B140

COMMAND
REFERENCE
Manual Rev. 1.0

By Galil Motion Control, Inc.

Galil Motion Control, Inc.

270 Technology Way
Rocklin, California 95765
Phone: (916) 626-0101
Fax: (916) 626-0102
Internet Address: [email protected]
URL: www.galilmc.com

Rev 10/2008
ARRAYS CONTROL FEEDBACK MATH PROGRAM STEPPER
DA deallocate MO motor off @ABS[n] |n| BK breakpoint KS smoothing
_DA arrays left _MO motor off? AL arm latch @ACOS[n] arccos DL download LC low
DM define SH servo here _AL latch @ASIN[n] arcsin _DL labels left MT motor
_DM space left SH servo here CE configure @ATAN[n] ED edit QS query error
LA list TM sample time @COM[n] bit not ELSE if else YA drive
QD download ECAM @COS[n] cosine EN end YB motor
QU print/upload EA master @FRAC[n] ENDIF if YC encoder
RA record EB enable @INT[n] HX halt thread YR correction
RC begin EC counter @RND[n] round IF conditional YS maintenance
RC recording? EG engage slave RL read latch @SIN[n] sine JP for/while VECTOR
RD data EM modulus _RL latch @SQR[n] x^0.5 JS jump AV wait for arc
_RD address EP master TD tell dual @TAN[n] tangent ^L^K _AVS arc length
[] index EQ disengage TP tell position + add LL list -
COMMUNICATE ET table TV tell - subtract LS list CR circle
CW unsolicited EW widen segment GEAR * multiply LV list CS clear sequence
DR data record EY cycle count GA axes / divide NO (') comment _CS segment
CF config EEPROM GD distance % modulus _NO threads ES elliptical scale
EO echo ^R^S master reset GM gantry mode () parenthesis PW password LE linear end
IN user input BN burn _GP phase & and RE return error _LE total arc length
LZ leading BP burn program GR ratio | or REM fast LI linear point
MG message BV burn variables HOME $ hexadecimal RI return LM linear axes
PF position format RS reset DE define dual < less than SL single step _LM buffer space
QR data record DP define position > greater than TB tell status TN tangent scale
QZ record info ERRORS FE find home = assign / equal TR debug trace _TN 1st position
VF variable AB abort FI find index <= less or equal UL upload VA acceleration
ZA DR _AX abort input HM home >= greater or _UL variables VD deceleration
DH DHCP BL reverse soft _HM home input <> not equal XQ execute VE vector end
CONTOUR ED program line MOTION _XQ current line VM vector axes
CD data ED1 thread INFO AC acceleration ZS zero stack VM velocity
CM axes - _BN serial number BG begin _ZS stack level VP vector point
_CM buffer full FL forward soft _BV axes _BG in motion? #AUTO; EN _VP last point
DT delta time LD limit ^R^V firmware DC deceleration #AUTOERR; EN VR VS
ETHERNET LF forward limit I/O IP increment ; command VS speed
IA IP address _LR reverse limit - IT s curve # subroutine VV Vector
` line continuation Variable
IH Ethernet OE off on error @IN[x] digital JG jog TIME
IK Port block SC stop code @OUT[x] digital PA position AT wait
MB modbus SD switch decel AI wait for _PA last target TIME clock
MW modbus wait TC tell code AO analog out PR position WT wait
SA send command #CMDERR; EN1 CB clear digital PR relative target MOTION WAIT
SM subnet mask #LIMSWI; RE1 CN configure PT position AD distance
TH handle status #POSERR; RE1 CI communication RP desired AM complete
WH which handle II input SP speed AP position
interrupt (TP)
OB output bit ST stop AR distance
OP output port ~a axis variable AS at speed (SP)
SB set digital out MC complete
TI tell input MF forward (TP)
TS tell switches MR reverse (TP)
#ININT; RI1
#COMINT;EN

B140 Command Reference ii

Table of Contents
Table of Contents......................................................................................................................................................................iii

Overview.....................................................................................................................................................................................1
Controller Notation .................................................................................................................................................................1
Trippoints ................................................................................................................................................................................1
Command Descriptions ...........................................................................................................................................................2
Parameter Arguments ..........................................................................................................................................................2
Direct Command Arguments ...............................................................................................................................................3
Interrogation ........................................................................................................................................................................3
Operand Usage ....................................................................................................................................................................3
Usage Description................................................................................................................................................................3
Default Description..............................................................................................................................................................3
Resetting the Controller to Factory Default.........................................................................................................................4
# ...........................................................................................................................................................................................5
$ ...........................................................................................................................................................................................6
& | ........................................................................................................................................................................................7
( ) .........................................................................................................................................................................................8
;............................................................................................................................................................................................9
[ ] .......................................................................................................................................................................................10
+ - * / % .............................................................................................................................................................................11
<, >, =, <=, >=, <> .............................................................................................................................................................12
=.........................................................................................................................................................................................13
~.........................................................................................................................................................................................14
AB .....................................................................................................................................................................................15
@ABS[n] ...........................................................................................................................................................................17
AC .....................................................................................................................................................................................18
@ACOS[n] ........................................................................................................................................................................19
AD .....................................................................................................................................................................................20
AI.......................................................................................................................................................................................21
AL......................................................................................................................................................................................22
AM.....................................................................................................................................................................................23
@AN[n] .............................................................................................................................................................................24
AO .....................................................................................................................................................................................25
AP ......................................................................................................................................................................................26
AR .....................................................................................................................................................................................27
AS ......................................................................................................................................................................................28
@ASIN[n] .........................................................................................................................................................................29
AT......................................................................................................................................................................................30
@ATAN[n]........................................................................................................................................................................31
#AUTO ..............................................................................................................................................................................32
#AUTOERR ......................................................................................................................................................................33
AV .....................................................................................................................................................................................34

B140 Command Reference iii

AX .....................................................................................................................................................................................35
BG .....................................................................................................................................................................................36
BK .....................................................................................................................................................................................37
BL ......................................................................................................................................................................................38
BN .....................................................................................................................................................................................39
BP ......................................................................................................................................................................................40
BV .....................................................................................................................................................................................41
CB......................................................................................................................................................................................42
CD .....................................................................................................................................................................................43
CE ......................................................................................................................................................................................45
CF ......................................................................................................................................................................................46
CI .......................................................................................................................................................................................47
CM.....................................................................................................................................................................................48
#CMDERR ........................................................................................................................................................................49
CN .....................................................................................................................................................................................50
@COM[n]..........................................................................................................................................................................51
#COMINT .........................................................................................................................................................................52
@COS[n] ...........................................................................................................................................................................53
CR......................................................................................................................................................................................54
CS ......................................................................................................................................................................................55
CW.....................................................................................................................................................................................56
DA .....................................................................................................................................................................................57
DC .....................................................................................................................................................................................58
DE......................................................................................................................................................................................59
DH .....................................................................................................................................................................................60
DL......................................................................................................................................................................................61
DM.....................................................................................................................................................................................62
DP ......................................................................................................................................................................................63
DR .....................................................................................................................................................................................64
DT......................................................................................................................................................................................65
EA......................................................................................................................................................................................67
EB ......................................................................................................................................................................................68
EC ......................................................................................................................................................................................69
ED......................................................................................................................................................................................70
EG......................................................................................................................................................................................71
ELSE..................................................................................................................................................................................72
EM .....................................................................................................................................................................................73
EN......................................................................................................................................................................................74
ENDIF ...............................................................................................................................................................................75
EO......................................................................................................................................................................................76
EP ......................................................................................................................................................................................77
EQ......................................................................................................................................................................................78
ES ......................................................................................................................................................................................79
ET ......................................................................................................................................................................................80
EW.....................................................................................................................................................................................81
EY......................................................................................................................................................................................82
FE ......................................................................................................................................................................................83
FI .......................................................................................................................................................................................84
FL ......................................................................................................................................................................................85
@FRAC[n] ........................................................................................................................................................................86
GA .....................................................................................................................................................................................87
GD .....................................................................................................................................................................................88
GM.....................................................................................................................................................................................89
_GP ....................................................................................................................................................................................90
GR .....................................................................................................................................................................................91
HM.....................................................................................................................................................................................92

