the last element of the array.
Arguments
Argument Min Max Default Resolution Description Notes
str 1 char 7 chars N/A String Name of array to receive data
via download.
n0 0 see Notes 0 1 Index of the first array element. Value cannot exceed size of array - 2
n1 1 see Notes see Notes 1 Index of the last array element. Value cannot exceed size of array - 1. Defaults
to size of array - 1.
Remarks
Array name must be a valid, dimensioned array name followed by empty [] brackets.
The array elements may be separated by a comma ( , ), a carriage return (\r), or a carriage return and line feed (\r\n). Do not use spaces.
The downloaded array is terminated by a \ character.
QD is not supported in the terminal of Galil software packages.
It is recommended to use the array download functions available through the Galil software and drivers rather than directly using the QD
command.
Issuing this command will pause the output of the Data Record until the command is completed.

Examples
'Galil DMC Code Example
:'From a character-buffered terminal such as Telnet or Hyperterm
:DM array[ 3]
:QD array[ ]
1,2,3\:LA
array[3]
:array[ 0] = ?
1.0000
:array[ 1] = ?
2.0000
:array[ 2] = ?
3.0000

QD applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control QD 250/326

 INTERROGATION
QH Query Hall State

QH mm
Usage QH mm Argument is an axis mask
Operands _QHm Operand has special meaning, see Remarks
Description
The QH command transmits the state of the Hall sensor inputs. The value is decimal and represented by a 3 bit value (see Remarks).
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH ABCDEFGH Multi-Axis Mask Axes to return Hall status
Remarks
The 3 bit value returned by QH is defined in the table below:

Bit Status
07 Undefined (set to 0)
06 Undefined (set to 0)
05 Undefined (set to 0)
04 Undefined (set to 0)
03 Undefined (set to 0)
02 Hall C State
01 Hall B State
00 Hall A State
QH should return a value from 1 through 6 as valid Hall combinations. A value of 0 or 7 is invalid when using Hall sensors and will generate a Hall error
with OE set.
The valid sequence for Hall inputs is a greycode output (only one bit changes at a time):
1,3,2,6,4,5 (or 5,4,6,2,3,1)
To disable Hall error checking, set the axis to brushed with a BR 1 command.
When using an internal sine amplifier, the BA command must be issued before QH will report the Hall state status.
Operand Usage
_QHm Contains the state of the Hall sensor inputs for the specified axis

Examples
'Galil DMC Code Example
QHA ;' Query the A axis Hall state
var= _QHB ;' Set a variable var equal to the B axis Hall state​

'Galil DMC Code Example

:QHA ;' Query A axis Hall status
7
:TA1;' Check for Hall errors in the amp
1
:'A 1 indicates Hall error on axis A​

QH applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control QH 251/326

 ECAM/GEARING, OPERAND ONLY
QQ Clear Sample Time Overflow

QQ
Usage QQ Command takes no arguments
Operands _QQ Operand has special meaning, see Remarks
Description
QQ is used along with #FWERR to detect a sample overflow. Many features require that the controller perform an action every sample. Running many of
these features simultaneously can lead to there not being enough time to complete every action. See remarks for a list of these features. In the event that
a sample overflow occurs, the QQ command is used to report and clear this error. For the majority of applications, this will never occur. This behavior
should only occur when running a low sample time (TM) and using absolute encoders with a high number of bits at a low clock frequency.
Arguments
The QQ command has no arguments.
Remarks
If the servo sample has not yet overflowed, the value of _QQ will be 0.
If the servo sample has overflowed and not yet been cleared, _QQ will be 1.
The following are features, and their associated DMC comands, which add a non-negligible amount of time to the servo sample calculations.
Serial Encoders (SI/SS)
Analog Encoders (AF)
Notch Filter (NF,NZ,NB)
Low Sample Time setting (TM)

Examples
'Galil DMC Code Example
'Code detects a checksum error and notifies the user
#FWERR
MG "Interrupt overflow event occurred:" ,_QQ; 'printing the _QQ operand showing that the interrupt has overflown
QQ; 'returns the _QQ operand to 0
MG "Shutdown for diagnostics"
EN

QQ applies to DMC40x0,DMC41x3
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control QQ 252/326

 INTERROGATION
QR I O Data Record

QR mm
QR
Usage QR mm Argument is an axis mask
Description
The QR command causes the controller to return a record of information regarding controller status.
This status information includes 4 bytes of header information and specific blocks of information as specified by the command arguments. The details of
the status information is described in Chapter 4 of the user's manual.
Arguments
Argument Min Max Default
Resolution Description Notes
mm A ABCDEFGHSTI ABCDEFGHSTI Multi-Axis Axes/Coordinated/IO data specified to If no argument entered, mm =
Mask display in the data record "ABCDEFGHSTI"
Argument Value Description Notes
mm A-H Output axes A-H data record block
S Output coordinated axis S data block
T Output coordinated axis T data block
I Output General IO data block
Remarks
The data returned by the QR command is in binary format and is unreadable in programs such as Galiltools.
The Galiltools API has specialized commands to parse the data record packet. See the Galiltools User Manual for more details.

Examples
'Galil DMC Code Example
QR A ;' Return the data record with A axis block only
QR BI ;' Return the data record with B axis block and IO block
QR ST ;' Return the data record with S and T coordinated axis blocks
QR;' Return the data record for all axes, including IO and S and T axis blocks​

QR applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control QR 253/326

 INTERROGATION, STEPPER MOTOR
QS Error Magnitude

QS mm
Usage QS mm Argument is an axis mask
Operands _QSm Operand has special meaning, see Remarks
Description
The QS command reports the magnitude of error, in drive step counts, for axes in Stepper Position Maintenance mode. A step count is directly
proportional to the micro-stepping resolution of the stepper drive.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH ABCDEFGH Multi-Axis Axes to query for step motor error Default value used if mm is
Mask magnitude undefined.
m A H N/A Axis Single Axis to query for error magnitude
Remarks
The result of QS is modularized so that result is never greater than 1/2 the revolution of the stepper motor.
Largest possible QS result = 0.5*YA*YB
If present in embedded code, command execution will jump to #POSERR when QS is equal to 3 full motor steps (_YAm * 3)
QSm=? will return the current error for axis m
Operand Usage
_QSm contains the error magnitude in drive step counts for the specified axis.

Examples
'Galil DMC Code Example
'For an SDM-20620 microstepping drive, query the error of B axis:
:QSB
253
:' Above shows 253 step counts of error.
:' The SDM-20620 resolution is 64 microsteps per full motor step
:' nearly four full motor steps of error.
Query the value of all axes:
:QS
0,253,0,0,0,0,0,0
:' Response shows all axes error values​

QS applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control QS 254/326

 INTERROGATION
QU Upload Array

QU str[],n0,n1,n2
Usage QU n ... Arguments specified with an implicit, comma-separated order
Description
The QU command transfers array data from the controller to a host computer. The QU requires that the array name be specified along with the first
element of the array and last element of the array.
Arguments
Argument Min Max Default Resolution Description Notes
str 1 char 7 chars N/A String Name of array to be uploaded
n0 0 see Notes 0 1 Index of first array element Value cannot exceed size of array - 2
n1 1 see Notes see Notes 1 Index of last array element Defaults to last element of array. Value cannot
exceed size of array - 1
n2 Selects character delimiter n2 = 0 selects CR delimiting. n2 = 1 select
0 1 0 1 between array elements comma delimiting.
Remarks
Array name must be a valid, dimensioned array name followed by empty [] brackets.
The uploaded array will be followed by a <control>Z as an end of text marker.
The GalilTools array upload functions can be used to upload array data in .csv format.
Issuing this command will pause the output of the Data Record until the command is completed.

Examples
'Galil DMC Code Example
DM test[ 10] ;' Dimension a 10 element sized array
QU test[ ] ,0,1,1;' Upload first 2 elements
QU test[ ] ,8,9,1;' Upload last 2 elements (size-2 and size-1 used for n1,n2)
EN

'Galil DMC Code Example

:DM array[ 5] ;' Dimension Array
:QU array[ ] ,0,4,1;' Upload Array
0.0000, 0.0000, 0.0000, 0.0000, 0.0000
:array[ 0] = 9;' Set value
:array[ 1] = 1
:QU array[ ] ,0,4,1
9.0000, 1.0000, 0.0000, 0.0000, 0.0000
:array[ 0] = ? ;' Alternative method to return just one array value
9.0000​

QU applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control QU 255/326

 INTERROGATION
QZ Return Data Record information

QZ
Usage QZ Command takes no arguments
Description
The QZ command is an interrogation command that returns information regarding the data record. The controller's response to this command will be the
return of 4 integers separated by commas.
Arguments
QZ is an interrogation command with no parameters.
Remarks
The four fields returned by QZ represent the following:
1. First field returns the number of axes.
2. Second field returns the number of bytes to be transferred for general status
3. Third field returns the number of bytes to be transferred for coordinated move status
4. Fourth field returns the number of bytes to be transferred for axis specific information

Examples
'Galil DMC Code Example
:QZ;' standard DMC-4143 example response
4, 52, 26, 36​

QZ applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control QZ 256/326

 PROGRAMMING
RA Record Array

RA str[ ],str[ ],str[ ],str[ ],str[ ],str[ ],str[ ],str[ ]

Usage RA n ... Arguments specified with an implicit, comma-separated order
Description
The RA command selects the user arrays to be populated by the Record Array function. The data to be captured is specified by the RD command and
time interval by the RC command.
Arguments
Argument Min Max Default Resolution Description Notes
str 1 char 7 chars N/A String Valid array name to use in The arrays listed correspond to the source list
record array function defined by the RD command. See Remarks
Remarks
The array name str must be followed by the [] brackets. Those brackets must be empty.
The array name str must be a valid array defined by the DM command and reported by LA.

Examples
'Galil DMC Code Example
' try to start record array without defining array[]
:RA array[ ]
?
:TC1
82 Undefined array
:DM array[ 100]
:RA array[ ]

'Galil DMC Code Example

#record;' Label
DM pos[ 100] ;' Define array
RA pos[ ] ;' Specify Record Mode
RD _TPA ;' Specify data type for record
RC 1;' Begin recording at 2 msec intervals
PR 1000;BG;' Start motion
EN;' End

'The record array mode is useful for recording the real-time motor position during motion.
'The data is automatically captured in the background and does not interrupt the program sequencer.
'The record mode can also be used for a teach or learn of a motion path.

'The GalilTools Realtime scope can often be used as an alternative to record array.​

RA applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control RA 257/326

 PROGRAMMING
RC Record

RC n0,n1
Usage RC n ... Arguments specified with an implicit, comma-separated order
Operands _RC Operand has special meaning, see Remarks
Description
The RC command begins recording for the Automatic Record Array Mode. RC 0 stops recording. The record array mode loads source data specified by
the RD command into the arrays defined by the RA command. The address for the array element for the next recording can be interrogated with _RD.
Arguments
Argument Min Max Default Resolution Description Notes
n0 0 8 0 1 Specify the record array time interval n = 0 stops recording.
as 2^n samples. 0

n1 Specify the number of records to n1 has special rules for the maximum
see Notes see Notes 0 1 perform setting. See Remarks.
Remarks
Firmware Note: Do not allocate or deallocate arrays (DM,DA) while the Automatic Record Array Mode is running.
GalilTools Note: Do not download arrays from GalilTools, or call the arrayDownload() or arrayDownloadFile() functions while automatic record array
mode is running.
n0 = non zero number automatically starts record mode.
n0 = ? returns status of recording. '1' if recording, '0' if not recording.
Second Parameter Rules
n1 specifies the last array element to use for record mode.
If arrays specified by RA have different sizes, the smallest array size is the maximum value for n1
If n1 = 0 or not specified, the maximum value is used.
A negative value for n1 specifies circular (continuous) record over array addresses 0 to (n1-1).
The absolute value of the minimum n1 allowed = maximum n1 allowed
Operand Usage
_RC contains status of recording. '1' if recording, '0' if not recording.
Setting up the record array mode
1. Dimension an array/arrays for storing data. Make sure you dimension the array with the number of elements required to capture data for your
application.
2. Set the RA command with the arrays to be used for recording
3. Set the RD command with the data sources to be applied to the arrays. The order of your arrays entered into RA will match the order of data sources
set by RD
4. Set the RC command to get the desired time between records and enable the recording.
5. Monitor the _RC operand for a 0 to indicate recording is done.
6. View the data in your embedded code, or extract the data using Galiltools software and the Upload array function.

Examples
'Galil DMC Code Example
#record;' Record label
DM torque[ 1000] ;' Define Array
RA torque[ ] ;' Specify Array to record data
RD _TTA ;' Specify Data Type
RC 2;' Begin recording and set 4 msec between records
JG 1000;BG;' Begin motion
#A;JP #A,_RC=1;' Loop until done
MG "DONE RECORDING";' Print message
EN;' End program​

RC applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control RC 258/326

 PROGRAMMING
RD Record Data

RD arg, arg, arg, arg, arg, arg, arg, arg

Usage variable= RD Holds a value
Operands _RD Operand has special meaning, see Remarks
Description
The RD command specifies the data type to be captured for the Record Array (RA) mode. The data defined in this command is stored in arrays defined
by the RA command at the time interval specified with the RC command.
Arguments
Valid arguments for RD command
Argument Value Description Notes
Time in
arg TIME servo Value as read by the TIME command
samples
Analog input Data range is -32768 to 32767. The analog inputs are limited to those which correspond to an axis on the
_AFm digital value controller. Syntax Note: Unlike the operand _AFm, the symbol _AFm in the context of RD records the ADC
value, not the AF setting.
Auxiliary
_DEm encoder _DEm and _TDm capture the same data
position
_OP Output
status
_RLm Latched
position
_RPm Commanded _RPm and _SHm capture the same data
position
_SCm Stop code
_SHm Commanded _RPm and _SHm capture the same data
position
Auxiliary
_TDm encoder _DEm and _TDm capture the same data
position
_TEm Position
error
_TI Input status
_TPm Encoder
position
_TSm Switches Only bits 0-4 valid
_TTm Torque The values recorded for torque are in the range of +/- 32767 where 0 is 0 torque, -32767 is -10 volt
command command output, and +32767 is +10 volt.
_TVm Filtered This value will be 64 times greater than TV command
velocity
Remarks
Arguments listed as _XXm are valid when m is a valid axis mask
The order of args specified in RD corresponds with the array order specified in the RA command.
the operand _RD contains the address for the next array element for recording.
When recording _AFm, the returned value is signed. This means that when AQ is used to set unipolar inputs, values on the upper half of the voltage
range are sign extended. Anding the value with $0000FFFF will return the expected unsigned value.

