Galil DMC-2X00 用户手册

•  Chapter 6  Programming Motion 

FE ABCD 

Find Edge Routine.  This routine monitors the Home Input 

FI ABCD 

Find Index Routine - This routine monitors the Index Input 

HM ABCD 

Home Routine - This routine combines FE and FI as Described Above 

SC ABCD 

Stop Code 

TS ABCD 

Tell Status of Switches and Inputs 

_HMa 

Contains the value of the state of the Home Input 

_SCa 

Contains stop code 

_TSa Contains 

status 

of switches and inputs 

Often it is desirable to capture the position precisely for registration applications.  The DMC-2x00 
provides a position latch feature.  This feature allows the position of the main or auxiliary encoders of 
A,B,C  or D to be captured when the latch input changes state.  This function can be setup such that the 
position is captured when the latch input goes high or low.  When the latch function is enabled for 
active low operation, the position will be captured within 12 microseconds.  When the latch function is 
enabled for active high operation, the position will be captured within 35 microseconds.   Each axis has 
one general input associated to the axis for position capture: 

IN1 

A Axis Latch 

IN9 

E Axis Latch 

IN2 

B Axis Latch 

IN10 

F Axis Latch 

IN3 

C Axis Latch 

IN11 

G Axis Latch 

IN4 

D Axis Latch 

IN12 

H Axis Latch 

The DMC-2x00 software commands, AL and RL, are used to arm the latch and report the latched 
position.  The steps to use the latch are as follows: 

1.  Give the AL ABCD command to arm the latch for the main encoder and ALSASBSCSD for 

the auxiliary encoders. 

2.  Test to see if the latch has occurred (Input goes low) by using the _AL A or B or C or D 

command.  Example, V1=_ALA returns the state of the A latch into V1.  V1 is 1 if the latch 
has not occurred. 

3.  After the latch has occurred, read the captured position with the RL ABCD command or _RL 

ABCD. 

NOTE:  The latch must be re-armed after each latching event.