B140 Command Reference iv

 HS ......................................................................................................................................................................................93
HX .....................................................................................................................................................................................94
IA.......................................................................................................................................................................................95
IF .......................................................................................................................................................................................96
IH.......................................................................................................................................................................................97
II ........................................................................................................................................................................................99
IK..................................................................................................................................................................................... 101
IN..................................................................................................................................................................................... 102
@IN[n]............................................................................................................................................................................. 103
#ININT ............................................................................................................................................................................104
@INT[n] .......................................................................................................................................................................... 105
IP ..................................................................................................................................................................................... 106
IT ..................................................................................................................................................................................... 107
JG..................................................................................................................................................................................... 108
JP ..................................................................................................................................................................................... 109
JS ..................................................................................................................................................................................... 110
KS .................................................................................................................................................................................... 111
LC .................................................................................................................................................................................... 113
LD.................................................................................................................................................................................... 114
LE .................................................................................................................................................................................... 115
_LF .................................................................................................................................................................................. 116
LI ..................................................................................................................................................................................... 117
#LIMSWI ........................................................................................................................................................................ 118
<control>L<control>K .................................................................................................................................................... 119
LL .................................................................................................................................................................................... 120
LM ................................................................................................................................................................................... 121
_LR .................................................................................................................................................................................. 122
LS .................................................................................................................................................................................... 123
LV.................................................................................................................................................................................... 124
LZ .................................................................................................................................................................................... 125
MB................................................................................................................................................................................... 126
MC................................................................................................................................................................................... 128
MF ................................................................................................................................................................................... 129
MG................................................................................................................................................................................... 130
MO................................................................................................................................................................................... 131
MR................................................................................................................................................................................... 132
MT ................................................................................................................................................................................... 133
MW.................................................................................................................................................................................. 134
NO (‘ apostrophe also accepted)..................................................................................................................................... 135
OB ................................................................................................................................................................................... 136
OE.................................................................................................................................................................................... 137
OP .................................................................................................................................................................................... 138
@OUT[n]......................................................................................................................................................................... 139
PA .................................................................................................................................................................................... 140
PF..................................................................................................................................................................................... 141
P1CD ............................................................................................................................................................................... 142
P1CH ............................................................................................................................................................................... 143
P1NM .............................................................................................................................................................................. 144
P1ST ................................................................................................................................................................................ 145
#POSERR ........................................................................................................................................................................ 146
#POSERR ........................................................................................................................................................................ 146
PR .................................................................................................................................................................................... 147
PT .................................................................................................................................................................................... 148
PW ................................................................................................................................................................................... 149
QD ................................................................................................................................................................................... 150
QR ................................................................................................................................................................................... 151

B140 Command Reference v

QS .................................................................................................................................................................................... 152
QU ................................................................................................................................................................................... 153
QZ.................................................................................................................................................................................... 154
RA ................................................................................................................................................................................... 155
RC.................................................................................................................................................................................... 156
RD ................................................................................................................................................................................... 157
RE .................................................................................................................................................................................... 158
REM ................................................................................................................................................................................ 159
RI ..................................................................................................................................................................................... 160
RL .................................................................................................................................................................................... 161
@RND[n] ........................................................................................................................................................................ 162
RP .................................................................................................................................................................................... 163
RS .................................................................................................................................................................................... 164
<control>R<control>S..................................................................................................................................................... 165
<control>R<control>V .................................................................................................................................................... 166
SA .................................................................................................................................................................................... 167
SB .................................................................................................................................................................................... 168
SC .................................................................................................................................................................................... 169
SD .................................................................................................................................................................................... 170
SH .................................................................................................................................................................................... 171
@SIN[n] .......................................................................................................................................................................... 172
SL .................................................................................................................................................................................... 173
SM ................................................................................................................................................................................... 174
SP..................................................................................................................................................................................... 175
@SQR[n] ......................................................................................................................................................................... 176
ST .................................................................................................................................................................................... 177
@TAN[n]......................................................................................................................................................................... 178
TB .................................................................................................................................................................................... 179
TC .................................................................................................................................................................................... 180
#TCPERR ........................................................................................................................................................................ 182
TD.................................................................................................................................................................................... 183
TH.................................................................................................................................................................................... 184
TI ..................................................................................................................................................................................... 185
TIME ............................................................................................................................................................................... 186
TM ................................................................................................................................................................................... 187
TN.................................................................................................................................................................................... 188
TP .................................................................................................................................................................................... 189
TR .................................................................................................................................................................................... 190
TS .................................................................................................................................................................................... 191
TV.................................................................................................................................................................................... 192
UL.................................................................................................................................................................................... 193
VA ................................................................................................................................................................................... 194
VD ................................................................................................................................................................................... 195
VE.................................................................................................................................................................................... 196
VF .................................................................................................................................................................................... 197
VM................................................................................................................................................................................... 198
VP .................................................................................................................................................................................... 199
VR ................................................................................................................................................................................... 200
VS .................................................................................................................................................................................... 201
VV ................................................................................................................................................................................... 202
WH .................................................................................................................................................................................. 203
WT................................................................................................................................................................................... 204
XQ ................................................................................................................................................................................... 205
YA ................................................................................................................................................................................... 206
YB ................................................................................................................................................................................... 207
YC ................................................................................................................................................................................... 208

B140 Command Reference vi

 YR ................................................................................................................................................................................... 209
YS .................................................................................................................................................................................... 210
ZA.................................................................................................................................................................................... 211
ZS .................................................................................................................................................................................... 212

Index ....................................................................................................................................................................................... 213

B140 Command Reference vii

This Page is Left Blank Intentionally

B140 Command Reference viii

Overview

Controller Notation
This command reference describes commands for Galil Motion Controller: B140. Commands are listed in
alphabetical order.
Please note that all commands may not be valid for every controller. To identify the controllers for which
the command is applicable, please review the Usage Section of the command description.

Trippoints
The controller provides several commands that can be used to make logical decisions, or “trippoints,” based
on events during a running program. Such events include: the completion of a specific motion, waiting for
a certain position to be reached, or simply waiting for a certain amount of time to elapse.

When a program is executing on the controller, each program line is executed sequentially. However,
when a trippoint command is executed, the program halts execution of the next line of code until the status
of the trippoint is cleared. Note that the trippoint only halts execution of the thread from which it is
commanded while all other independent threads are unaffected. Additionally, if the trippoint is
commanded from a subroutine, execution of the subroutine, as well as the main thread, is halted.