Examples
'Galil DMC Code Example
DM errora[ 50] ,errorb[ 50] ;' Define arrays
RA errora[ ] ,errorb[ ] ;' Specify arrays to be recorded
RD _TEA ,_TEB ;' Specify data source
RC 1;' Begin recording, period is once every other servo sample
JG 1000;BG;' Begin motion

'The GalilTools Realtime scope can often be used as an alternative to record array.​

RD applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control RD 259/326

 PROGRAMMING
RE Return from Error Routine

RE n
Usage RE n ... Arguments specified with an implicit, comma-separated order
Description
The RE command is used to end subroutines in application code. An RE at the end of these routines causes a return to the main program. Specific
automatic error subroutines require the use of the RE command to end the code correctly.
Arguments
Argument Min Max Default Resolution Description Notes
Determines state of interrupted trippoint n = 1 restores the interrupted
n 0 1 0 1 when returning from an automatic trippoint. n = 0 clears the
subroutine. trippoint
Remarks
The RE command is used to end the following error automatic subroutines.
Automatic Subroutines Used Notes
#AMPERR Only when using internal amps
#LIMSWI
#POSERR
#SERERR Only when equipped with serial encoder firmware support
#TCPERR
Care should be taken to ensure the error conditions are cleared when finishing the subroutine to avoid immediate re-entering of the error routine.
To avoid returning to the main program on an interrupt, use the ZS command to zero the subroutine stack, then use JP to return to the desired
location in code.
RE 1 restores the trippoint that was interrupted by an automatic subroutine (like WT)
A motion trippoint like MF or MR requires the axis to be actively profiling in order to be restored with the RE 1 command.

Examples
'Galil DMC Code Example
REM dummy loop
#A
JP #A
EN

#POSERR ;' Begin Error Handling Subroutine

MG "ERROR";' Print message
SB1;' Set output bit 1
RE;' Return to main program and clear trippoint​

RE applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control RE 260/326

 PROGRAMMING
REM Remark

REM str
Description
REM is used for comment lines. The REM statement is NOT a controller command. Rather, it is recognized by Galil PC software, which strips away the REM
lines before downloading the DMC file to the controller.
Arguments
Argument Value Description Notes
str String Comment to be removed from code prior to This comment is not limited by the character limit of the controller, as it is
download never downloaded
Remarks
REM differs from NO (or ') in the following ways:
NO (or ') comments are downloaded to the controller and REM comments are not.
NO (or ') comments take up execution time and REM comments don't; therefore, REM should be used for code that needs to run fast.
REM comments cannot be recovered when uploading a program but NO (or ') comments are recovered. Thus the uploaded program is less
readable with REM.
NO (or ') comments take up program line space and REM lines do not.
REM comments must be the first and only thing on a line, whereas NO (or ') can be used to place comments to the right of code (after a
semicolon) on the same line
Special Strings
REM DISABLE COMPRESSION
Inserting this line into the beginning of your application code disables Galiltools download compression utility. This is not a controller function.

Examples
'Galil DMC Code Example
REM This comment will be stripped when downloaded to the controller
'This comment will be downloaded and takes some execution time
PRX = 1000 ;'this comment is to the right of the code​

REM applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control REM 261/326

 PROGRAMMING
RI Return from Interrupt Routine

RI n
Usage RI n ... Arguments specified with an implicit, comma-separated order
Description
The RI command is used to end the input interrupt subroutine.
The input interrupt subroutine begins with the label #ININT. An RI at the end of this routine causes a return to the main program.
Arguments
Argument Min Max Default Resolution Description Notes
Determines state of interrupted trippoint n = 0 clears the trippoint. n = 1
n 0 1 0 1 when returning from an automatic restores the interrupted trippoint.
subroutine.
Remarks
To avoid returning to the main program on an interrupt, use the command ZS to zero the subroutine stack. This turns the jump subroutine into a
jump only. Refer to Application Note 2418.
http://www.galil.com/download/application-note/note2418.pdf
If the program sequencer was interrupted while waiting for a trippoint, such as WT, RI 1 restores the trippoint on the return to the program. RI 0
clears the trippoint.
A motion trippoint like MF or MR requires the axis to be actively profiling in order to be restored with the RI1 command.
The RI command re-enables input interrupts.

Examples
'Galil DMC Code Example
#A;II1;JP #A;EN;' Program label
#ININT ;' Begin interrupt subroutine
MG "INPUT INTERRUPT";' Print Message
SB 1;' Set output line 1
RI 1;' Return to the main program and restore trippoint​

RI applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control RI 262/326

 INTERROGATION
RL Report Latched Position

RL mm
Usage RL mm Argument is an axis mask
Operands _RLm Operand has special meaning, see Remarks
Description
The RL command will return the last position captured by the latch. The latch must first be armed by the AL command and then the appropriate input
must be activated. Each axis uses a specific general input for the latch input; see the AL command for information on latch inputs.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH ABCDEFGH Multi-Axis Mask Axes to query for latched position
Remarks
The armed state of the latch can be configured using the CN command.
The Latch Function works with the main or auxiliary encoder.
See the DMC-40x0 user manual for a description of RL with sinusoidal encoders (-SIN firmware).
Capturing Stepper Position using the Latch
When working with a stepper motor without an encoder, the latch can be used to capture the stepper position. Follow the steps below to achieve
this.
1. Place a wire from the controller Step (PWM) output into the main encoder input, channel A+.
2. Connect the Direction (sign) output into the channel B+ input.
3. Configure the main encoder for Step/Direction using the CE command.
4. The latch will now capture the stepper position based on the pulses generated by the controller.
Operand Usage
_RLm contains the latched position of the specified axis.

Examples
'Galil DMC Code Example
:JG ,5000;' Set up to jog the B-axis
:BG B ;' Begin jog
:AL B ;' Arm the B latch, assume that after about 2 seconds, input goes low
:RL B ;' Report the latch
10000​

RL applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control RL 263/326

 INTERROGATION
RP Reference Position

RP mm
Usage RP mm Argument is an axis mask
Operands _RPm Operand has special meaning, see Remarks
Description
The RP command returns the commanded reference position of the motor(s). RP command is useful when operating step motors since it provides the
commanded position in steps when operating in stepper mode.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH ABCDEFGH Multi-Axis Mask Axes to report commanded position
M N N/A Multi-Axis Mask Virtual axes to report commanded position
Remarks
The relationship between RP, TP and TE: TEA equals the difference between the reference position, RPA, and the actual position, TPA.
TE = RP - TP
_RPm contains the commanded reference position for the specified axis.

Examples
'Galil DMC Code Example
'Assume that A axis is commanded to be at the position 200
'The returned units are in quadrature counts.
:PF 7;' Position format of 7
:RP
200
:RPA
200 Return the A motor reference position
:PF-6.0;' Change to hex format
:RP
$0000C8
:position = _RPA ;' Assign the variable, position, the value of RPA​

'Galil DMC Code Example

'Assume that ABC and D axes are commanded to be at the positions 200, -10, 0, -110
'respectively. The returned units are in quadrature counts.
:PF 7;' Position format of 7
:RP;' Return A,B,C,D reference positions
200,-10,0,-110
:RPA
200 Return the A motor reference position
:RPB
-10 Return the B motor reference position
:PF-6.0;' Change to hex format
:RP
$0000C8,$FFFFF6,$000000,$FFFF93 Return A,B,C,D in hex
:Position = _RPA ;' Assign the variable, position, the value of RPA​

'Galil DMC Code Example

:GAN ;' make A axis slave to N imaginary axis
:GR-1;' 1:-1 gearing
:SPN = 10000
:PRN = 10000
:BGN ;' Begin motion
:RPN ;' Get master position
10000
:RPA ;' Get slave commanded position
-10000​

RP applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control RP 264/326

 SYSTEM CONFIG
RS Reset

RS n
Usage RS n ... Arguments specified with an implicit, comma-separated order
Operands _RS Operand has special meaning, see Remarks
Description
The RS command resets the state of the processor to its power-on condition. The previously saved state of the hardware, along with parameter values
and saved program, are restored.
Arguments
Argument Min Max Default Resolution Description Notes
n -1 0 0 1 Set behavior of RS n = 0 peforms normal reset. n = -1 performs soft master
command reset. See Remarks.
RS has no arguments.
Remarks
A soft master reset performed by issuing RS -1 restores factory default settings without erasing the EEPROM. To restore saved EEPROM settings use
RS with no arguments, or RS 0.
Operand Usage
_RS returns the state of the processor on its last power-up condition. The value returned is the decimal equivalent of the 4 bit binary value shown
below.
Bit 3 For master reset error
Bit 2 For program checksum error
Bit 1 For parameter checksum error
Bit 0 For variable checksum error
At startup the controller operating system verifies the firmware sector. If there is a checksum error shown by _RS in firmware, it is not loaded and the
controller will boot to monitor mode.
The #AUTOERR automatic subroutine will run if this error occurs and the subroutine is located in the program space.

Examples
'Galil DMC Code Example
:RS;' Reset the hardware

:RS-1;' Perform a soft master reset

RS applies to
DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2,RIO574x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control RS 265/326

 ETHERNET
SA Send Command

SAm= str
SAm= str,n,n,n,n,n,n,n,n
Usage SAm= n Arguments specified with a single axis mask and an assignment (=)
Description
SA sends a command, and optionally receives a response, from one controller to another via Ethernet.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Handle Handle to specify for message output
str 1 char 74 chars "" String String to send over handle
n -2,147,483,648 2,147,483,647 0 1 Value to send for the specified parameter
Remarks
Strings are encapsulated by quotations. This will typically begin an SA command.
n is a number, controller operand, variable, mathematical function, or string. The range for numeric values is 4 bytes of integer followed by two bytes
of fraction.
Typical usage would have the first argument as a string such as "KI" and the subsequent arguments as the arguments to the command:
Example SAF="KI", 1, 2 would send the command: KI1,2
SA automatically adds commas between two number values being sent.
There is a 78 character maximum payload length for the SA command.
Operational Notes
1. SA is non-blocking. A wait (e.g. WT10) must occur between successive calls to SA.
2. SA is not valid over a handle configured for Modbus (port 502).
3. When writing multi-threaded DMC code, send all traffic from only one thread.
4. SA command functionality is provided to assist with controller to controller communications under error handling conditions. Recommended
commands for use with SA include, but are not limited to: HX, XQ, ST, and AB. Please contact a Galil Applications Engineer for additional details.

Operand Usage
_SAmn gives the value of the response to the command sent with an SA command.
The m value represents the handle A thru H and the n value represents the specific field returned from the controller (0-7).
If the specific field is not used, the operand will be -2^31.

Examples
'Galil DMC Code Example
#A
IHA = 10,0,0,12;' Configures handle A to be connected to a controller with IP 10.0.0.12
#B;JP#B,_IHA 2<>-2;' Wait for connection
SAA = "KI", 1, 2;' Sends the command to handle A (slave controller): KI 1,2
WT10
EN;' End Program​

SA applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control SA 266/326

 IO
SB Set Bit

SB n
Usage SB n ... Arguments specified with an implicit, comma-separated order
Description
The SB command sets a particular digital output. The SB and CB (Clear Bit) instructions can be used to control the state of output lines.
Arguments
Argument Min Max Default Resolution Description Notes
n 1 16 N/A 1 General output bit to be set Max value is 8 for 1-4 axis controllers
n 17 48 N/A 1 Extended I/O output bit to be I/O must be configured for outputs, see CO
set command
n 1,000 8,999 N/A 1 Set Modbus slave bit See "SB via Modbus Slave" in Remarks
Remarks
The state of the output can be read with the @OUT[] command.
Extended I/O points are updated once per sample. After issuing this command, one sample must pass before the output is updated.
Using SB with a Modbus Slave
n = (SlaveAddress*10000) + (HandleNum*1000) + ((Module-1)*4) + (Bitnum-1)
Slave Address is used when the ModBus device has slave devices connected to it and specified as Addresses 0 to 255. Please note that the use
of slave devices for modbus are very rare and this number will usually be 0.
HandleNum is the handle specifier where A is 1, B is 2 and so on.
Module is the position of the module in the rack from 1 to 16.
BitNum is the I/O point in the module from 1 to 4

Examples
'Galil DMC Code Example
SB 5;' Set digital output 5
SB 1;' Set digital output 1
CB 5;' Clear digital output 5
CB 1;' Clear digital output 1
EN

'Galil DMC Code Example

#modbus
REM connect to modbus slave at IP address 192.168.42.50
IHH = 192,168,42,50<502>2
WT100
SB 8001;'set bit 1 on modbus slave
WT 10
CB 8003;'set bit 3 on modbus slave
EN

For detailed information on connecting to a Modbus slave, see:

http://www.galil.com/news/dmc-programming-io-control/setting-rio-pocket-plc-or-generic-modbus-slave-extended-io

SB applies to
DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2,RIO574x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control SB 267/326

 INTERROGATION
SC Stop Code

SC mm
Usage SC mm Argument is an axis mask
Operands _SCm Operand has special meaning, see Remarks
Description
The Stop Code command returns a number indicating why a motor has stopped.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH N/A Multi-Axis Mask Axis to query stop code Omitting argument shows stop code for all axes
Remarks
When SC is issued, the controller reponds with a number for the axis queried. The number is interpreted as follows:
Stop Code Table
Stop Code Number Meaning
0 Motors are running, independent mode
1 Motors decelerating or stopped at commanded independent position
2 Decelerating or stopped by FWD limit switch or soft limit FL
3 Decelerating or stopped by REV limit switch or soft limit BL
4 Decelerating or stopped by Stop Command (ST)
6 Stopped by Abort input
7 Stopped by Abort command (AB)
8 Decelerating or stopped by Off on Error (OE1)
9 Stopped after finding edge (FE)
10 Stopped after homing (HM) or Find Index (FI)
11 Stopped by selective abort input
12 Decelerating or stopped by encoder failure (OA1) (For controllers supporting OA/OV/OT)
15 Amplifier Fault (For controllers with internal drives)
16 Stepper position maintenance error
30 Running in PVT mode
31 PVT mode completed normally
32 PVT mode exited because buffer is empty
50 Contour Running
51 Contour Stopped
60 ECAM Running
61 ECAM Stopped
70 Stopped due to EtherCAT communication failure
71 Stopped due to EtherCAT drive fault
99 MC timeout
100 Vector Sequence running
101 Vector Sequence stopped
_SCm contains the value of the stop code for the specified axis.

