Binary Command Format - Galil Motion Control DMC-14 5 Series Manual

Binary Command Format

All binary commands have a 4 byte header and are followed by data fields. The 4 bytes are specified
in hexadecimal format.
Header Format:
Byte 1 specifies the command number between 80 and FF. The complete binary command number
table is listed below.
Byte 2 specifies the # of bytes in each field as 0,1,2,4 or 6 as follows:
00
01
02
04
06
Byte 3 specifies whether the command applies to a coordinated move as follows:
00
01
For example, the command STS designates motion to stop on a vector motion. The third byte for the
equivalent binary command would be 01.
Byte 4 specifies the axis # or data field as follows
Bit 1 = B axis or 2
Bit 0 = A axis or 1
Datafields Format
Datafields must be consistent with the format byte and the axes byte. For example, the command
PR 1000,500 would be
A7 02 00 03 03 E8 FE 0C
where A7 is the command number for PR
02 specifies 2 bytes for each data field
00 S is not active for PR
03 specifies bit 0 is active for A axis and bit 1 is active for B axis (2
03 E8 represents 1000
FE OC represents -500
Example
The command ST S would be
where A1 is the command number for ST
00 specifies 0 data fields
01 specifies stop the coordinated axes S
DMC-14x5/6
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No datafields (i.e. SH or BG)
One byte per field
One word (2 bytes per field)
One long word (4 bytes) per field
Galil real format (4 bytes integer and 2 bytes fraction)
No coordinated motion movement
Coordinated motion movement
nd
data field
st
data field
A1 00 01
0 1
+ 2 =3)
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