Since trippoint commands are used as program flow instructions during a running program, they should not
be implemented directly from the command line of the terminal. Sending a trippoint command directly
from the command line might cause an interruption in communications between the host PC and the
controller until the trippoint is cleared.

As a brief introduction, the following table lists the available commands and their basic usages:

AD after distance
AI after input
AM after move
AP after absolute position
AR after relative position
AS at speed
AT at time relative to a reference time
AV after vector distance
MC motion complete and “in position”

1
 MF after motion forward
MR after motion reverse
WT wait for time

Command Descriptions
Each executable instruction is listed in the following section in alphabetical order. Below is a description
of the information which is provided for each command.
The two-letter Opcode for each instruction is placed in the upper left corner. Below the opcode is a
description of the command and required arguments.

Axes Arguments
Some commands require the user to identify the specific axes to be affected. These commands are
followed by uppercase X,Y,Z, W or A,B,C,D,E,F,G and H. No commas are needed and the order of axes is
not important. Do not insert any spaces prior to any command. For example, STX; AMX is invalid
because there is a space after the semicolon. The proper syntax for commands requires that the command
argument be separated from the command by a single space. When an argument is not required and is not
given, the command is executed for all axes.
Valid syntax
SH A Servo Here, A only
SH ABD Servo Here, A,B and D axes
SH ACD Servo Here, A,C and D axes
SH ABCD Servo Here, A,B, C and D axes
SH BCAD Servo Here, A,B,C and D axes
SH ADEG Servo Here, A,D,E and G axes
SH H Servo Here, H axis only
SH Servo Here, all axes

Parameter Arguments
Some commands require numerical arguments to be specified following the instruction. In the argument
description, these commands are followed by lower case n,n,n,n,n,n,n,n, where the letter, n, represents the
value. Values may be specified for any axis separately or any combination of axes. The argument for each
axis is separated by commas. Examples of valid syntax are listed below.
Valid syntax
AC n Specify argument for A axis only
AC n,n Specify argument for A and B only
AC n,,n Specify argument for A and C only
AC n,n,n,n Specify arguments for A,B,C,D axes

Where n is replaced by actual values.

B140 Command Reference 2

 Direct Command Arguments
An alternative method for specifying data is to set data for individual axes using an axis designator
followed by an equals sign. The * symbol can be used in place of the axis designator. The * defines data
for all axes to be the same. For example:
PRB=1000 Sets B axis data at 1000
PR*=1000 Sets all axes to 1000

Interrogation
Most commands accept a question mark (?) as an argument. This argument causes the controller to return
parameter information listed in the command description. Type the command followed by a ? for each axis
requested. The syntax format is the same as the parameter arguments described above except '?' replaces
the values.
PR ? The controller will return the PR value for the A axis
PR ,,,? The controller will return the PR value for the D axis
PR ?,?,?,? The controller will return the PR value for the A,B,C and D axes

PR*=? The controller will return the PR value for all axes

Operand Usage
Most commands have a corresponding operand that can be used for interrogation. The Operand Usage
description provides proper syntax and the value returned by the operand. Operands must be used inside of
valid DMC expressions. For example, to display the value of an operand, the user could use the command:
MG ‘operand’
All of the command operands begin with the underscore character (_). For example, the value of the
current position on the A axis can be assigned to the variable ‘V’ with the command:
V=_TPA

Usage Description
The Usage description specifies the restrictions on proper command usage. The following provides an
explanation of the command information provided:
"While Moving":
Describes whether the command is valid while the controller is performing a motion.
"In a program":
Describes whether the command may be used as part of a user-defined program.
"Command Line":
Describes whether the command may be used as a direct command.
“Controller Usage”:
Identifies the controller models that can accept the command.

Default Description
In the command description, the DEFAULT section provides the default values for controller setup
parameters. These parameters can be changed and the new values can be saved in the controller's non-

B140 Command Reference 3

volatile memory by using the command, BN. If the setup parameters are not saved in non-volatile
memory, the default values will automatically reset when the system is reset. A reset occurs when the
power is turned off and on, when the reset button is pushed, or the command, RS, is given.

Resetting the Controller to Factory Default

When a master reset occurs, the controller will always reset all setup parameters to their default values and
the non-volatile memory is cleared to the factory state. A master reset is executed by the command, <ctrl
R> <ctrl S> <Return> OR by powering up or resetting the controller with the MRST jumper on.
For example, the command SP is used to set the Speed for each axis. If this parameter is not set by using
the command, SP, the controller will automatically set this value for each axis. If the Speed is changed but
not saved in non-volatile memory, the default value of 25,000 will be used if the controller is reset or upon
power up of the controller. If this value is set and saved in non-volatile memory, it will be restored upon
reset until a master reset is given to the controller.
The default format describes the format for numerical values which are returned when the command is
interrogated. The format value represents the number of digits before and after the decimal point.

B140 Command Reference 4

 #
FUNCTION: Label (subroutine)
DESCRIPTION:
The # operator denotes the name of a program label (for example #Move). Labels can be up to
seven characters long and are often used to implement subroutines or loops. Labels are
divided into (a) user defined and (b) automatic subroutines. User defined labels can be
printed with LL and the number of labels left available can be queried with MG _DL. The
automatic subroutines include #CMDERR, #LIMSWI, #POSERR, #ININT, #AUTO,. A
label can only be defined at the beginning of a new line.
ARGUMENTS: #nnnnnnn where
nnnnnnn is a label name up to seven characters
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line No
Controller Usage ALL

RELATED COMMANDS:
LL List labels
DL Labels left
JP Jump statement
JS Jump subroutine

EXAMPLES:
#Loop; JP#Loop, x=10 ;'wait until x becomes 10

#Move ;'define a subroutine to move the x axis

PRX=1000
BGX
AMX
EN

B140 Command Reference # •5

 $
FUNCTION: Hexadecimal
DESCRIPTION:
The $ operator denotes that the following string is in hexadecimal notation
ARGUMENTS: $nnnnnnnn.mmmm
n is up to eight hexadecimal digits (denoting 32 bits of integer)
m is up to four hexadecimal digits (denoting 16 bits of fraction)
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
+-*/% Multiply (shift left)
+-*/% Divide (shift right)
MG {$8.4} Print in hexadecimal

EXAMPLES:
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

6●$ B140 Command Reference

 &|
FUNCTION: Bitwise Logical Operators AND and OR
DESCRIPTION:
The operators & and | are typically used with IF, JP, and JS to perform conditional jumps;
however, they can also be used to perform bitwise logical operations.
ARGUMENTS: n & m or n | m where
n and m are signed numbers in the range -2147483648 to 2147483647.
For IF, JP, and JS, n and m are typically the results of logical expressions such as (x > 2)

USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
@COM[n] Bitwise complement
IF If statement
JP Jump statement
JS Jump subroutine

EXAMPLES:
IF (x > 2) & (y = 4) ;'x must be greater than 2 and y equal to 4
MG "true" ;'for the message to print
ENDIF

:MG 1 | 2 ;'Bitwise operation: 01 OR 10 is 11 = 3

3.0000
:

B140 Command Reference &| •7

 ()
FUNCTION: Parentheses (order of operations)
DESCRIPTION:
The parentheses denote the order of math and logical operations. Note that the controller DOES
NOT OBEY STANDARD OPERATOR PRECEDENCE. For example, multiplication is
NOT evaluated before addition. Instead, the controller follows left-to-right precedence.
Therefore, it is recommended to use parenthesis as much as possible.
ARGUMENTS: (n) where
n is a math (+ - * /) or logical (& |) expression
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
+-*/% Math Operators
&l Logical Operators

EXAMPLES:
:MG 1 + 2 * 3
9.0000
:MG 1 + (2 * 3)
7.0000
:

8●() B140 Command Reference

 ;
FUNCTION: Semicolon (Command Delimiter)
DESCRIPTION:
The semicolon operator allows multiple Galil commands to exist on a single line. It is used for the
following three reasons:
(1) To put comments on the same line as the command (BGX ;’begin motion)
(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.
ARGUMENTS: n; n; n; … where
n is a Galil command
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
NO ( ‘ apostrophe also accepted) comment

EXAMPLES:
BGX; 'comment

PRX=1000;BGX;AMX ;'Save program line space

#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

B140 Command Reference ; •9

 []
FUNCTION: Square Brackets (Array Index Operator)
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: mmmmmmmm[n] where
mmmmmmmm is the array name
n is the array index and is an integer between 0 and 799

USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
DM Dimension Array
QU Print/Upload Array

EXAMPLES:

DM A[100] ;'define a 100 element array

A[0] = 3 ;'set first element to 3
MG A[0] ;'print element 0
QU A[] ;'print entire array

10 ● [ ] B140 Command Reference

 +-*/%
FUNCTION: Math Operators
DESCRIPTION:
The addition, subtraction, multiplication, division, and modulus operators are binary operators
(they take two arguments and return one value) used to perform mathematical operations on
variables, constants, and operands.
ARGUMENTS: (n + m) or (n – m) or (n * m) or (n / m) or (n % m) where
n and m are signed numbers in the range -2147483648 to 2147483647

USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
() Parenthesis

EXAMPLES:
:x =((1+(2*3))/7)-2 ;'assign -1 to x
:MG 40 % 6 ;'integer remainder of 40 divided by 6
4.0000
:

B140 Command Reference + - * / % • 11

 <, >, =, <=, >=, <>
FUNCTION: Comparison Operators
DESCRIPTION:
The comparison operators are as follows:
< less than
> greater than
= equals
<= less than or equal
>= greater than or equal
<> not equals
These are used in conjunction with IF, JP, JS, ( ), &, and | to perform conditional jumps. The
result of a comparison expression can also be printed with MG or assigned to a variable.
ARGUMENTS: (n < m) or (n > m) or (n = m) or (n <= m) or (n >= m) or (n <> m) where
n and m are signed numbers in the range -2147483648 to 2147483647
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
() Parentheses
IF If statement
JP Jump
JS Jump subroutine

EXAMPLES:
IF(x > 2) & (y = 4) ;'x must be greater than 2 and y equal to 4 for
MG "true" ;'the message to print
ENDIF

12 ● <, >, =, <=, >=, <> B140 Command Reference

 =
FUNCTION: Equals (Assignment Operator)
DESCRIPTION:
The assignment operator is used for three 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)
(3) to print a variable or array element (x= which is equivalent to MG x). MG is the preferred
method of printing.
ARGUMENTS: mmmmmmmm = n where
mmmmmmmm is a variable name and n is a signed number in the range -2147483648 to
2147483647
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
MG Print Message

EXAMPLES:
:x=5 ;'define and initialize x to 5
:x=
;'print x two different ways
5.0000
:MG x
5.0000
:

B140 Command Reference = • 13

 ~
FUNCTION: Variable Axis Designator
DESCRIPTION:
The ~ signifies a variable axis designator
ARGUMENTS: ~n=m
n is a lowercase letter a through h
m is a positive integer 0 through 10, where
0 or “A” (quotes required) = X axis
1 or “B” = Y axis
2 or “C” = Z axis
3 or “D” = W axis

8 or “S” = S coordinate system

10 or “N” = Virtual N axis

USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format 1.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
~n contains the axis number 0-11

EXAMPLES:

~a=2;~b=3 ;'Sets ~s to 2 (Z axis). Sets ~b to 6 (W axis)

PR~a=1000 ;'Relative position move 1000 counts on ~a axis (set as Z axis)
JG~b=9000 ;'Set jog speed of ~b axis (set as W axis) to 9000 cts/sec
BG~a~b ;'Begin Motion on ~a and ~b axis

14 ● ~ B140 Command Reference

 ` (Ascii 96)
FUNCTION: Line Continuation Character

DESCRIPTION:
Allows a command in an application program to extend beyond the confines of the maximum line length of 40
characters. This is especially useful for code compression, long MG statements, or multiple conditions in an IF,JP
or JS statement.

ARGUMENTS: none

USAGE:
Default Value -
In a Program Yes Default Format -
Command Line No

OPERAND USAGE:

RELATED COMMANDS:
MG Print Message

EXAMPLES:

IF((var100=1000)&(var101=50));MG"GO";EL`
SE;MG"STOP";ENDIF;

B140 Command Reference ` (Ascii 96) • 15

 AB
FUNCTION: Abort
DESCRIPTION:
AB (Abort) stops a motion instantly without a controlled deceleration. If there is a program
operating, AB also aborts the program unless a 1 argument is specified. The command, AB,
will shut off the motors for any axis in which the off on error function is enabled (see
command OE).
AB aborts motion on all axes in motion and cannot stop individual axes.
ARGUMENTS: AB n where
n=0 The controller aborts motion and program
n=1 The controller aborts motion only
No argument will cause the controller to abort the motion and program
USAGE: DEFAULTS:
While Moving Yes Default Value ---
In a Program Yes Default Format ---
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
SH Re-enables motor
OE Specifies Off On Error

EXAMPLES:
AB ;'Stops motion
OE 1,1,1,1 ;'Enable off on error
AB ;'Shuts off motor command and stops motion

#A ;'Label - Start of program

JG 20000 ;'Specify jog speed on X-axis
BGX ;'Begin jog on X-axis
WT 5000 ;'Wait 5000 msec
AB1 ;'Stop motion without aborting program
WT 5000 ;'Wait 5000 milliseconds
SH ;'Servo Here
JP #A ;'Jump to Label A
EN ;'End of the routine

Hint: 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.

16 ● AB B140 Command Reference

 @ABS[n]
FUNCTION: Absolute value
DESCRIPTION:
Takes the absolute value of the given number. Returns the value if positive, and returns -1 times
the value if negative.
ARGUMENTS: @ABS[n] where
n is a signed number in the range -2147483647 to 2147483647

USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
@SQR[n] Square Root

EXAMPLES:
:MG @ABS[-2147483647]
2147483647.0000
:

B140 Command Reference @ABS[n] • 17

 AC
FUNCTION: Acceleration
DESCRIPTION:
The Acceleration (AC) command sets the linear acceleration rate of the motors for independent
moves, such as PR, PA and JG moves. The acceleration rate may be changed during motion.
The DC command is used to specify the deceleration rate.
ARGUMENTS: AC n,n,n,n, or ACA=n where
n is an unsigned number in the range 1024 to 1073740800. The parameters input will be rounded
down to the nearest factor of 1024. The units of the parameters are counts per second squared.
n=? Returns the acceleration value for the specified axes.
USAGE: DEFAULTS:
While Moving Yes Default Value 256000
In a Program Yes Default Format 10.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_ACx contains the value of acceleration for the specified axis.
RELATED COMMANDS:
DC Specifies deceleration rate.
Feedforward Acceleration
IT Smoothing constant - S-curve

EXAMPLES:
AC 150000,200000,300000,400000 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 ?,?,?,? Request the Acceleration
149504, 199680, 299008, 399360 Return Acceleration
(resolution, 1024)
V=_ACB Assigns the B acceleration to the variable V

Hint: Specify realistic acceleration rates based on your physical system such as motor torque rating,
loads, and amplifier current rating. Specifying an excessive acceleration will cause large following error
during acceleration and the motor will not follow the commanded profile.