Examples
'Galil DMC Code Example
tom = _SCA ;' Assign the Stop Code of A axis to variable tom​

'Galil DMC Code Example

:JG10000
:BGA
:SCA
0 //Axis is running in independent mode
:STA
:SCA
4 //Axis is stopped by ST command

SC applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control SC 268/326

 INDEPENDENT MOTION
SD Switch Deceleration

SDm= n
SD n,n,n,n,n,n,n,n
Usage SDm= n Arguments specified with a single axis mask and an assignment (=)
SD n ... Arguments specified with an implicit, comma-separated order
Operands _SDm Operand holds the value last set by the command
Description
The Limit Switch Deceleration command (SD) sets the linear deceleration rate of the motors when a limit switch has been reached.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 1,024 1,073,740,800 256,000 1,024 Value of switch deceleration Resolution changes with TM, see Remarks
Remarks
The resolution of the SD command is dependent upon the update rate setting (TM). With the default rate of TM 1000 the resolution is 1024
cnts/second^2. The equation to calculate the resolution of the AC command is:
Resolution = 1024*(1000/TM)^2
Example:
With TM 500 the minimum AC setting and resolution is 4096 cnts/second^2
resolution = 1024*(1000/500)^2 = 4096
The SD command may be changed during the move in JG move, but not in PR or PA move.

Examples
'Galil DMC Code Example
#main
PR 10000;' Specify position
AC 2000000;' Specify acceleration rate
DC 1000000;' Specify deceleration rate
SD 5000000;' Specify Limit Switch Deceleration Rate
SP 5000;' Specify slew speed
EN

SD applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC18x6
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control SD 269/326

 FILTER/CONTROL
SH Servo Here

SH mm
Usage SH mm Argument is an axis mask
Description
The SH commands tells the controller to use the current motor position as the command position and to enable servo control at the current position.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH ABCDEFGH Multi-Axis Mask Axes to enable
Remarks
The SH command changes the coordinate system.
Therefore, all position commands given prior to SH, must be repeated. Otherwise, the controller produces incorrect motion.
This command can be useful when the position of a motor has been manually adjusted following a motor off (MO) command.

Examples
'Galil DMC Code Example
SH;' Servo A,B,C,D motors
SHA ;' Only servo the A motor, the B,C and D motors remain in its previous state.
SHB ;' Servo the B motor, leave the A,C and D motors unchanged
SHC ;' Servo the C motor, leave the A,B and D motors unchanged
SHD ;' Servo the D motor, leave the A,B and C motors unchanged​

'Galil DMC Code Example

'show how issuing SH clears position error
'by resetting the coordinate system
:MOA ;' disable the A axis
:TEA ;' check error on A axis
-12435
:TPA ;' Check position
12435
:SHA ;' enable A axis, doing so clears the error
:TEA ;' check error again
0
:TPA ;' confirm position hasn't changed
12435​

SH applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control SH 270/326

 SYSTEM CONFIG
SI Configure the special Galil SSI feature

SIm = n0, n1, n2, n3 <o >p

Usage SIm= n Arguments specified with a single axis mask and an assignment (=)
Operands _SIm Operand has special meaning, see Remarks
Description
The SI command enables and configures the controller to read SSI encoder data. Synchronous Serial Interface (SSI) allows for serial transmission of
absolute position data (either binary or Gray code) from the encoder based on a timed clock pulse train from the controller. Connection between the
controller and encoder is based on two signal lines, clock and data, which are usually differential for increased noise immunity. For each sequential clock
pulse of the controller, the encoder transmits one data bit from shift registers on the encoder.
SSI Timing

Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to configure for SSI Each axis has a dedicated SSI port (1)
n0 0 2 0 1 Position register to use 1 = TPA, 2 = TDA, 0 = Off
n1 -31 31 N/A 1 Number of Data and Status Bits The sign of n1 sets position mode. (2)
n2 0 0 N/A N/A Reserved
n3 -8 8 N/A 1 Number of status bits Sign of n3 sets status bit position
o 4 26 N/A 1 Clock divider, defines Clock frequency Defines SSI Clock Frequency, see (3)
p 1 2 N/A 1 Data Encoding 1 = Binary encoding; 2 = Gray Code
SSI encoder support requires the SSI Option on either the ICM-42000 or ICM-42200 and -SER Firmware
(2) The firmware will use the position data in one of two modes:
Absolute Mode, n1 > 0. The controller will use the absolute position transmitted by the encoder. If the encoder exceeds its position limits, the
encoder data will roll over from the maximum value to the minimum value. This discontinuity will be perceived by the controller as a large
change in servo error. Absolute mode is typically used with linear encoders that have a limited range of travel.
Continuous Mode. n1< 0.In this mode if the absolute position rolls over, the firmware will compensate by accounting for the roll over and
counting past it. This allows for a smooth transition, avoiding the large error that occurs in Absolute Mode. Continuous mode is typically used
with rotary absolute encoders. When the SS command is issued, the data first loaded into firmware will the same as in Absolute mode.
(3) Galil recommends using the lowest clock divider (highest clock frequency) possible. This will mainly be dictated by the encoder specifications and
the length of the clock and data transmission lines.
Clock frequencies (f) in MHz can be calculated from the clock divider ( o) as follows: f=10/(o+1)
o = 9 is a good starting value for most applications.
Remarks
SIm=? will return the configuration parameters for the specified axis.
Clocking in SSI data has a timing overhead which may be non-negligible. In the event that clocking in data will result in the controller being unable to
complete all required operations, (e.g. using multiple encoders with a lowered TM sample rate) the controller will respond by turning of all serial
encoders. See #FWERR and QQ for more information. This error mode is very rare, and is expected to occur only during development.
Operand Usage
_SIm returns the value of the SSI encoder's status bits as an 8 bit bitmask. SSI status bit placement and interpretation is manufacturer specific,
consult the encoder documentation for further information.

Examples
'Galil DMC Code Example
'SSI encoder data on the A axis sent to the _TPA register
'25 total bits, 22 position data, 3 status, prepended
'2 MHz clock frequency, binary encoding
SIA = 1,25,0,-3<4>1
'message status bits to the host
MG _SIA
EN

'Galil DMC Code Example

Galil Motion Control SI 271/326
 'Galil DMC Code Example
'SSI encoder data on the A axis sent to the _TPA register
'25 total bits, 22 position data, 3 status, prepended
'1 MHz clock frequency, binary encoding
SIA = 1,25,0,-3<9>1
'message status bits to the host
MG _SIA
EN

During the controller's control loop, a clock will be transmitted for encoders configured for SSI. The SSI encoder responds by transmitting a serial data
stream synchronized to the controller's clock. The data stream has 2 important features as described below.

Data = Encoder position data

Status = length and usage are manufacturer specific, access through _SIm. Status bits can either lead (prepend) or follow (append) the encoder data.

SI applies to SER
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control SI 272/326

 PROGRAMMING
SL Single Step

SL n
Usage SL n ... Arguments specified with an implicit, comma-separated order
Description
The SL command is used to single-step through a program for debugging purposes. SL can be used after execution has paused at a breakpoint (BK). The
argument n allows user to specify the number of lines to execute before pausing again.
Arguments
Argument Min Max Default Resolution Description Notes
n 1 255 1 1 Number of lines to execute before pausing If n is omitted, default value used.
Remarks
The BK command resumes normal program execution.

Examples
'Galil DMC Code Example
:BK 3;' Pause at line 3 (the 4th line) in thread 0
:BK 5;' Continue to line 5
:SL;' Execute the next line
:SL 3;' Execute the next 3 lines
:BK;' Resume normal execution​

SL applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control SL 273/326

 ETHERNET
SM Subnet Mask

SM n0,n1,n2,n3
SM n
Usage SM n ... Arguments specified with an implicit, comma-separated order
Operands _SM0 Operand has special meaning, see Remarks
Description
The SM command assigns a subnet mask to the controller. All packets sent to the controller whose source IP address is not on the subnet will be ignored
by the controller. For example, for SM 255,255,0,0 and IA 10,0,51,1, only packets from IP addresses of the form 10.0.xxx.xxx will be accepted.
Arguments
Argument Min Max Default Resolution Description Notes
n0 0 255 0 1 Byte 3 of the Subnet mask
n1 0 255 0 1 Byte 2 of the Subnet mask
n2 0 255 0 1 Byte 1 of the Subnet mask
n3 0 255 0 1 Byte 0 of the Subnet mask
n - 2,147,483,647 0 1 The full subnet mask specified as a signed 32 bit two's
2,147,483,648 complement integer
Remarks
n = ? will return the subnet mask of the controller as n0,n1,n2,n3
_SM0 contains the subnet mask representing a 32 bit signed number (Two's complement)
Use the following equation to change the 4 byte subnet (n0,n1,n2,n3) to a single 32 bit number, n
n = (n0*2^24) + (n1*2^16) + (n2*2^8) + n3
For more information, see http://www.galil.com/news/dmc-programming-software/blocking-unwanted-ethernet-devices-connecting

Examples
'Galil DMC Code Example
SM 255,255,255,255;' Ignore all incoming Ethernet packets
SM 0,0,0,0;' Process all incoming Ethernet packets​

SM applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,RIO47xxx
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control SM 274/326

 INDEPENDENT MOTION
SP Speed

SPm= n
SP n,n,n,n,n,n,n,n
Usage SPm= n Arguments specified with a single axis mask and an assignment (=)
SP n ... Arguments specified with an implicit, comma-separated order
Operands _SPm Operand holds the value last set by the command
Description
The SP command sets the slew speed of any or all axes for independent moves.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
M N N/A Axis Virtual axis to assign
value
n 0 22,000,000 25,000 2 Value of jog speed in For MT settings of 1,-1,1.5 and -1.5 (Servos) - See
cnts/second Remarks for Resolution details
0 6,000,000 25,000 2 Value of jog speed in For MT settings of 2,-2,2.5 and -2.5 (Steppers) - See
cnts/second Remarks for Resolution details
0 50,000,000 25,000 2 Vale of jog speed in ICM-42100 with AF>=5 - See Remarks for Resolution
cnts/second details
Remarks
Negative values will be interpreted as the absolute value
Resolution
The resolution of the SP command is dependent upon the update rate setting (TM).
With the default rate of TM 1000 the resolution is 2 cnts/second.
The equation to calculate the resolution of the SP command is:
resolution = 2*(1000/TM)
example:
With TM 250 the resolution of the SP command is 8 cnts/second
resolution = 2*(1000/250) = 8

Examples
'Galil DMC Code Example
PR 2000,3000,4000,5000;' Specify a,b,c,d parameter
SP 5000,6000,7000,8000;' Specify a,b,c,d speeds
BG;' Begin motion of all axes
AM C ;' After C motion is complete
'
'
'For vector moves, use the vector speed command (VS) to change the speed.
'SP is not a "mode" of motion like JOG (JG).
'Note: 2 is the minimum non-zero speed.​

SP applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control SP 275/326

 SYSTEM CONFIG
SS Configure the special Galil BiSS feature

SSm = n0,n1,n2,n3 < o

Usage SSm= n Arguments specified with a single axis mask and an assignment (=)
Operands _SSm Operand has special meaning, see Remarks
Description
The SS command enables and configures the controller to read BiSS encoder data. BiSS is an open-source, digital interface for encoders. BiSS is hardware
compatible to the industrial standard SSI (Serial Synchronous Interface) but offers additional features and options.
BiSS Timing

During the controller's servo interrupt, a clock will be transmitted for encoders configured for BiSS. The BiSS encoder responds by transmitting a serial
data stream synchronized to the controllers's clock. The data stream has four important features as described below.

1. Data. Encoder position data and zero padding bits, set via n1 and n3
2. Error Bit. Shown above as E, BiSS defines an Error bit that is set by the encoder. Depending on the manufacturer, this bit can be active high or low.
Use the SY command to set the correct polarity for this bit. Once BiSS is enabled, the current state of the Error Bit can be checked via the _SSm0
operand.
3. Warning Bit. Shown above as W, BiSS also defines a Warning bit that is set by the encoder. Depending on the manufacturer, this bit can be active
high or low. Use the SY command to set the correct polarity for this bit. Once BiSS is enabled, the current state of the Error Bit can be checked via
the _SSm0 operand.
4. CRC. The Data, Error and Warning bits are all included in the 6 bit CRC. This CRC allows end to end transmission validity. In the event that the CRC is
not valid, the Galil will not update the encoder position information, and _SSm0 will show an invalid CRC.

Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to configure for BiSS Each axis has a dedicated BiSS port
(1)
n0 0 2 0 1 Position register to use 1 = TPA, 2 = TDA, 0 = Off.
n1 Number of Data bits, including zero The sign of n1 sets position mode,
-38 38 N/A 1 padding bits see (2).
n2 0 0 N/A 0 Reserved
n3 0 7 N/A 1 Number of zero padding bits Manufacturer specific
o 4 26 N/A 1 Clock divider, defines Clock frequency Defines BiSS Clock Frequency, see
(3)
(1) BiSS encoder support requires the BiSS option on either the ICM-42000 or ICM-42200 and -SER Firmware
(2) The firmware will interpret the encoder position data in one of two ways:
Absolute Mode, n1 > 0. The controller will use the absolute position transmitted by the encoder. If the encoder exceeds its position limits, the
encoder data will roll over from the maximum value to the minimum value. This discontinuity will be perceived by the controller as a large
change in servo error. Absolute mode is typically used with linear encoders that have a limited range of travel.
Continuous Mode. n1 < 0.In this mode if the absolute position rolls over, the firmware will compensate by accounting for the roll over and
counting past it. This allows for a smooth transition, avoiding the large error that occurs in Absolute Mode. Continuous mode is typically used
with rotary absolute encoders. When the SS command is issued, the data first loaded into firmware will be the same as in Absolute mode.
(3) Galil recommends using the lowest clock divider (highest clock frequency) possible. This will mainly be dictated by the encoder specifications and
the length of the clock and data transmission lines.
Clock frequencies (f) in MHz can be calculated from the clock divider ( o) as follows: f=10/(o+1)
o = 9 is a good starting value for most applications.
Remarks
SSm=? Returns the configuration parameters.
Clocking in BiSS data has a timing overhead which may be non-negligible. In the event that clocking in data will result in the controller being unable to
complete all required operations, (e.g. using multiple encoders with a lowered TM sample rate) the controller will respond by turning of all serial
encoders. See #FWERR and QQ for more information. This error mode is very rare, and is expected to occur only during development.
Operand Usage
_SSm0: _SSm0 returns a 4 bit bitmask containing the status of the following
_SSm Bit Map
Bit Bit Meaning 0 1 Description
Galil Motion Control SS 276/326
 0 Timeout No timeout Timeout Timeout bit will be set if the encoder doesn't set the start bit within 30us of receiving the
Status occurred first clock pulse.
1 CRC Status CRC valid CRC invalid CRC is calculated in hardware, only the validity of the CRC is sent to firmware.
2 Warning bit No Warning Warning Set active level using the SY command.
(1)
3 Error bit (1) No Error Error Set active level using the SY command.
An _SSm0 value of 0 means that the encoder is functioning properly.
_SSm1 saves the initial position data returned from the encoder upon issuing the SS command.
Used for initial configuration steps, helpful when configuring the encoder if getting an error
Error Handling
1. SERERR is an automatic subroutine which runs when any of the bits in SSm0 are active i.e.
2. Encoder Timeout
3. Invalid CRC
4. Error Bit Active
5. Warning Bit Active

Examples
'Galil DMC Code Example
#SERERR
'Serial Error routine messages out to the host the type of error.
sercode= _SSA 0
IF ( sercode & 1)
MG "BiSS Timeout"
ENDIF
IF ( sercode & 2)
MG "Invalid CRC"
ENDIF
IF ( sercode & 4)
MG "Warning Bit Set"
ENDIF
IF ( sercode & 8)
MG "Error Bit Set"
ENDIF
RE

SS applies to SER
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control SS 277/326

 INDEPENDENT MOTION, VECTOR/LINEAR
ST Stop

ST mm
Usage ST mm Argument is an axis mask
Description
The ST command stops motion on the specified axis. Motors will come to a decelerated stop.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGHMNST ABCDEFGH Multi-Axis Mask Axes to command to stop motion
Remarks
If ST is sent from the host without an axis specification, program execution will stop in addition to motion.

Examples
'Galil DMC Code Example
ST A ;' Stop A-axis motion
ST S ;' Stop coordinate plane S
ST ABCD ;' Stop A,B,C,D motion
ST SCD ;' Stop coordinate plane S, as well as axes C and D
ST;' Stop motion on all axes including any virtual axes and coordinate planes
'Use the after motion complete command, AM, to wait for motion to be stopped.​

'Galil DMC Code Example

:ST A ;' Stop motion on the A axis
:SC A ;' Query A axis status
4 Indicates stopped by ST command
:MG _NO;' Check if code is running
1 Thread 0 running
:ST ;' General stop
:MG _NO;' check code again
0 Thread 0 stopped​

ST applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ST 278/326

 SYSTEM CONFIG
SY Serial encoder BiSS active level

SYm= n
SY n,n,n,n,n,n,n,n
Usage SYm= n Arguments specified with a single axis mask and an assignment (=)
SY n ... Arguments specified with an implicit, comma-separated order
Operands _SYm Operand holds the value last set by the command
Description
This command is used to designate the active level of the Error and Warning bits when using the Galil BiSS feature. The BiSS protocol defines two bits,
Error and Warning, which can be used by the encoder to signal various events. For more information, see the SS command.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
Argument Value Description Notes
n 0 Warning bit = Active Low; Error bit = Active Low
1 Warning bit = Active Low; Error bit = Active High
2 Warning bit = Active High; Error bit = Active Low
3 Warning bit = Active High; Error bit = Active High Default
Remarks
The SY command should be appropriately configured to ensure that the #SERERR automatic subroutine will run when the error or warning bits are
active, and that the _SSm0 operand reports the fault state of the encoder correctly. Refer to the encoder's data sheet for information regarding the
active level of these bits.

Examples
'Galil DMC Code Example
SYA = 1;' Waring bit is active low, Error is active high
SSA = 1,32,0,0<9;' Set up a BiSS encoder on axis A, 32 bits of data, 0 padding, 1 MHz clock frequency.
EN
#SERERR
'Serial Error routine messages out to the host the type of error.
sercode= _SSA 0
IF ( sercode & 1)
MG "BiSS Timeout"
ENDIF
IF ( sercode & 2)
MG "Invalid CRC"
ENDIF
IF ( sercode & 4)
MG "Warning Bit Set"
ENDIF
IF ( sercode & 8)
MG "Error Bit Set"
ENDIF
RE

SY applies to SER
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control SY 279/326

 INTERROGATION, ERROR CONTROL
TA Tell amplifier error status

TA n
Usage TA n ... Arguments specified with an implicit, comma-separated order
_TA0
Operands _TA1 Operand has special meaning, see Remarks
_TA2
_TA3
Description
The command returns the amplifier error status. The value is decimal and represents an 8 bit value. Bit 7 is most significant bit, 0 is least.
Arguments
Argument Min Max Default Resolution Description Notes
n 0 3 N/A 1 Selects amp status byte to return
Tell Amplifier Error Status Bit Definition
TA0 TA1 TA2 TA3
BIT #: STATUS: STATUS: STATUS: STATUS: BIT #
7 Under Voltage (E-H Axes) (2) Hall Error H Axis (1) Peak Current H Axis 0 7
6 Over Temperature (E-H Axes) (1) Hall Error G Axis (1) Peak Current G Axis 0 6
5 Over Voltage (E-H Axes) (1) Hall Error F Axis (1) Peak Current F Axis 0 5
4 Over Current (E-H Axes) (3) Hall Error E Axis (1) Peak Current E Axis 0 4
3 Under Voltage (A-D Axes) (2) Hall Error D Axis (1) Peak Current D Axis 0 3
2 Over Temperature (A-D Axes) (1) Hall Error C Axis (1) Peak Current C Axis 0 2
1 Over Voltage (A-D Axes) (1) Hall Error B Axis (1) Peak Current B Axis ELO Active (E-H Axes) (4) 1
0 Over Current (A-D Axes) (3) Hall Error A Axis (1) Peak Current A Axis ELO Active (A-D Axes) (4) 0
1. Valid for AMP-43040 (-D3040), AMP-43240 (-D3240), & AMP-43540 (-D3540)
2. Valid for -D3040, -D3240, -D3540, & SDM-44140 (-D4140)
3. Valid for -D3040, -D3240, -D3540, -D4140 & SDM-44040 (-D4040)
4. Valid for -D3040, -D3240, -D3540, -D4140, -D4040, AMP-43140 (-D3140) & AMP-43640 (-D3640)

Remarks
_TAn Contains the amplifier error status. n = 0,1,2, or 3
If a brushed-type servo motor is disabling and TA1 shows a Hall error, use the BR command to set the axis as a brushed axis. This causes the
controller to ignore invalid Hall states.

Examples
'Galil DMC Code Example
:TA1
5 'Hall error for axis A and C​

'Galil DMC Code Example

:TA1
1 'bit 0 means Hall error for A axis
:TA0
8 'bit 3 means under voltage error for amp​

TA applies to DMC500x0,DMC40x0,DMC41x3,DMC30010,DMC21x3,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TA 280/326

 INTERROGATION
TB Tell Status Byte

TB
Usage TB Command takes no arguments
Operands _TB Operand has special meaning, see Remarks
Description
The TB command returns status information from the controller as a decimal number. Each bit of the status byte denotes an active condition when the
bit is set (high):
Arguments
The following table describes the specific conditions reported with each bit of the TB report.
Tell Status Byte Response Bit Description
Bit # Status
Bit 7 Executing application program
Bit 6 N/A
Bit 5 Contouring
Bit 4 Executing error or limit switch routine
Bit 3 Input Interrupt enabled
Bit 2 Executing input interrupt routine
Bit 1 N/A
Bit 0 Echo on
Remarks
_TB Contains the status byte reported by the TB command

Examples
'Galil DMC Code Example
:TB
33' Contouring on and Echo is on (2^5 + 2^0 = 32 + 1 = 33)​

'Galil DMC Code Example

:TB;' Tell status information
129' Executing program and echo on (2^7 + 2^0 = 128 + 1 = 129)​

TB applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,RIO47xxx,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TB 281/326

 INTERROGATION, ERROR CONTROL
TC Tell Error Code

TC n
Usage TC n ... Arguments specified with an implicit, comma-separated order
Operands _TC Operand has special meaning, see Remarks
Description
The TC command reports programming or command errors detected by the controller. The TC command returns a number between 1 and 255. This
number is a code that reflects why a command was not accepted by the controller. This command is useful when the controller halts execution of a
program or when the response to a command is a question mark.
Arguments
Argument Value Description Notes
n 0 Return the numerical code only Default
1 Return the numerical code and human-readable message
TC Error Code List
Tell Code Number Description Notes
1 Unrecognized command
2 Command only valid from program
3 Command not valid in program
4 Operand error
5 Input buffer full
6 Number out of range
7 Command not valid while running
8 Command not valid while not running
9 Variable error
10 Empty program line or undefined label
11 Invalid label or line number
12 Subroutine more than 16 deep
13 JG only valid when running in jog mode
14 EEPROM check sum error
15 EEPROM write error
16 IP incorrect sign during position move or IP given during forced deceleration
17 ED, BN and DL not valid while program running
18 Command not valid when contouring
19 Application strand already executing
20 Begin not valid with motor off
21 Begin not valid while running
22 Begin not possible due to Limit Switch
24 Begin not valid because no sequence defined
28 S operand not valid
29 Not valid during coordinated move
30 Sequence Segment Too Short
31 Total move distance in a sequence > 2 billion
32 Segment buffer full
33 VP or CR commands cannot be mixed with LI commands
39 No time specified
41 Contouring record range error
42 Contour data being sent too slowly
46 Gear axis both master and follower
50 Not enough fields
51 Question mark not valid
52 Missing " or string too long
53 Error in {}
54 Question mark part of string
55 Missing [ or []
56 Array index invalid or out of range
57 Bad function or array
58 Bad command response i.e._GNX
59 Mismatched parentheses
60 Download error - line too long or too many lines
Galil Motion Control TC 282/326
 61 Duplicate or bad label
62 Too many labels
63 IF statement without ENDIF
66 Array space full
67 Too many arrays or variables
80 Record mode already running
81 No array or source specified
82 Undefined Array
83 Not a valid number
84 Too many elements
90 Only A B C D valid operand
97 Bad Binary Command Format
98 Binary Commands not valid in application program
99 Bad binary command number
100 Not valid when running ECAM
101 Improper index into ET
102 No master axis defined for ECAM
103 Master axis modulus greater than 256 EP value
104 Not valid when axis performing ECAM
105 EB1 command must be given first
106 Privilege Violation
110 No hall effect sensors detected
111 Must be made brushless by BA command
112 BZ command timeout
113 No movement in BZ command
114 BZ command runaway
118 Controller has GL1600 not GL1800
119 Not valid for axis configured as stepper
120 Bad Ethernet transmit not valid for PCI
121 Bad Ethernet packet received not valid for PCI
123 TCP lost sync not valid for PCI
124 Ethernet handle already in use not valid for PCI
125 No ARP response from IP address not valid for PCI
126 Closed Ethernet handle not valid for PCI
127 Illegal Modbus function code not valid for PCI
128 IP address not valid not valid for PCI
130 Remote IO command error not valid for PCI
131 Serial Port Timeout not valid for PCI, See Remarks
132 Analog inputs not present
133 Command not valid when locked / Handle must be UDP not valid for PCI
134 All motors must be in MO for this command
135 Motor must be in MO
136 Invalid Password
137 Invalid lock setting
138 Passwords not identical
140 Serial encoder error Valid for BiSS support
141 Feature not supported
143 TM timed out Valid on SER firmware (SSI and BiSS)
144 Incompatible with encoder type
160 BX failure
161 Sine amp axis not initialized
163 IA command not valid when DHCP mode enabled
164 Exceeded maximum sequence length, BGS or BGT is required
165 Cannot have both SINE and SSI feedback enabled at once DMC-30000 only
166 Unable to set analog output 30000 Hardware, see AO
180 Duplicate EtherCAT station ID or cable position EtherCAT Master only
181 EtherCAT initialization Timeout EtherCAT Master only
182 EtherCAT drive not present EtherCAT Master only
183 Not valid when EtherCAT network is up EtherCAT Master only
184 EtherCAT lost sync EtherCAT Master only
185 Drive not currently in fault state EtherCAT Master only
186 Not available on EtherCAT EtherCAT Master only
187 Invalid EtherCAT configuration EtherCAT Master only
188 Not valid when EtherCAT network is down EtherCAT Master only
Galil Motion Control TC 283/326
 189 Not valid with this motor type EtherCAT Master only
190 Feature not supported by drive EtherCAT Master only
Remarks
TC command accepts ? as a query. This is equivalent to TC or TC 0
After TC has been read, the error code is set to zero.
_TC contains the value of the error code. Use of the operand does not clear the error code.

