Galil Motion Control DMC-21 5 Series User Manual page 38

For specifying data for the A,B,C and D axes, commas are used to separate the axes. If no data is specified for an
axis, a comma is still needed as shown in the examples below. If no data is specified for an axis, the previous value
is maintained.
To view the current values for each command, type the command followed by a ? for each axis requested.
PR 1000
PR ,2000
PR ,,3000
PR ,,,4000
PR 2000,4000,6000,8000
PR ,8000,,9000
PR ?,?,?,?
PR ,?
Explicit Notation
The DMC-21x5 provides an alternative method for specifying data. Here data is specified individually using a single
axis specifier such as A, B, C or D. An equals sign is used to assign data to that axis. For example:
PRA=1000
ACB=200000
Instead of data, some commands request action to occur on an axis or group of axes. For example, ST AB stops
motion on both the A and B axes. Commas are not required in this case since the particular axis is specified by the
appropriate letter A, B, C or D. If no parameters follow the instruction, action will take place on all axes. Here are
some examples of syntax for requesting action:
BG A
BG B
BG ABCD
BG BD
BG
For controllers with 5 or more axes, the axes are referred to as A,B,C,D,E,F,G,H. The specifiers X,Y,Z,W
2185
and A,B,C,D may be used interchangeably.
BG ABCDEFGH
BG D
Coordinated Motion with more than 1 axis
When requesting action for coordinated motion, the letter S or T is used to specify the coordinated motion. This
allows for coordinated motion to be setup for two separate coordinate systems. Refer to the
Command Reference for more information on specifying a coordinate system. For example:
BG S
BG TD
Chapter 5 Command Basics ▫ 33
Specify A only as 1000
Specify B only as 2000
Specify C only as 3000
Specify D only as 4000
Specify A,B,C and D
specify B and D only
Request A,B,C,D values
Request B value only
Specify a position relative movement for the A axis of 1000
Specify acceleration for the B axis as 200000
Begin A only
Begin B only
Begin all axes
Begin B and D only
Begin all axes
Begin all axes
Begin D only
Begin coordinated sequence, S
Begin coordinated sequence, T, and D axis
CA command in the
DMC-21x5 User Manual 1.0a1