18 ● AC B140 Command Reference

 @ACOS[n]
FUNCTION: Inverse cosine
DESCRIPTION:
Returns in degrees the arc cosine of the given number.
ARGUMENTS: @ACOS[n] where
n is a signed number in the range -1 to 1.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
@ASIN[n] Arc sine
@SIN[n] sine
@ATAN[n] Arc tangent
@COS[n] Cosine
@TAN[n] Tangent

EXAMPLES:
:MG @ACOS[-1]
180.0000
:MG @ACOS[0]
90.0000
:MG @ACOS[1]
0.0001
:

B140 Command Reference @ACOS[n] • 19

 AD
FUNCTION: After Distance
DESCRIPTION:
The After Distance (AD) 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 the start of the
move.
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.
The units of the command are quadrature counts. Only one axis may be specified at a time. AD
can only be used when there’s command motion on the axis.
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.
Note: AD command will be affected when the motion smoothing time constant, IT, is not 1. See
IT command for further information.
ARGUMENTS: AD n,n,n,n,n,n,n,n or ADA=n where
n is an unsigned integers in the range 0 to 2147483647 decimal.
Note: The AD command cannot have more than 1argument.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line No
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
AV After distance for vector moves
AP After position trip point
AR After relative distance trip point
MF Motion Forward trip point
MR Motion Reverse trip point
EXAMPLES:
#A;DP0,0 ;'Begin Program
PR 10000,20000 ;'Specify positions
BG ;'Begin motion
AD 5000 ;'After A reaches 5000
MG "Halfway to A";TPA ;'Send message
AD ,10000 ;'After B reaches 10000
MG "Halfway to B";TPB ;'Send message
EN ;'End Program

Hint: The AD command is accurate to the number of counts that occur in 2*TM μsec. Multiply your speed
by 2*TM μsec to obtain the maximum position error in counts. Remember AD measures incremental
distance from start of move on one axis.

20 ● AD B140 Command Reference

 AI
FUNCTION: After Input
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: AI +/-n where
n is an integer between 1 and8 and represents the input number. If n is positive, the controller will
wait for the input to go high. If n is negative, it waits for n to go low.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
@IN[n] Function to read input 1 through 8
II Input interrupt
#ININT Label for input interrupt

EXAMPLES:
#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

Hint: 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.

B140 Command Reference AI • 21

 AL
FUNCTION: Arm Latch
DESCRIPTION:
The AL command enables the latching 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 low going signal. Each axis has a position latch and can be activated
through the general inputs:
A axis latch Input 1
B axis latch Input 2
C axis latch Input 3
D axis latch Input 4

The command RL returns the captured position for the specified axes. When interrogated the AL
command will return a 1 if the latch for that axis is armed or a zero after the latch has
occurred. The CN command can be used to change the polarity of the latch function.
ARGUMENTS: AL nnnn or AL n,n,n,n, where
n can be A,B,C,D, specifying the main encoder for the axis to be latched
n can be SA,SB,SC,SD, specifying the auxiliary encoder.
n can be TA,TB,TC,TD, specifying the main encoder is latched from the index pulse instead of a
digital input.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 1.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_ALn contains the state of the specified latch. 0 = not armed, 1 = armed.
RELATED COMMANDS:
RL Report Latch

EXAMPLES:
#A ;'Program Label
ALB ;'Arm B-axis latch
JG,50000 ;'Set up jog at 50000 counts/sec
BGB ;'Begin the move
#LOOP ;'Loop until latch has occurred
JP #LOOP,_ALB=1
RLB ;'Transmit the latched position
EN ;'End of program

22 ● AL B140 Command Reference

 AM
FUNCTION: After Move
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 is complete.
ARGUMENTS: AM nnnnnn where
n is A,B,C,D, S or or any combination to specify the axis or sequence
No argument specifies to wait for after motion on all axes and / or sequences
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 1.0
Command Line No
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
BG _BGn contains a 0 if motion complete
MC Motion Complete

EXAMPLES:
#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

Hint: 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 sequences until the first
profiled motion is complete. AM tests for profile completion. The actual motor may still be moving. To
halt program sequence until the actual physical motion has completed, use the MC command. Another
method for testing motion complete is to check for the internal variable _BGn, being equal to zero (see BG
command).

B140 Command Reference AM • 23

 @AN[n]

FUNCTION: Read analog input

DESCRIPTION:
Returns the value of the given analog input of Modbus Devices in volts
ARGUMENTS: @AN[n] where

use 1/0 number calculation from AO command

USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
Analog Range
@IN[n] Read digital input
@OUT[n] Read digital output
SB Set digital output bit
CB Clear digital output bit

EXAMPLES:
:MG @AN[1001] ;'print analog input 1
1.7883
:x = @AN[1001] ;'assign analog input 1 to a
variable

24 ● @AN[n] B140 Command Reference

 AO
FUNCTION: Analog Out
DESCRIPTION:
The AO command sets the analog output voltage of Modbus Devices connected via Ethernet.
ARGUMENTS: AO m, n where
m is the I/O number calculated using the following equations:
m = (HandleNum*1000) + ((Module-1)*4) + (Bitnum-1)
HandleNum is the handle specifier from A toD.
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.
n = the voltage which ranges from 9.99 to –9.99
USAGE: DEFAULTS:
While Moving Yes Default Value ---
In a Program Yes Default Format ---
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
SB Set Bit
CB Clear Bit
MB Modbus

B140 Command Reference AO • 25

 AP
FUNCTION: After Absolute Position
DESCRIPTION:
The After Position (AP) 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 actual motor position crosses the specified absolute position. When using a stepper
motor, this condition is satisfied when the stepper position (as determined by the output
buffer) has crossed the specified position. The motion profiling on the axis is complete.
2. The commanded motion is in the direction which moves away from the specified
position.
The units of the command are quadrature counts. Only one axis may be specified at a time. AP
can only be used when there’s commanded motion on the axis.
ARGUMENTS: AP n,n,n,n, or APA=n where
n is a signed integer in the range -2147483648 to 2147483647 decimal
USAGE: DEFAULTS:
While Moving Yes Default Value ---
In a Program Yes Default Format ---
Command Line No
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
AR Trippoint for relative distances
MF Trippoint for forward motion

EXAMPLES:
#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

Hint: The accuracy of the AP command is the number of counts that occur in 2*TM μsec. Multiply the
speed by 2*TM μsec to obtain the maximum error. AP tests for absolute position. Use the AD command to
measure incremental distances.