Examples
'Galil DMC Code Example
:GF32;' Bad command
?
:TC1;' Tell error code
1 Unrecognized command

TC applies to
DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2,DMC52xx0,RIO574x0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TC 284/326

 INTERROGATION
TD Tell Dual Encoder

TD mm
Usage TD mm Argument is an axis mask
Operands _TDm Operand has special meaning, see Remarks
Description
The TD command returns the current position of the dual (auxiliary) encoder input. When operating with stepper motors, the TD command returns the
number of counts that have been output by the controller.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH ABCDEFGH Multi-Axis Mask Axes to report dual (auxiliary) encoder position.
Remarks
Auxiliary encoders are not available for a stepper axis or for the axis where output compare is used.
Operand Usage
_TDm reports the dual encoder position for the specified axis.

Examples
'Galil DMC Code Example
:TD;' Return A,B,C,D Dual encoders
200, -10, 0, -110
:TDA ;' Return the A motor Dual encoder
200
:DUAL= _TDA ;' Assign the variable, DUAL, the value of TDA​

TD applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TD 285/326

 INTERROGATION
TE Tell Error

TE mm
Usage TE mm Argument is an axis mask
Operands _TEm Operand has special meaning, see Remarks
Description
The TE command returns the current error in the control loop.
The command returns the position error of the motor(s), which is the difference between commanded (RP) and actual (TP) position.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH ABCDEFGH Multi-Axis Mask Axes to report position error
Remarks
Under normal operating conditions with servo control, the position error should be small. The position error is typically largest during acceleration and
deceleration.
The Tell Error command is not valid for step motors since they operate open-loop.
Operand Usage
_TEm contains the current position error value for the specified axis.

Examples
'Galil DMC Code Example
:TE;' Return all position errors
5, -2, 0, 6
:TEA ;' Return the A motor position error
5
:TEB ;' Return the B motor position error
-2
:Error = _TEA ;' Sets the variable, Error, with the A-axis position error​

TE applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,RIO47xxx,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TE 286/326

 INTERROGATION
TH Tell Ethernet Handle

TH
Usage TH Command takes no arguments
Description
The TH command returns a list of data pertaining to the Galil's Ethernet connection. This list begins with the IP address and Ethernet address (physical
address), followed by the status of each handle indicating connection type and IP address.
Arguments
TH is an interrogation command with no parameters
Remarks
If no handles are shown as AVAILABLE, the controller will be unable to create or accept more Ethernet connections with TCP or UDP. Ping will still
function when all handles are taken.

Examples
'Galil DMC Code Example
:TH
CONTROLLER IP ADDRESS 10,51,0,87 ETHERNET ADDRESS 00-50-4C-08-01-1F
IHA TCP PORT 1050 TO IP ADDRESS 10,51,0,89 PORT 1000
IHB TCP PORT 1061 TO IP ADDRESS 10,51,0,89 PORT 1001
IHC TCP PORT 1012 TO IP ADDRESS 10,51,0,93 PORT 1002
IHD TCP PORT 1023 TO IP ADDRESS 10,51,0,93 PORT 1003
IHE TCP PORT 1034 TO IP ADDRESS 10,51,0,101 PORT 1004
IHF TCP PORT 1045 TO IP ADDRESS 10,51,0,101 PORT 1005
IHG AVAILABLE
IHH AVAILABLE​

TH applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TH 287/326

 INTERROGATION, IO
TI Tell Inputs

TI n
Usage TI n ... Arguments specified with an implicit, comma-separated order
_TI0
_TI1
_TI2
Operands _TI3 Operand has special meaning, see Remarks
_TI4
_TI5
_TI10
_TI11
Description
The TI command returns the state of the inputs in banks of 8 bits, or 1 byte. The value returned by this command is decimal and represents an 8 bit
value (decimal value ranges from 0 to 255). Each bit represents one input where the LSB is the lowest input number and the MSB is the highest input bit.
Arguments
Argument Value Description Notes
n 0 Report status of Inputs 1-8 Default
1 Report status of Inputs 9-16 Only valid for 5-8 axis controllers
2 Report status of Inputs 17-24 Must have extended IO configured as inputs for valid values. See Remarks
3 Report status of Inputs 25-32 Must have extended IO configured as inputs for valid values. See Remarks
4 Report status of Inputs 31-40 Must have extended IO configured as inputs for valid values. See Remarks
5 Report status of Inputs 41-48 Must have extended IO configured as inputs for valid values. See Remarks
10 Report status of Inputs 81-88 Auxiliary encoder inputs. See Remarks
11 Report status of Inputs 89-96 Auxiliary encoder inputs. Only valid for 5-8 axis controllers. See Remarks
Remarks
For n = 2 to n = 5, no additional hardware is required for extended IO support
Extended IO blocks must be configured as inputs with the CO command before using TI
For n = 10 and n = 11, the auxiliary encoder channels A and B can be used as additional IO. Only 2 * the number of axes worth of inputs are
available.
See the User manual for more details.
Operand Usage
_TIn contains the status byte of the input block specified by 'n'.
Note that the operand can be masked to return only specified bit information - see section on Bit-wise operations.

Examples
'Galil DMC Code Example
:TI1;' Tell input state on bank 1
8 Bit 3 is high, others low
:TI0
0 All inputs on bank 0 low
:Input= _TI1;' Sets the variable, Input, with the TI1 value
:Input= ?
8.0000​

TI applies to
DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2,RIO574x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TI 288/326

 OPERAND ONLY
TIME Time Operand

TIME
Usage variable= TIME Holds a value
Operands TIME Operand has special meaning, see Remarks
Description
The TIME operand returns the value of the internal free running, real time clock.
The returned value represents the number of servo loop updates and is based on the TM command. The default value for the TM command is 1000. With
this update rate, the operand TIME will increase by 1 count every update of approximately 1000usec. The clock is reset to 0 with a standard reset or a
master reset.
Arguments
TIME is an operand and has no parameters
Remarks
The keyword, TIME, does not require an underscore (_) as with the other operands.
TIME will increment up to +2,147,483,647 before rolling over to -2,147,483,648 and continuing to count up.
TIME rollover occurs after ~24-25 days of on-time at TM 1000 with no reset.
TM 1000 will actually set an update rate of 976 microseconds. Thus the value returned by the TIME operand will be off by 2.4% of the actual time.

Examples
'Galil DMC Code Example
MG TIME;' Display the value of the internal clock
t1= TIME;' Sets the variable t1 to the TIME value​

TIME applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,RIO47xxx,EDD3701x

©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TIME 289/326

 FILTER/CONTROL
TK Peak Torque Limit

TKm= n
TK n,n,n,n,n,n,n,n
Usage TKm= n Arguments specified with a single axis mask and an assignment (=)
TK n ... Arguments specified with an implicit, comma-separated order
Operands _TKm Operand holds the value last set by the command
Description
The TK command sets the peak torque limit on the motor command output. This command works with the TL command which sets the continuous
torque limit. When the average torque is below TL, the motor command signal can go up to the TK (Peak Torque) limit for a short amount of time.

To convert motor command output (V) to actual motor current (A), use the following equation.

For Galil controllers with internal drives, refer to AG command for amplifier gain setting. For external drive control, consult drive documentation.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 9.9982 0 20/65,536 Value of peak torque limit n = 0 disables the peak torque limit
Remarks
TK provides the absolute value of the peak torque limit for -/+ torque outputs
Peak torque can be achieved for approximately 1000 samples upon initial command from 0V torque
If TK is set lower than TL, then TL is the maximum command output under all circumstances
TK should be set after the amplifier gain is selected

Examples
'Galil DMC Code Example
TLA = 7;' Limit A-axis to a 7 volt average torque output
TKA = 9.99;' Limit A-axis to a 9.99 volt peak torque output​

TK applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TK 290/326

 FILTER/CONTROL
TL Torque Limit

TLm= n
TL n,n,n,n,n,n,n,n
Usage TLm= n Arguments specified with a single axis mask and an assignment (=)
TL n ... Arguments specified with an implicit, comma-separated order
Operands _TLm Operand holds the value last set by the command
Description
The TL command sets the limit on the motor command output. This limit is designed to prevent over current to motors with lower current rating than the
drive.

To convert motor command output (V) to actual motor current (A), use the following equation.

For Galil controllers with internal drives, refer to AG command for amplifier gain setting. For external drive control, consult drive documentation.
TL works along with the TK (Peak torque) command to control output current to the motor.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 9.9982 9.9982 20/65,536 Value of torque limit
Remarks
TL sets the absolute torque maximum for negative and positive torque
For example, TL of 5 limits the motor command output to 5 volts maximum and -5 volts minimum
TL should be set after the amplifier gain is selected
TL With Internal Drives
The maximum torque limit is different for certain amplifier configurations at a specific AG setting. These cases are listed below.
Amplifier AG setting (current rating) TL limit
AMP-430x0 2 (1.0 A/V) 7
AMP-43240 2 (2.0 A/V) 5
AMP-43540 2 (1.6 A/V) 5
AMP-43640 N/A (0.2 A/V) 5
AMP-43740 2 (3.2 A/V) 5
Examples
'Galil DMC Code Example
:TL 1,5,9,7.5;' Limit A-axis to 1 volt. Limit B-axis to 5 volts. Limit C-axis to 9 volts. Limit D-axis to 7.5 volts.
:TL ? ,? ,? ,? ;' Return limits
1.0000,5.0000,9.0000,7.5000
:TL ? ;' Return A-axis limit
1.0000​

TL applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TL 291/326

 FILTER/CONTROL
TM Update Time

TM n
Usage TM n ... Arguments specified with an implicit, comma-separated order
Operands _TM Operand holds the value last set by the command
Description
The TM command sets the sampling period of the control loop. The units of this command are microseconds. A negative number turns off the servo loop.
Arguments
Argument Min Max Default Resolution Description Notes
n 62.5 5,000 1,000 31.25 Set the sample time The minimum value varies based on axis count and
in usecs firmware usage. See Remarks
Remarks
TM 1000 will actually set an update rate of 976 microseconds. Thus the value returned by the TIME operand will be off by 2.4% of the actual time.
If a higher sampling frequency is required, please contact Galil.
The minimum allowed TM setting for the controller is listed in the tables below.
The following commands are automatically scaled to adjust for changes in sample time.
AC
AS
AT
DC
FA
FV
HV
JG
KP
NB
NF
NZ
PL
SD
SP
VA
VD
VS
WT
The following commands are NOT automatically scaled to adjust for changes in sample time
BW
DR
DT
IT
KD
KI
TIME
TK
TV
TW
For more infomation see:
[http://www.galil.com/news/dmc-programming-motion-controllers/time-based-commands-accelera-motion-controllers]
Axis Count Minimum TM
1-2 62.5
3-4 125
5-6 156.25
7-8 187.5
Examples
'Galil DMC Code Example
:TM 2000;' Set sample rate to 2000 usec
:TM 1000;' Return to default sample rate

TM applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TM 292/326

 VECTOR/LINEAR
TN Vector Tangent

TN n0,n1
Usage TN n ... Arguments specified with an implicit, comma-separated order
Operands _TNm Operand has special meaning, see Remarks
Description
The TN command describes the tangent axis to the coordinated motion path. n0 is the scale factor in counts/degree of the tangent axis. n1 is the
absolute position of the tangent axis where the tangent axis is aligned with zero degrees in the coordinated motion plane. The tangent function is useful
for cutting applications where a cutting tool must remain tangent to the part.
Arguments
Argument Min Max Default Resolution Description Notes
n0 -127 127 0 0.004 Scale factor in counts/degree of the tangent axis
n1 -8,388,608 8,388,607 0 1 Absolute position of tangent axis where the tangent angle is 0
Remarks
When operating with stepper motors, n0 is the scale factor in steps / degree
The tangent axis is specified with the VMm0m1m2 command where m2 is the tangent axis.
For example, VMABD specifies the D axis as the tangent axis
Operand Usage
_TNm (where m = S or T) contains the first position value for the tangent axis in the specified vector plane. This allows the user to correctly position
the tangent axis before the motion begins.
_TNm will change based upon the vector path described in the VM declaration. See the example below.
n0 = ? also reports this value

Examples
Use a 2D table with a tangent cutting blade to cut a half circle. Ensure that the blade is oriented before turning on the saw. The saw is activated with
output 1.

