Galil Motion Control DMC-18 2 Series User Manual page 61

Binary Command Format
All binary commands have a 4 byte header followed by data fields. The 4 bytes are specified in
hexadecimal format.
Binary Header Format:
Byte 1 specifies the hexadecimal command number between 80 to FF.
Byte 2 specifies the # of bytes in each field as 0, 1, 2, 4 or 6 as follows:
Byte 3 specifies whether the command applies to coordinated motion on the "S" or "T" axis as
follows:
For example, the command STS commands motion to stop on the S axis vector motion. The third byte
for the equivalent binary command would then be 01.
Byte 4 specifies the axis # or data field as follows
Data Fields Format
Data fields must be consistent with the format byte and the axes byte. For example, the command
"PR 1000,, -500" would be:
A7 02 00 05 03 E8 FE 0C
where A7 is the command number for PR
02 specifies 2 bytes for each data field
00 coordinated motion is not active for PR
50 ● Chapter 4 - Software Tools and Communications
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00 No datafields (i.e. SH or BG)
01 One byte per field
02 One word (2 bytes per field)
04 One long word (4 bytes) per field
06 Galil real format (4 bytes integer and 2 bytes fraction)
Bit 1 = T axis coordinated motion movement
Bit 0 = S axis coordinated motion movement
th
Bit 7 = H axis or 8 data field
th
Bit 6 = G axis or 7 data field
th
Bit 5 = F axis or 6 data field
th
Bit 4 = E axis or 5 data field
th
Bit 3 = D axis or 4 data field
rd
Bit 2 = C axis or 3 data field
nd
Bit 1 = B axis or 2 data field
st
Bit 0 = A axis or 1 data field
DMC-18x2