26 ● AP B140 Command Reference

 AR
FUNCTION: After Relative Distance
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. 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 -
“Stepper Motor Operation”.
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.
If the direction of the motion is reversed when in position tracking mode (see PT command), the
starting point for the trippoint is reinitialized to the point at which the motion reversed.
The units of the command are quadrature counts. Only one axis may be specified at a time. AR
can only be used when there’s commanded motion on the axis.
Note: AR will be affected when the motion smoothing time constant, IT, is not 1. See IT
command for further information.
ARGUMENTS: AR n,n,n,n, or ARA=n where
n is an unsigned integer in the range 0 to 2147483647 decimal.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line No
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
AV Trippoint for after vector position for coordinated moves
AP Trippoint for after absolute position

EXAMPLES:
#A;DP 0,0,0,0 ;'Begin Program
JG 50000,,,7000 ;'Specify speeds
BG AD ;'Begin motion
#B ;'Label
AR 25000 ;'After passing 25000 counts of relative distance on A-axis
MG "Passed _A",_TPA ;'Send message on A-axis
JP #B ;'Jump to Label #B
EN ;'End Program

Hint: 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.

B140 Command Reference AR • 27

 AS
FUNCTION: At Speed
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. If the speed is not reached, the trippoint will be triggered after the speed
begins diverging from the AS value.
ARGUMENTS: AS nnnnnn where
n is A,B,C,D, S or any combination to specify the axis or sequence
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line No
Controller Usage ALL CONTROLLERS

EXAMPLES:
#SPEED ;'Program A
PR 100000 ;'Specify position
SP 10000 ;'Specify speed
BGA ;'Begin A
ASA ;'After speed is reached
MG "At Speed" ;'Print Message
EN ;'End of Program

WARNING:
The AS command applies to a trapezoidal velocity profile only with linear acceleration. AS used with
smoothing profiling will be inaccurate.

28 ● AS B140 Command Reference

 @ASIN[n]

FUNCTION: Inverse sine

DESCRIPTION:
Returns in degrees the arc sine of the given number.
ARGUMENTS: @ASIN[n] where
n is a signed number in the range -1 to 1.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
@ACOS[n] Arc cosine
@SIN[n] sine
@ATAN[n] Arc tangent
@COS[n] Cosine
@TAN[n] Tangent

EXAMPLES:
:MG @ASIN[-1]
-90.0000
:MG @ASIN[0]
0.0000
:MG @ASIN[1]
90.0000
:

B140 Command Reference @ASIN[n] • 29

 AT
FUNCTION: At Time
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.
ARGUMENTS: AT n where
n is a signed, even integer in the range 0 to 2 Billion
n = 0 defines a reference time at current time
n > 0 specifies a wait time of n msec from the reference time
n < 0 specifies a wait time of n msec from the reference time and re-sets the reference time
when the trippoint is satisfied.
(AT -n is equivalent to AT n; AT <old reference +n>
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format -
Command Line No
Controller Usage ALL CONTROLLERS

EXAMPLES:
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)

30 ● AT B140 Command Reference

 @ATAN[n]

FUNCTION: Inverse tangent

DESCRIPTION:
Returns in degrees the arc tangent of the given number.
ARGUMENTS: @ATAN[n]
n is a signed number in the range -2147483647 to 2147483647
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
@ASIN[n] Arc sine
@SIN[n] sine
@ACOS[n] Arc cosine
@COS[n] Cosine
@TAN[n] Tangent

EXAMPLES:
:MG @ATAN[-10]
-84.2894
:MG @ATAN[0]
0.0000
:MG @ATAN[10]
84.2894
:

B140 Command Reference @ATAN[n] • 31

 #AUTO

FUNCTION: Subroutine to run automatically upon power up

DESCRIPTION:
#AUTO denotes code to run automatically when power is applied to the controller, or after the
controller is reset. When no host software is used with the controller, #AUTO and the BP
command are required to run an application program on the controller.
USAGE:
While Moving Yes
In a Program Yes
Command Line No
Controller Usage ALL

RELATED COMMANDS:
BP Burn program
EN End program

EXAMPLES:

#AUTO ;' Move the x axis upon power up

PRX=1000 ;' Move 1000 counts
BGX ;' Begin Motion
AMX ;' Wait until motion is complete
EN ;' End program

NOTE: Use EN to end the routine

32 ● #AUTO B140 Command Reference

 #AUTOERR

FUNCTION: Automatic subroutine for notification of EEPROM checksum errors

DESCRIPTION:
#AUTOERR will run code upon power up if data in the EEPROM has been corrupted. The
EEPROM is considered corrupt if the checksum calculated on the bytes in the EEPROM do
not match the checksum written to the EEPROM. The type of checksum error can be queried
with _RS
USAGE:
While Moving Yes
In a Program Yes
Command Line No
Controller Usage ALL

RELATED COMMANDS:
_RS Checksum error code
EN End program

EXAMPLES:
#AUTO
WT 2000
MG "AUTO"
JP#AUTO
EN

#AUTOERR
WT500
MG "AUTOERR ", _RS
EN

NOTE: Use EN to end the routine

B140 Command Reference #AUTOERR • 33

 AV
FUNCTION: After Vector Distance
DESCRIPTION:
The AV command is a trippoint, which 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. The units of the command are
quadrature counts.
ARGUMENTS: AV s where
s ais an unsigned integer in the range 0 to 2147483647 decimal. 's' represents the vector distance
to be executed in the S coordinate system.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format -
Command Line No
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_AVS contains the vector distance from the start of the sequence in the S coordinate system.
EXAMPLES:
#MOVE;DP 0,0 ;'Label
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,
MG "Path>500";TPAB ;'Print Message
EN ;'End Program

Hint: Vector Distance is calculated as the square root of the sum of the squared distance for each axis in
the linear or vector mode.

34 ● AV B140 Command Reference

 AX
FUNCTION: Abort Input Activation

DESCRIPTION: Input 8 can be used as an undedicated digital input or as the controller abort input. AZ
sets the behavior of input 8.

ARGUMENTS: AXn where

n=0 input 8 configured as undedicated input.
n=1 input 8 configured abort input.
n=? returns status of AX

USAGE: DEFAULTS:
While Moving: Yes Default Value: 1
In a Program Yes
Command Line Yes
Controller Usage B140 only

B140 Command Reference AX • 35

 BG

FUNCTION: Begin
DESCRIPTION:
The BG command starts a motion on the specified axis or sequence.
ARGUMENTS: BG nnnnnnnnnn where
n is A,B,C,D, S, or N, or any combination to specify the axis or sequence
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_BGn contains a ‘0’ if motion complete on the specified axis or coordinate system, otherwise
contains a ‘1’.
RELATED COMMANDS:
AM After motion complete
ST Stop motion

EXAMPLES:
PR 2000,3000,,5000 Set up for a relative move
BG ABD Start the A,B and D motors moving
HM Set up for the homing
BGA Start only the A-axis moving
JG 1000,4000 Set up for jog
BGY Start only the B-axis moving
BSTATE=_BGB Assign a 1 to BSTATE if the B-axis is performing a move
VP 1000,2000 Specify vector position
VS 20000 Specify vector velocity
BGS Begin coordinated sequen0ce
VMAB Vector Mode
VP 4000,-1000 Specify vector position
VE Vector End
PR ,,8000,5000 Specify C and D position
BGSCD Begin sequence and C,D motion
MG _BGS Displays a 1 if motion occurring on coordinated system "S"

Hint: A BG command cannot be executed for any axis in which motion has not completed. Use the AM
trippoint to wait for motion complete between moves. Determining when motion is complete can also be
accomplished by testing for the value of the operand _BGn.