'Galil DMC Code Example

#EXAMPLE
VM XYZ ;' Z axis is tangent
VSS = 500;' Set vector speed
m= 1000/360;' Z axis encoder is 1000 counts per full revolution
n= 0;' When TPZ=0, blade is oriented to cut along X axis
TN m,n;' Set these tangent characteristics
CR 1000,0,180;' Profile a circle with radius 1000 counts,
' starting at 0 degrees
' and spanning 180 degrees
VE;' End the vector path
MG_TNS ;' Print the calculated initial tangent entry point (250)
PAZ = _TNS ;' Profile a move to orient the Z axis to begin
BGZ ;' Move the blade into place
AMZ ;' Wait until the blade motion is done
SB1;' Turn on the saw
WT1000;' Wait for saw to spin up
BGS ;' Begin vector motion, saw will stay tangent
AMS ;' Wait for the cut to complete
CB0;' Turn off the saw
MG "ALL DONE";' Print a message
EN

TN applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC500x0,DMC52xx0
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TN 293/326

 INTERROGATION
TP Tell Position

TP mm
Usage TP mm Argument is an axis mask
Operands _TPm Operand has special meaning, see Remarks
Description
The TP command returns the current position of the motor.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH ABCDEFGH Multi-Axis Mask Axes to report motor position
Remarks
_TPm contains the current position value for the specified axis.
Omitting mm returns the position of all axes

Examples
'Galil DMC Code Example
'Assume the A-axis is at the position 200 (decimal), the B-axis is at the position -10 (decimal)
'the C-axis is at position 0, and the D-axis is at -110 (decimal). The returned parameter units are in quadrature counts.
:PF 7;' Position format of 7
:TP;' Return A,B,C,D positions
200, -10, 0, -110
:TPA ;' Return the A motor position
200
:TPB ;' Return the B motor position
-10
:PF-6.0;' Change to hex format
:TP;' Return A,B,C,D in hex
$0000C8,$FFFFF6,$000000,$FFFF93
:Position = _TPA ;' Assign the variable, Position, the value of TPA​

TP applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TP 294/326

 INTERROGATION
TR Trace

TR n0, n1
Usage TR n ... Arguments specified with an implicit, comma-separated order
Description
The TR command causes each instruction in a program to be sent out the communications port prior to execution. The trace command is useful in
debugging programs.
Arguments
Argument Min Max Default Resolution Description Notes
n0 n0 = 0 or null disables Trace. n0 = 1 enables
0 1 0 1 Set status of trace function
trace.
n1 0 255 255 1 Set threads to trace by See Remarks
bitmask
Remarks
n1 sets a 1-byte bitmask which determines which threads will run. Bit n set corresponds to thread n traced.
For example, setting bit 2 and 3 sets TR to trace threads 2 and 3. (2^2 + 2^3 = 4 + 8 = 12. TR 1,12 is issued)
Omitting n1 sets it to the default maximum value to enable trace on all threads.

Examples
'Galil DMC Code Example
:'Turn on trace during a program execution
:LS
0 MGTIME
1 WT1000
2 JP0
3
:XQ
:
18003461.0000
18004461.0000
18005461.0000

:TR1
:
2 JP0
0 MGTIME
18006461.0000
1 WT1000
2 JP0
0 MGTIME
18007461.0000
1 WT1000

:TR0
:
18008461.0000
18009461.0000

:ST

TR applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TR 295/326

 INTERROGATION
TS Tell Switches

TS mm
Usage TS mm Argument is an axis mask
Operands _TSm Operand has special meaning, see Remarks
Description
The TS command returns information including axis-specific IO status, error conditions, motor condition and state. The value returned by this command is
decimal and represents an 8 bit value (decimal value ranges from 0 to 255).
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH ABCDEFGH Multi-Axis Mask Axes to report axis switches
Remarks
Each bit of the TS response represents the following status information when the bit is set (1).
Bit # Status
Bit 7 Axis in motion
Bit 6 Position error exceeds error limit
Bit 5 Motor off
Bit 4 Reserved (0)
Bit 3 Forward Limit switch inactive
Bit 2 Reverse Limit switch inactive
Bit 1 Home switch status
Bit 0 Position Latch has occurred
For active high or active low configuration (CN command), the limit switch bits are '1' when the switch is inactive and '0' when active.
Operand Usage
_TSm contains the current status of the switches for the specified axis.

Examples
'Galil DMC Code Example
:V1= _TSB ;' Assigns value of TSB to the variable V1
:V1= ? ;' Interrogate value of variable V1
15 (returned value) Decimal value corresponding to bit pattern 00001111
Y axis not in motion (bit 7 - has a value of 0)
Y axis error limit not exceeded (bit 6 has a value of 0)
Y axis motor is on (bit 5 has a value of 0)
Y axis forward limit is inactive (bit 3 has a value of 1)
Y axis reverse limit is inactive (bit 2 has a value of 1)
Y axis home switch is high (bit 1 has a value of 1)
Y axis latch is not armed (bit 0 has a value of 1)​

TS applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TS 296/326

 INTERROGATION
TT Tell Torque

TT mm
Usage TT mm Argument is an axis mask
Operands _TTm Operand has special meaning, see Remarks
Description
The TT command reports the value of the analog output signal, which is a number between -9.9982 and 9.9982 volts.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH ABCDEFGH Multi-Axis Mask Axes to report output torque command
Remarks
Torque output is limited by the value set for the TL command.
_TTm contains the value of the torque for the specified axis.

Examples
'Galil DMC Code Example
:v1= _TTA ;' Assigns value of TTA to variable, v1
:TTA ;' Report torque on A
-0.2843​

TT applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TT 297/326

 INTERROGATION
TV Tell Velocity

TV mm
Usage TV mm Argument is an axis mask
Operands _TVm Operand has special meaning, see Remarks
Description
The TV command returns the actual velocity of the axes in units of encoder count/s. The value returned includes the sign bit for direction.
Arguments
Argument Min Max Default Resolution Description Notes
mm A ABCDEFGH ABCDEFGH Multi-Axis Mask Axes to report velocity
Remarks
The TV command is computed using a special averaging filter (over approximately 0.25 sec for TM1000). Therefore, TV will return average velocity,
not instantaneous velocity.
_TVm contains the value of the velocity for the specified axis.

Examples
'Galil DMC Code Example
:vela= _TVA ;' Assigns value of A-axis velocity to the variable VELA
:TVA ;' Returns the A-axis velocity
3420​

TV applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,DMC18x6,DMC18x2,DMC30010,DMC500x0,DMC52xx0,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TV 298/326

 ERROR CONTROL
TW Timeout for MC trippoint

TWm= n
TW n,n,n,n,n,n,n,n
Usage TWm= n Arguments specified with a single axis mask and an assignment (=)
TW n ... Arguments specified with an implicit, comma-separated order
Operands _TWm Operand holds the value last set by the command
Description
The TW command sets the timeout time for the MC trippoint. The TW command sets the timeout in msec to declare an error if the MC command is active
and the motor is not at or beyond the actual position within n msec after the completion of the motion profile. If a timeout occurs, then the MC trippoint
will clear and the stopcode will be set to 99. A running program will jump to the special label #MCTIME, if located in the application code.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n -1 32,767 32,766 1 Set the timeout in msec for the MC command n = -1 disables the timeout
Remarks
The EN command should be used to return from the #MCTIME subroutine.

Examples
'Galil DMC Code Example
TWA = 1000;' set timeout time for MC to 1000 for A axis
var= _TWA ;' set value of TW for A axis to variable, var​

'Galil DMC Code Example

TWA = 5000;' set MC timeout to 5 seconds
PRA = 10000;' set move length
BGA
MCA
MG"Move done";' message when move completes
EN
'
#MCTIME
'code when motor doesn't reach final pos in time
MG"Move didn't finish"
MG"Longer than ",_TWA ," msecs"
STA
AMA
MOA ;' shut off axis
EN

TW applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TW 299/326

 INTERROGATION
TZ Tell I O Configuration

TZ
Usage TZ Command takes no arguments
Description
The TZ command is used to request the I/O status of the controller. This is returned to the user as a human-readable text string.
Arguments
TZ is an interrogation command with no parameters
Remarks
The data reported by TZ is also accessible through the TI (inputs) and OP (outputs) command

Examples
'Galil DMC Code Example
:TZ;' issued for DMC-4040
BLOCK 0 (8-1) dedicated as input - value 255 (1111_1111)
BLOCK 0 (8-1) dedicated as output- value 0 (0000_0000)
BLOCK 2 (24-17) configured as input - value 255 (1111_1111)
BLOCK 3 (32-25) configured as input - value 255 (1111_1111)
BLOCK 4 (40-33) configured as input - value 255 (1111_1111)
BLOCK 5 (48-41) configured as input - value 255 (1111_1111)
BLOCK 10 (88-81) dedicated as input - value 255 (1111_1111)​

TZ applies to DMC40x0,DMC42x0,DMC41x3,DMC21x3,RIO47xxx,DMC500x0,DMC52xx0
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control TZ 300/326

 SYSTEM CONFIG
UI User Interrupt

UI n
Usage UI n ... Arguments specified with an implicit, comma-separated order
Description
The UI command allows user-defined interrupts to be created. UI can generate 16 different status bytes, $F0 to $FF (240-255), corresponding to UI0 to
UI15.
UI pushes a user-defined status byte into the EI queue. When the UI command (e.g. UI5) is executed, the status byte value (e.g. $F5 or 245) is queued
up for transmission to the host, along with any other interrupts.
Arguments
Argument Min Max Default Resolution Description Notes
n 0 15 0 1 Set the status byte for the interrupt
Status Byte (dec) Condition Status Byte (dec) Condition
$F0 (240) UI0 was executed $F8 (248) UI8 was executed
$F1 (241) UI1 was executed $F9 (249) UI9 was executed
$F2 (242) UI2 was executed $FA (250) UI10 was executed
$F3 (243) UI3 was executed $FB (251) UI11 was executed
$F4 (244) UI4 was executed $FC (252) UI12 was executed
$F5 (245) UI5 was executed $FD (253) UI13 was executed
$F6 (246) UI6 was executed $FE (254) UI14 was executed
$F7 (247) UI7 was executed $FF (255) UI15 was executed
Remarks
The UDP interrupt packet dispatch may be delayed depending on the number of interrupts in the queue
If immediate packet dispatch is required, use the message command (MG) to send a unique message to the host software.
EI,,h must be set to a valid UDP port (set by the host, not the DMC code, is recommended) before any interrupt packet will be dispatched.

Examples
'Galil DMC Code Example
JG 5000;' Jog at 5000 counts/s
BGA ;' Begin motion
ASA ;' Wait for at speed
UI 1;' Cause an interrupt with status byte $F1 (241)
'The program above interrupts the host PC with status byte $F1 (241)
'when the motor has reach its target speed of 5000 counts/s​

UI applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control UI 301/326

 PROGRAMMING
UL Upload

UL
Usage UL Command takes no arguments
Operands _UL Operand has special meaning, see Remarks
Description
The UL command transfers the program from the controller to a host computer. Programs are sent without line numbers. The uploaded program will be
followed by a <control>Z or a '\' as an end of text marker.
Arguments
UL is a command with no parameters
Remarks
In a Galil software, the UL command is not necessary because the UL command is handled by the graphical interface (Upload Program).
In a terminal utility such as HyperTerminal or Telnet, the UL command will bring the uploaded program to screen.
From there, the user can copy it and save it to a file.
Issuing this command will pause the output of the Data Record until the command is completed.
Operand Usage
When used as an operand, _UL gives the number of available variables.

Examples
'Galil DMC Code Example
:UL;' Begin upload
#A Line 0
NO This is an Example Line 1
NO Program Line 2
EN Line 3
{cntrl}Z Terminator

UL applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control UL 302/326

 VECTOR/LINEAR
VA Vector Acceleration

VAm= n
VA n,n
Usage VAm= n Arguments specified with a single axis mask and an assignment (=)
VA n ... Arguments specified with an implicit, comma-separated order
Operands _VAm Operand holds the value last set by the command
Description
The VA command sets the acceleration of the vector in a coordinated motion sequence.
Arguments
Argument Min Max Default Resolution Description Notes
m S T S Axis Coordinate plane to be specified
n 1,024 1,073,740,800 256,000 1,024 Vector acceleration for the coordinate system
Remarks
_VAm contains the value of the vector acceleration for the specified coordinate system
When issuing VA implicitly, the first argument refers to the "S" plane and the second refers to the "T" plane.

Examples
'Galil DMC Code Example
:VA 1024;' Set vector acceleration to 1024 counts/sec2
:VA ? ;' Return vector acceleration
1024
:VA 20000;' Set vector acceleration
:VA ? ;' Return vector acceleration
19456
:accel= _VAS ;' Assign variable, accel, the value of VA​

VA applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control VA 303/326

 VECTOR/LINEAR
VD Vector Deceleration

VDm= n
VD n,n
Usage VDm= n Arguments specified with a single axis mask and an assignment (=)
VD n ... Arguments specified with an implicit, comma-separated order
Operands _VDm Operand has special meaning, see Remarks
Description
The VD command sets the deceleration of the vector in a coordinated motion sequence.
Arguments
Argument Min Max Default Resolution Description Notes
m S T S Axis Coordinate plane to be specified
n 1,024 1,073,740,800 256,000 1,024 Vector deceleration for the coordinate system
Remarks
_VDm contains the value of the vector deceleration for the specified coordinate system.
When issuing VD implicitly, the first argument refers to the "S" plane and the second refers to the "T" plane.