36 ● BG B140 Command Reference

 BK
FUNCTION: Breakpoint
DESCRIPTION:
For debugging. Causes the controller to pause execution of the given thread at the given program
line number (which is not executed). All other threads continue running. Only one
breakpoint may be armed at any time. 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. The breakpoint
can be armed before or during thread execution.
ARGUMENTS: BK n,m where
n is an integer in the range 0 to450 which is the line number to stop at. n must be a valid line
number in the chosen thread.
m is an integer in the range 0 to3. The thread.
USAGE: DEFAULTS:
While Moving Yes Default Value of m 0
In a Program No
Command Line Yes
Controller Usage ALL CONTROLLERS

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
RELATED COMMANDS:
SL Single Step
TR Trace

EXAMPLES:
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

B140 Command Reference BK • 37

 BL
FUNCTION: Reverse Software Limit
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.
When the reverse software limit is activated, the automatic subroutine #LIMSWI will be executed
if it is included in the program.
ARGUMENTS: BL n,n,n,n or BLA=n where
n is a signed integer in the range -2147483648 to 2147483647. The reverse limit is activated at
the position n-1. The units are in quadrature counts.
n = -2147483648 Turns off the reverse limit.
n=? Returns the reverse software limit for the specified axes.
USAGE: DEFAULTS:
While Moving Yes Default Value -214783648
In a Program Yes Default Format Position format
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_BLn contains the value of the reverse software limit for the specified axis.
RELATED COMMANDS:
FL Forward Limit
PF Position Formatting

EXAMPLES:
#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
Hint: Galil Controllers also provide hardware limits. Both hardware or software limits will trigger the
#LIMSWI automatic subroutine.

38 ● BL B140 Command Reference

 BN
FUNCTION: Burn
DESCRIPTION:
The BN command saves controller parameters shown below in Flash EEPROM memory. This
command typically takes 1 second to execute and must not be interrupted. The controller
returns a : when the Burn is complete.
PARAMETERS SAVED DURING BURN:
AC CN GR MT SM
SP
CW IA
DC IK OE
DH IL TM
EI IT OP TR
EO VA
BL ER VD
CB KS PF VF
FL LC VS
LD PW YA
GA LZ SB YB
CE GM MO YC

USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_BN contains the serial number of the controller.
RELATED COMMANDS:
BP Burn Program
BV Burn Variables

EXAMPLES:

AC 200000 Set acceleration

DC 150000 Set deceleration rate
SP 10000 Set speed
MT –1 Set motor type for A axis to be type ‘-1’, reversed
polarity servo motor
MO Turn motor off
BN Burn parameters; may take up to 5 seconds

B140 Command Reference BN • 39

 BP

FUNCTION: Burn Program

DESCRIPTION::
The BP command saves the application program 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: None
USAGE: DEFAULTS:
While Moving No Default Value ---
In a Program Yes
Not in a Program Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
BN Burn Parameters
BV Burn Variable

40 ● BP B140 Command Reference

 BV

FUNCTION: Burn Variables & Arrays

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: None
USAGE: DEFAULTS:
While Moving Yes Default Value ---
In a Program Yes
Not in a Program Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_BV returns the number of controller axes.
RELATED COMMANDS:
BN Burn Parameters
BP Burn Program

Note 1: This command will store the ECAM table values in non-volatile EEPROM memory.
Note 2: 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. This occurs because this
command takes more time than the default timeout of 5 sec. The timeout can be changed in the Galil
software but this warning does not affect the operation of the controller or software.

B140 Command Reference BV • 41

 CB
FUNCTION: Clear Bit
DESCRIPTION:
The CB command sets the specified output bit low. CB can be used to clear the outputs of
extended I/O which have been configured as outputs.
ARGUMENTS: CB n where
n is an integer corresponding to a specific output on the controller to be cleared (set to 0). The
first output on the controller is denoted as output 1.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
SB Set Bit
OB Output Bit
OP Define output port (byte-wise).

EXAMPLES:
CB 3 Clear output bit 3
CB 1 Clear output bit 1

42 ● CB B140 Command Reference

 CD
FUNCTION: Contour Data
DESCRIPTION:
The CD command specifies the incremental position on contour axes. The units of the command
are in encoder counts. 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) or by the = operand.
ARGUMENTS: CD n,n,n,n,n,n,n,n = m or CDA=n where
n is an integer in the range of +/-32762.
m (optional) is an integer in the range 0 to 8.
n = m = 0 terminates the Contour Mode.

m = 1 through 8 specifies the time interval (DT) of 2m samples.

n = 0 and m = -1 pauses the contour buffer.
By default the sample period is 1 msec (set by the TM command); with m = 1, the time interval
would be 2 msec.
Note1: The command CD 0,0 . . .=0 would follow the last CD command in a sequence. CD 0,0 . . .=0 is
similar to VE and LE. Once executed by the controller, CD 0,0 . . .=0 will terminate the contour mode.
Note2: The command CD0=0 will assign a variable CD0 the value of 0. In this case the user must have a
space after CD in order to terminate the Contour Mode correctly. Example: CD 0=0 will terminate the
contour mode for the X axis.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
CM Contour Mode
DT Time Increment

EXAMPLES:
#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;JP#Wait,_CM<>531 ;'Wait until path is done
EN ;'End program

#Cont1 ;'Define label #Cont1

CM ABC ;'Specify Contour Mode
DT 8 ;'Specify time increment for contour
CD 100,100,100 ;'New position data

B140 Command Reference CD • 43

 CD 100,100,100 ;'New position data
CD 0,0,0 =-1 ;'Pause countour 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 ;'End of Contour Buffer/Sequence
#Wait;JP#Wait,_CM<>511 ;'Wait until path is done
EN

44 ● CD B140 Command Reference

 CE
FUNCTION: Configure Encoder
DESCRIPTION:
The CE command configures the encoder to the quadrature type or the 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.
WThe MT command is configured for a stepper motor, the auxiliary encoder (used to count stepper
pulses) will be forced to pulse and direction.

ARGUMENTS: CE n,n,n,n, or CEA=n where

n is an integer in the range of 0 to 15. Each integer is the sum of two integers M and N which
configure the main and the auxiliary encoders. The values of M and N are

M Main encoder type N 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 M = 2 and N = 8, thus both encoders are reversed quadrature.
n=? Returns the value of the encoder configuration for the specified axes.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 2.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_CEn contains the value of encoder type for the axis specified by ‘n’.
RELATED COMMANDS:
MT Specify motor type

EXAMPLES:
CE 0, 3, 6, 2 Configure encoders
CE ?,?,?,? Interrogate configuration
:0,3,6,2
V = _CEB Assign configuration to a variable
V = ?
:3

Note: When using pulse and direction encoders, the pulse signal is connected to CHA and the direction
signal is connected to CHB.

B140 Command Reference CE • 45

 CF
FUNCTION: Configure
DESCRIPTION:
Sets the default port for unsolicited messages. By default, the B140 will send unsolicited
responses to the main RS-232 serial port. The CF command allows the user to send
unsolicited responses to the Main or Aux Serial Port, or Handles A-D.
ARGUMENTS: CF n where
n is A thru D for Ethernet handles 1 thru 4, S for Main serial port, D port or I is to set to the port
that issues the CF command.
USAGE:
While Moving Yes Default Value S
In a Program Yes Default Format -----
Command Line Yes
Controller Usage ALL CONTROLLERS
OPERAND USAGE:
_CF contains the decimal value of the ASCII letter.