Examples
'Galil DMC Code Example
#vector;' Vector Program Label
VMAB ;' Specify plane of motion
VA 1000000;' Vector Acceleration
VD 5000000;' Vector Deceleration
VS 2000;' Vector Speed
VP 1000,2000;' Vector Position
VE;' End Vector
BG S ;' Begin Sequence
AM S ;' Wait for Vector sequence to complete
EN;' End Program​

VD applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control VD 304/326

 VECTOR/LINEAR
VE Vector Sequence End

VE n
Usage VE n ... Arguments specified with an implicit, comma-separated order
Operands _VEm Operand has special meaning, see Remarks
Description
The VE command indicates to the controller that the end of the vector is coming up. This allows the controller to slow down through multiple segments, if
required. VE is required to exit the vector mode gracefully (stop code, SC, 101).
Arguments
Argument Value Description Notes
n 0 Specify the end of a vector segment Also occurs when n = 'null'
? Returns the length of the vector in counts
Remarks
The VE command will apply to the selected coordinate system, S or T. To select the coordinate system, use the command CAS or CAT.
_VEm contains the length of the vector in counts for the specified coordinate system, S or T

Examples
'Galil DMC Code Example
#vector;' Vector Program Label
VM AB ;' Specify plane of motion
VA 1000000;' Vector Acceleration
VD 5000000;' Vector Deceleration
VS 2000;' Vector Speed
VP 1000,2000;' Vector Position
VE;' End Vector
BG S ;' Begin Sequence
AM S ;' Wait for Vector sequence to complete
EN;' End Program​

VE applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control VE 305/326

 SYSTEM CONFIG
VF Variable Format

VF n0.n1
Usage VF n ... Arguments specified with an implicit, comma-separated order
Operands _VF Operand has special meaning, see Remarks
Description
The VF command formats the number of digits to be displayed when interrogating the controller. If a number exceeds the format, the number will be
displayed as the maximum possible positive or negative number (i.e. 999.99, -999, $8000 or $7FF).
Arguments
Argument Min Max Default Resolution Description Notes
n0 -8 10 10 1 Specify the number of digits displayed A negative value specifies hexadecimal
before the decimal point format, see Remarks
n1 0 4 4 1 Specify the number of digits displayed
after the decimal point
Remarks
A negative n0 specifies hexadecimal format. When in hexadecimal, the string will be preceded by a $ and Hex numbers are displayed as 2's
complement with the first bit used to signify the sign.
A positive n0 specifies standard decimal format.
A ? is only valid for querying n0. When queried, the value reported will be the value of the format for variables and arrrays specified by n0 and n1
eg. VF 10,4 would respond to VF ? with 10.4
_VF contains the value of the format for variables and arrays
If the number of digits set by n0 is insufficient for representing the integer portion of a variable, the returned value will be the greatest number
representable by n0.n1. For example, if var=123, and VF is 2.4, var=? will return 99.9999.

Examples
'Galil DMC Code Example
VF 5.3;' Sets 5 digits of integers and 3 digits after the decimal point
VF 8.0;' Sets 8 digits of integers and no fractions
VF -4.0;' Specify hexadecimal format with 4 bytes to the left of the decimal​

'Galil DMC Code Example

:VF8,4;' set vf to 8 digits of integers and 4 digits of fraction
:VF? ;' query the value of VF
8.4
:MG_VF;' query again
8.4​

VF applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control VF 306/326

 VECTOR/LINEAR
VM Vector Mode

VM m0m1m2
Usage VM mm Argument is an axis mask
Operands _VMm Operand has special meaning, see Remarks
Description
The VM command enables the coordinated motion mode and specifies the plane of motion. This mode may be specified for motion on any set of two
axes, including a combination of real and virtual axes for single-axis operation. The motion is specified by the instructions VP and CR, which specify linear
and circular segments.
Up to 511 segments may be given before the Begin Sequence (BGS or BGT) command. The number of available segments is queriable via the _LMm
operand.
Arguments
Argument Min Max Default Resolution Description Notes
m0 A H A Axis First axis specified for
vector motion
m1 A H N/A Axis Second axis specified for
vector motion
M N N/A Axis Virtual axis specified for Used when performing vector mode for a single real
vector mode axis
m2 A H N/A Axis Tangent axis specified for m2 = null if tangent mode is not desired.
vector mode.
M N N/A Axis Virtual axis specified for Used to disable the tangent function if already
vector mode. enabled. Otherwise, use m2 = null.
Remarks
Specifying one axis for vector mode is useful for obtaining sinusoidal motion on 1 axis using the CR command.
The Vector End (VE) command must be given after the last segment. This allows the controller to properly decelerate.
Additional segments may be given during the motion when the buffer frees additional spaces for new segments.
It is the responsibility of the user to keep enough motion segments in the buffer to ensure continuous motion.
The first vector in a coordinated motion sequence defines the origin for that sequence. All other vectors in the sequence are defined by their
endpoints with respect to the start of the move sequence.
The VM command will apply to the selected coordinate system, S or T. To select the coordinate system, use the command CAS or CAT.
_VMm contains instantaneous commanded vector velocity for the specified coordinate system, S or T.
Enabling Vector Mode
1. Specify the desired coordinate system to use with the CA command. S is default.
2. Specify the vector plane to be used with the VMm0m1 command. If using tangent axis include that as the m2 parameter
1. EG. for a AB vector plane with the D axis used as a tangent axis, issue VM ABD
2. If only the vector plane is desired for the above example, then issue VM AB
3. Specify vector speed with VS, vector acceleration with VA, and vector deceleration with VD
4. Specify vector segments with the VP command, or circular segments with the CR command
5. When finished with the sequence of moves, issue VE
6. Issue BGS to begin motion for the S coordinate system
7. You can now wait for motion to complete, issue additional segments as buffer space is cleared, or start a new move on the T coordinate plane by
specifying CAT and starting from step 2.

Examples
'Galil DMC Code Example
#A;' Program Label
VM AB ;' Specify motion plane
VP 1000,2000;' Specify vector position 1000,2000
VP 2000,4000;' Specify vector position 2000,4000
CR 1000,0,360;' Specify arc
VE;' Vector end
BG S ;' Begin motion sequence
AM S ;' Wait for vector motion to complete
EN;' End Program​

'Galil DMC Code Example

#A;' Program Label
VM AN ;' Specify motion plane
VP 1000,2000;' Specify vector position 1000,2000
VP 2000,4000;' Specify vector position 2000,4000
CR 1000,0,360;' Specify arc
VE;' Vector end
BG S ;' Begin motion sequence
AM S ;' Wait for vector motion to complete
EN;' End Program​

Galil Motion Control VM 307/326

 VM applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control VM 308/326

 VECTOR/LINEAR
VP Vector Position

VP n0,n1 < o > p

Usage VP n ... Arguments specified with an implicit, comma-separated order
Operands _VPm Operand has special meaning, see Remarks
Description
The VP command defines a vector move segment for the VM mode of motion. The VP command defines the target coordinates of a straight line segment
in a 2 axis motion sequence. The units are in quadrature counts, and are a function of the elliptical scale factor set using the command ES. For three or
more axes in linear interpolation mode, use the LI command.
Arguments
Argument Min Max Default Resolution Description Notes
n0 - 2,147,483,647 0 1 Specify the target position for the first vector axis See
2,147,483,648 Remarks
n1 - 2,147,483,647 0 1 Specify the target postion for the second vector axis See
2,147,483,648 Remarks
Specifies the vector speed to be commanded at the For MT 1,-
o 2 22,000,000 N/A 2 beginning of the linear segment. The controller will start 1,1.5, and -
accelerating or decelerating at the start of the sequence to 1.5.
this speed.
Specifies the vector speed to be commanded at the For MT 2,-
2 6,000,000 N/A 2 beginning of the linear segment. The controller will start 2,2.5, and -
accelerating or decelerating at the start of the sequence to 2.5.
this speed.
Specifies the vector speed to be achieved at the end of the For MT 1,-
p 2 22,000,000 N/A 2 linear segment. The controller will decelerate or accelerate 1,1.5, and -
during the segment and will reach the specified speed at the 1.5.
end of the segment.
Specifies the vector speed to be achieved at the end of the For MT 2,-
2 6,000,000 N/A 2 linear segment. The controller will decelerate or accelerate 2,2.5, and -
during the segment and will reach the specified speed at the 2.5.
end of the segment.
Argument Value Description Notes
o -1 Specifies vector speed to be set by Vector Speed Variable (VV command) See VV command
Remarks
The first vector in a coordinated motion sequence defines the origin for that sequence. All other vectors in the sequence are defined by their
endpoints with respect to the start of the move sequence.
Vector moves are defined as absolute positions from the origin of the sequence.
The length of each vector segment must be limited to 8,388,607.
The VM command will apply to the selected coordinate system, S or T. To select the coordinate system, use the command CAS or CAT.
_VPm where m = axis designator A,B,C,D,E,F,G or H and contains the absolute coordinate of the axes at the last intersection along the sequence.
For example, during the first motion segment, this instruction returns the coordinate at the start of the sequence.
The use of _VPm as an operand is valid in the linear mode, LM, and in the Vector mode, VM.

Examples
'Galil DMC Code Example
#A;' Program Label
VM AB ;' Specify motion plane
VP 1000,2000;' Specify vector position 1000,2000
Galil Motion Control VP 309/326
 VP 2000,4000;' Specify vector position 2000,4000
CR 1000,0,360;'Specify arc
VE;' Vector end
BGS ;' Begin motion sequence
AMS ;' Wait for vector motion to complete
EN;' End Program​

'Galil DMC Code Example

REM VP n,m p
REM 'o' and 'p' are in counts/sample rather than counts/second as the VS command.
REM This means that when TM <> 1000, commanded speed for VS will be different than
REM values for 'o' and 'p'
REM To get counts/second for 'o' and 'p', divide them by a ratio of 1000/_TM
REM
REM #vs and #vsop result in the same profile
#vs
TM 250
VMAN
VS 100000
VA 2560000
VD 2560000
VP 20000,20000
VE
BGS
AMS
EN
'
#vsop
TM 250
VMAN
n= 1000/_TM
'VS 100000
VA 2560000
VD 2560000
VP 20000,20000<( 100000/n)
VE
BGS
AMS
EN

VP applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control VP 310/326

 VECTOR/LINEAR
VR Vector Speed Ratio

VR n0,n1
Usage VR n ... Arguments specified with an implicit, comma-separated order
Operands _VRm Operand holds the value last set by the command
Description
The VR sets a ratio to be used as a multiplier of the current vector speed. The vector speed can be set by the command VS or the operators < and >
used with CR, VP and LI commands. VR takes effect immediately and will ratio all the previous vector speed commands.
Arguments
Argument Min Max Default Resolution Description Notes
n0 0 10 1 1/65,536 Vector ratio specified for the S coordinate plane
n1 0 10 1 1/65,536 Vector ratio specified for the T coordinate plane
Remarks
VR doesn't ratio acceleration or deceleration, but the change in speed is accomplished by accelerating or decelerating at the rate specified by VA and
VD.
VR is useful for feedrate override, particularly when specifying the speed of individual segments using the operator '<' and '>'.
_VRm contains the vector speed ratio of the specified coordinate system - where m = S or T.
_VRS contains the vector speed ratio of the specified coordinate system

Examples
'Galil DMC Code Example
#A;' Vector Program
VM AB ;' Vector Mode
VP 1000,2000;' Vector Position
CR 1000,0,360;' Specify Arc
VE;' End Sequence
VS 2000;' Vector Speed
BG S ;' Begin Sequence
AM S ;' After Motion
JP#A;' Repeat Move
#SPEED;' Speed Override
VR( @AN[ 1] *.1) ;' Read analog input compute ratio
vr= _VRS ;' Store vector ratio in variable 'vr'
JP#SPEED;' Loop
XQ#A,0
XQ#SPEED,1;' Execute task 0 and 1 simultaneously​

VR applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control VR 311/326

 VECTOR/LINEAR
VS Vector Speed

VSm= n
VS n,n
Usage VSm= n Arguments specified with a single axis mask and an assignment (=)
VS n ... Arguments specified with an implicit, comma-separated order
Description
The VS command specifies the speed of the vector in a coordinated motion sequence in either the LM or VM modes. This speed is in place when individual
segment speeds for VP, LI and CR are not specified.
Arguments
Argument Min Max Default Resolution Description Notes
m S T S Axis Coordinate plane to be specified
n 2 22,000,000 25,000 2 Vector speed applied to the coordinate system
Remarks
Vector speed can be attached to individual vector segments using the operators '<' and '>'. For more information, see description of VP, CR, and LI
commands. The VV command allows for variables to be specified during vector segments.
Vector Speed can be calculated by taking the square root of the sum of the squared values of speed for each axis specified for vector or linear
interpolated motion.
_VSm contains the vector speed of the specified coordinate system
When issuing VS implicitly, the first argument refers to the "S" plane and the second refers to the "T" plane.

Examples
'Galil DMC Code Example
:VS 2000;' Define vector speed of S coordinate system
:VS ? ;' Return vector speed of S coordinate system
2000

VS applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control VS 312/326

 VECTOR/LINEAR
VV Vector Speed Variable

VVm= n
VV n,n
Usage VVm= n Arguments specified with a single axis mask and an assignment (=)
VV n ... Arguments specified with an implicit, comma-separated order
Operands _VVm Operand has special meaning, see Remarks
Description
The VV command sets the speed of the vector variable in a coordinated motion sequence in either the LM or VM modes. The VV command is used to set
the "o" vector speed argument for segments that exist in the vector buffer for LI, CR and VP commands. By defining a vector segment begin speed as a
negative 1 (i.e. "<-1"), the controller will utilize the current vector variable speed as the segment is profiled from the buffer.
Arguments
Argument Min Max Default Resolution Description Notes
m S T S Axis Coordinate plane to assign value
n 0 22,000,000 0 2 Variable vector speed For MT 1,-1,1.5 and -1.5
0 3,000,000 0 2 Variable vector speed For MT 2,-2,2.5 and -2.5
Remarks
VV command is useful when vector segments exist in the buffer that use the "<" and ">" speed indicators for specific segment and corner speed
control and the host needs to be able to dynamically change the nominal return operating speed.
_VVm contains the vector speed variable of the specified coordinate system

Examples
'Galil DMC Code Example
:VVS = 20000;' Define vector speed variable to 20000 for the S coordinate system
:VP1000,2000<-1>100;' Define vector speed variable for specific segment.
:VVS = ?
20000

VV applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC18x6
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control VV 313/326

 INTERROGATION
WH Which Handle

WH
Usage WH Command takes no arguments
Operands _WH Operand has special meaning, see Remarks
Description
The WH command is used to identify the handle from which the command was received. This is useful for determining what interface or handle you are
connected to.
Arguments
WH is an interrogation command with no parameters
Remarks
_WH contains the numeric representation of the handle from which the command was received.
The following table lists the possible string returned by WH, and the numerical value returned by _WH

Communication Channel WH _WH

Main Serial Port RS232 -1
Ethernet Handle A IHA 0
Ethernet Handle B IHB 1
Ethernet Handle C IHC 2
Ethernet Handle D IHD 3
Ethernet Handle E IHE 4
Ethernet Handle F IHF 5
Ethernet Handle G IHG 6
Ethernet Handle H IHH 7
Examples
'Galil DMC Code Example
:WH;' Request incoming handle identification
IHC
:MG_WH

WH applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control WH 314/326

 PROGRAMMING, TRIPPOINT
WT Wait

WT n0,n1
Usage WT n ... Arguments specified with an implicit, comma-separated order
Description
The WT command is a trippoint used to time events.When this command is executed, the controller will wait for the amout of time specified before
executing the next command.
The amount of time in the WT command is specified to be either samples or milliseconds, depending on the second argument of WT
Arguments
Argument Min Max Default Resolution Description Notes
n0 2 2,147,483,646 N/A 2 Specify amount of time to hold
execution of code
n1 0 1 0 1 Specify the type of WT n = 0 or null specifies WT in msecs. n = 1
specifies WT in samples
Remarks
If n1=1 for WTn0,n1 then the controller will wait for the number of samples specified before executing the next command.
By default, WT is specified in milliseconds. If n1 is omitted, then n1 = 0 is used and WT is timed in milliseconds

Examples
'Galil DMC Code Example
'10 seconds after a move is complete, turn on a relay for 2 seconds
#A;' Program A
PR 50000;' Position relative move
BGA ;' Begin the move
AMA ;' After the move is over
WT 10000;' Wait 10 seconds
SB 1;' Turn on relay (set output 1)
WT 2000;' Wait 2 seconds
CB1;' Turn off relay (clear output 1)
EN;' End Program​

WT applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control WT 315/326

 PROGRAMMING
XQ Execute Program

XQ #str,n1
XQ n0,n1
Usage XQ n ... Arguments specified with an implicit, comma-separated order
_XQ0
_XQ1
_XQ2
Operands _XQ3 Operand has special meaning, see Remarks
_XQ4
_XQ5
_XQ6
_XQ7
Description
The XQ command begins execution of a program residing in the program memory of the controller. Execution will start at the label or line number
specified.
Up to 8 programs may be executed simultaneously to perform multitasking.
Arguments
Argument Min Max Default Resolution Description Notes
str 1 char 7 chars See Notes String Label to begin code execution If omitted, start from line 0 (n0=0)
n0 0 3,999 0 1 Line number to begin code execution Firmware Rev 1.2a and later
n0 0 1,999 0 1 Line number to begin code execution
n1 0 7 0 1 Thread number to execute code
Remarks
_XQn contains the current line number of execution for thread n, and -1 if thread t is not running.
If using ED to add code, you must exit ED mode before executing code.

Examples
'Galil DMC Code Example
XQ #apple,0;' Start execution at label apple, thread zero
XQ #data,2;' Start execution at label data, thread two
XQ ;' Start execution at line 0​

XQ applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control XQ 316/326

 STEPPER MOTOR
YA Step Drive Resolution

YAm= n
YA n,n,n,n,n,n,n,n
Usage YAm= n Arguments specified with a single axis mask and an assignment (=)
YA n ... Arguments specified with an implicit, comma-separated order
Operands _YAm Operand holds the value last set by the command
Description
Specifies the microstepping resolution of the step drive in microsteps per full motor step. Consult your drive documentation to determine its microstepping
setting. See the table below for internal Galil stepper drives.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign
value
Drive
resolution in
n 0 9,999 2 1 step YA has special functionality for certain hardware configurations.
counts/motor See the rest of the notes in this table.
step for SPM
mode
Valid settings 1,2,4 and 16 set the step resolution of the SDM-44040 to full,
for SDM- half, 1/4th and 1/16th microstepping respectively. When full
1 16 2 see Notes 44040 (- stepping (n=1) on the SDM-44040, the max gain will be 70% of
D4040) value set with AG. Max current is available for any microstepping
mode.
Valid setting
64 64 2 0 for SDM- The SDM-44140 is always configured for 64th microstepping, YA
44140 (- must be set to 64 for SPM mode
D4140)
Remarks
YA Settings for Galil Stepper Drives
Stepper Drive Hardware YA Setting Notes
SDM-44040 1 Drive set to single step (70% current max)
SDM-44040 2 Drive set to half step
SDM-44040 4 Drive set to quarter step
SDM-44040 16 Drive set to 1/16 step
SDM-44140 64 Drive fixed at 1/64 step
YA Settings for Galil Stepper Drives
Stepper Drive Hardware YA Setting Notes
EDD-37016 1 Drive set to single step (70% current max)
EDD-37016 2 Drive set to half step
EDD-37016 4 Drive set to quarter step
EDD-37016 16 Drive set to 1/16 step
EDD-37017 256 Drive fixed at 1/256 step
Examples
'Galil DMC Code Example
'Set the step drive resolution for a 1/64 Microstepping Drive:
:YA 64,64,64,64
:'Query the D axis value
:MG_YAD ;'Response shows D axis step drive resolution
64.0000
::

'Galil DMC Code Example

'Set the step drive resolution for a 1/256 Microstepping Drive:
:YA 256
:'Query the A axis value
:MG_YAA ;' Response shows A axis step drive resolution
256.0000
::

YA applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]
Galil Motion Control YA 317/326
Galil Motion Control YA 318/326
 STEPPER MOTOR
YB Step Motor Resolution

YBm= n
YB n,n,n,n,n,n,n,n
Usage YBm= n Arguments specified with a single axis mask and an assignment (=)
YB n ... Arguments specified with an implicit, comma-separated order
Operands _YBm Operand holds the value last set by the command
Description
The YB command specifies the resolution of the step motor, in full steps per full revolution, for Stepper Position Maintenance (SPM) mode.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 9,999 200 1 Motor resolution in full steps/revolution
Remarks
This command is only required if using SPM mode with stepper motors with an attached encoder.
A 1.8 degree step motor is 200 steps/revolution.

Examples
'Galil DMC Code Example
'Set the step motor resolution of the A axis for a 1.8 degree step motor:
:YBA = 200
:'Query the A axis value
:YBA = ?
200 Response shows A axis step motor resolution​

YB applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control YB 319/326

 STEPPER MOTOR
YC Encoder Resolution

YCm= n
YC n,n,n,n,n,n,n,n
Usage YCm= n Arguments specified with a single axis mask and an assignment (=)
YC n ... Arguments specified with an implicit, comma-separated order
Operands _YCm Operand holds the value last set by the command
Description
The YC command specifies the resolution of the encoder, in counts per revolution, for Stepper Position Maintenance (SPM) mode.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 32,766 4,000 1 Encoder resolution in counts/revolution
Remarks
This command is only required if using SPM mode with stepper motors with an attached encoder.

Examples
'Galil DMC Code Example
'Set the encoder resolution of the A axis
:YCA = 2000
:'Query the A axis value
:YCA = ?
2000
:'Response shows A axis encoder resolution​

YC applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control YC 320/326

 STEPPER MOTOR
YR Error Correction

YRm= n
YR n,n,n,n,n,n,n,n
Usage YRm= n Arguments specified with a single axis mask and an assignment (=)
YR n ... Arguments specified with an implicit, comma-separated order
Description
The YR command allows the user to correct for position error in Stepper Position Maintenance mode. This correction acts like an IP command, moving the
axis or axes the specified quantity of step counts. YR will typically be used in conjunction with QS.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n -2,147,483,648 2,147,483,647 0 1 Number of step pulses to increment position by
Remarks
Users will typically use the value of QS to increment motor by the number of step pulses of error.
EG. YRm = _QSm increments the specified axis by the error magnitude.
The sign of YR depends on the polarity of the position encoder
If the encoder increments when the stepper moves forward (increasing TD), the correction is YRm=_QSm. This is typical.
If the encoder decrements when the stepper moves forward, the correction is YRm= -_QSm. See CE to invert the polarity of the position
encoder, if desired.

Examples
'Galil DMC Code Example
'Query the error of the B axis:
:QSB
253
:'This shows 253 step counts of error
:'Correct for the error:
:YRB = _QSB ;' The motor moves _QS step counts to correct for the error
:'and YS is set back to 1​

'Galil DMC Code Example

'Query the error of the A axis:
:QSA
253
:' This shows 253 step counts of error
:'Correct for the error:
:YRA = _QSA ;' The motor moves _QS step counts to correct for the error
'and YS is set back to 1​

YR applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control YR 321/326

 STEPPER MOTOR
YS Stepper Position Maintenance Mode Enable, Status

YSm= n
YS n,n,n,n,n,n,n,n
Usage YSm= n Arguments specified with a single axis mask and an assignment (=)
YS n ... Arguments specified with an implicit, comma-separated order
Operands _YSm Operand has special meaning, see Remarks
Description
The YS command enables and disables the Stepper Position Maintenance Mode function. YS also reacts to excessive position error condition as defined by
the QS command.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 1 0 1 Setting of the SPM n = 0 disables SPM mode, n = 1 Enables SPM mode. See
mode Remarks
Remarks
Both YSm = ? and _YSm contain the value of n. n is 1 when SPM mode is enabled and no error has occurred. If a position error has occured, n
becomes 2.
If n = 2, this indicates a position error condition defined as more than 3 full motor steps of position error.
Issuing an n = 1 will clear the error
Position Error Limit
Microstep Setting (YA) Error (QS) Limit
1 3
2 6
16 48
64 192
256 768
Examples
'Galil DMC Code Example
'Enable the mode:
:YSH = 1
:'Query the value:
:YS* = ?
0,0,0,0,0,0,0,1 Response shows H axis is enabled​

'Galil DMC Code Example

'Enable the mode:
:YSA = 1
:'Query the value:
:YSA = ?
1 Response shows A axis is enabled​

YS applies to DMC500x0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,DMC18x6,DMC18x2,EDD3701x
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control YS 322/326

 PROGRAMMING
ZA User Data Record Variables

ZAm= n
ZA n,n,n,n,n,n,n,n
Usage ZAm= n Arguments specified with a single axis mask and an assignment (=)
ZA n ... Arguments specified with an implicit, comma-separated order
Operands _ZAm Operand holds the value last set by the command
Description
ZA sets the user variables in the data record. The user variables (one per axis) are automatically sent as part of the status record from the controller to the
host computer. These variables provide a method for specific controller information to be passed to the host automatically.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n -2,147,483,648 2,147,483,647 0 1 Value of user variable for data record
Remarks
n is an integer and can be a number, controller operand, variable, mathematical function, or string.
Only 4 bytes are available for n. Fractional values are not stored or sent via the data record

Examples
'Galil DMC Code Example
#thread
ZAA = myVar;' constantly update ZA with variable myVar
WT 10
JP#thread;' run in an infinite loop​

ZA applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC18x6
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ZA 323/326

 SYSTEM CONFIG
ZN Negative Antifriction Bias

ZNm= n
ZN n,n,n,n,n,n,n,n
Usage ZNm= n Arguments specified with a single axis mask and an assignment (=)
ZN n ... Arguments specified with an implicit, comma-separated order
Description
ZN adds a negative open loop voltage to the controller?s command signal when the position error is negative.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n -9.9998 0 0 0.0003 Open loop voltage (Volts)
Remarks
Valid only for -NAN and -CER firmware

Examples
'Galil DMC Code Example
ZNA = -1;'set negative antifriction bias on A axis to -1 volt
ZPC = 1;'set positive antifriction bias on C axis to 1 volt​

ZN applies to CER,NAN
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ZN 324/326

 SYSTEM CONFIG
ZP Positive Antifriction Bias

ZPm= n
ZP n,n,n,n,n,n,n,n
Usage ZPm= n Arguments specified with a single axis mask and an assignment (=)
ZP n ... Arguments specified with an implicit, comma-separated order
Description
ZP adds a positive open loop voltage to the controller?s command signal when the position error is positive.
Arguments
Argument Min Max Default Resolution Description Notes
m A H N/A Axis Axis to assign value
n 0 9.9998 0 0.0003 Open loop voltage (Volts)
Remarks
Valid only for -NAN and -CER firmware

Examples
'Galil DMC Code Example
ZNA = -1;'set negative antifriction bias on A axis to -1 volt
ZPC = 1;'set positive antifriction bias on C axis to 1 volt​

ZP applies to CER,NAN
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ZP 325/326

 PROGRAMMING
ZS Zero Subroutine Stack

ZS n
Usage ZS n ... Arguments specified with an implicit, comma-separated order
_ZS0
_ZS1
_ZS2
Operands _ZS3 Operand has special meaning, see Remarks
_ZS4
_ZS5
_ZS6
_ZS7
Description
The ZS command is used to clear the stack when finishing or leaving a subroutine. This command is used to avoid returning from an interrupt (either input
or error). This turns the jump to subroutine into a jump. The status of the stack can be interrogated with the operand _ZS, see Remarks.
Arguments
Argument Min Max Default Resolution Description Notes
n 0 1 0 1 Sets zero stack n = 0 clears the entire stack. n = 1 clears one level of the
operation stack.
Remarks
Do not use RI (Return from Interrupt) when using ZS.
To re-enable interrupts, you must use II command again.
Operand Usage
_ZSn contains the stack level for the specified thread where n = 0 to 7.
The response, an integer between zero and sixteen, indicates zero for beginning condition and sixteen for the deepest value.

Examples
'Galil DMC Code Example
#A;' Main Program
II1;' Input Interrupt on 1
#B;JP #B;EN ;' Loop
#ININT ;' Input Interrupt
MG"INTERRUPT";'Print message
S= _ZS0;' Interrogate stack
S= ? ;' Print stack
ZS;' Zero stack
S= _ZS0;' Interrogate stack
S= ? ;' Print stack
EN;' End​

ZS applies to DMC500x0,DMC52xx0,DMC40x0,DMC42x0,DMC41x3,DMC30010,DMC21x3,RIO47xxx,DMC18x6,DMC18x2
©2018 Galil Motion Control. Corrections, Feedback: [email protected]

Galil Motion Control ZS 326/326