RELATED COMMANDS:
CW Configures MSB of unsolicited messages
WH What Handle
TH Tell Handles

46 ● CF B140 Command Reference

 CI
FUNCTION: Configure Communication Interrupt
DESCRIPTION:
The CI command configures a program interrupt based on characters received on communications
port 1. 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
internal variables P1CH, P1ST, P1NM, P1CD.
ARGUMENTS: CI n, m
m=1 to enable the mode

PARAMETER EXPLANATION
n=0 Do not interrupt
n=1 Interrupt on carriage return
n=2 Interrupt on any character
n = -1 Clear interrupt data buffer

USAGE: DEFAULTS:
While Moving Yes Default Value n = 0, m = 0
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
Configure communications
IN Communication input
MG Message output

EXAMPLES:
CI 1,1 Interrupt when the <enter> key is received on port 1
CI 2,1 Interrupt on a single character received on Port 1

B140 Command Reference CI • 47

 CM
FUNCTION: Contour Mode
DESCRIPTION:
The 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 specified the position
increment, and the DT command specifies the time interval.
The command, CM?, can be used to check the number of available contour segments. A value of
0 returned from the command CM? indicates that the Contour Buffer is full. A value of 31
indicates that the Contour Buffer is empty.
ARGUMENTS: CM nnnnnnnnnn where
n is A,B,C,D,E,F,G,H or any combination to specify the axis (axes) for contour mode
n=? Returns a 0 if the contour buffer is full and 31 if the contour buffer is empty.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 3.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_CM contains a ‘0’ if the contour buffer is full; otherwise it contains the number of available
contour segments.
RELATED COMMANDS:
CD Contour Data
DT Time Increment

EXAMPLES:
V=_CM;V= Return contour buffer status
CM? Return contour buffer status
CM AC Specify A,C axes for Contour Mode

48 ● CM B140 Command Reference

 #CMDERR

FUNCTION: Command error automatic subroutine

DESCRIPTION:
Without #CMDERR defined, if an error (see TC command) occurs in an application program
running on the Galil controller, the program (all threads) will stop. #CMDERR allows the
programmer to handle the error by running code instead of stopping the program.
USAGE:
While Moving Yes
In a Program Yes
Command Line No
Controller Usage ALL

RELATED COMMANDS:
TC Tell Error Code
_ED Last program line with an error
EN End program

EXAMPLES:
#BEGIN ;'Begin main program
IN "ENTER SPEED",Speed ;'Prompt for speed
JG Speed
BGX ;'Begin motion
EN ;'End main program

#CMDERR ;'Command error utility

JP#DONE,_ED<>2 ;'Check if error on line 2
JP#DONE,_TC<>6 ;'Check if out of range
MG "SPEED TOO HIGH" ;'Send message
MG "TRY AGAIN" ;'Send message
ZS1 ;'Adjust stack
JP #BEGIN ;'Return to main program
#DONE ;'End program if other error
ZS0 ;'Zero stack
EN1 ;'End program

NOTE: An application program must be executing for #CMDERR to execute, which runs in thread 0.

NOTE: Use EN to end the routine

B140 Command Reference #CMDERR • 49

 CN
FUNCTION: Configure
DESCRIPTION:
The CN command configures the polarity of the limit switches, home switches, latch inputs and
the selective abort function.
ARGUMENTS: CN m,n,o,p,q where
m,n,o are integers with values 1 or -1. p is an integer, 0 or 1.
m= 1 Limit switches active high
-1 Limit switches active low
n= 1 Home switch configured to drive motor in
forward direction when input is high. See HM
and FE commands.
-1 Home switch configured to drive motor in
reverse direction when input is high. See HM
and FE commands
o= 1 Latch input is active high
-1 Latch input is active low
p= 1 Configures inputs 5,6,7,8, as selective abort
inputs for axes A,B,C,D,E respectively. Will
also trigger #POSERR automatic subroutine if
program is running.
0 Inputs 5,6,7,8, are configured as general use
inputs
q= 1 Abort input will not terminate program
execution
0 Abort input will terminate program execution

USAGE: DEFAULTS:
While Moving Yes Default Value -1,-1,-1,0,0
In a Program Yes Default Format 2.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_CN0 Contains the limit switch configuration
_CN1 Contains the home switch configuration
_CN2 Contains the latch input configuration
_CN3 Contains the state of the selective abort function (1 enabled, 0 disabled)
_CN4 Contains whether the abort input will terminate the program
RELATED COMMANDS:
AL Arm latch

EXAMPLES:
CN 1,1 Sets limit and home switches to active high
CN,, -1 Sets input latch active low

50 ● CN B140 Command Reference

 @COM[n]

FUNCTION: Bitwise complement

DESCRIPTION:
Performs the bitwise complement (NOT) operation to the given number
ARGUMENTS: @COM[n] where
n is a signed integer in the range -2147483647 to 2147483647.
The integer is interpreted as a 32-bit field.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
&| Logical operators AND and OR

EXAMPLES:
:MG {$8.0} @COM[0]
$FFFFFFFF
:MG {$8.0} @COM[$FFFFFFFF]
$00000000
:

B140 Command Reference @COM[n] • 51

 #COMINT

FUNCTION: Communication Interrupt automatic subroutine

DESCRIPTION:
#COMINT can be configured by the CI command to run either when any character or a carriage
return is received on the serial port.
USAGE:
While Moving Yes
In a Program Yes
Command Line No
Controller Usage ALL

RELATED COMMANDS:
P1CD Serial port 1 code
P1CH Serial port 1 character
P1NM Serial port 1 number
P1ST Serial port 1 string
CI Configure #COMINT

EN End subroutine

EXAMPLES:
#A ;'Program Label

CI2,1 ;'interrupt on any character

#Loop
MG "Loop" ;'print a message every second
WT 1000
JP#Loop

#COMINT
MG "COMINT" ;'print a message when a character is received
EN1,1

NOTE: An application program must be executing for the automatic subroutine to function, which runs in
thread 0.

NOTE: Use EN to end the routine

52 ● #COMINT B140 Command Reference

 @COS[n]
FUNCTION: Cosine
DESCRIPTION:
Returns the cosine of the given angle in degrees
ARGUMENTS: @COS[n] where
n is a signed number in degrees in the range of -32768 to 32767, with a fractional resolution of 16-
bit..
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
@ASIN[n] Arc sine
@SIN[n] sine
@ATAN[n] Arc tangent
@ACOS[n] Arc cosine
@TAN[n] Tangent

EXAMPLES:
: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
:

B140 Command Reference @COS[n] • 53

 CR
FUNCTION: Circle
DESCRIPTION:
The CR command specifies a 2-dimensional arc segment of radius, r, starting at angle, θ, and
traversing over angle Δθ. A positive Δθ denotes counterclockwise traverse, negative Δθ
denotes clockwise. 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. All parameters, r, θ, Δθ, must be specified. Radius units are in
quadrature counts. θ and Δθ have units of degrees. The parameter n is optional and
describes the vector speed that is attached to the motion segment.
ARGUMENTS: CR r,θ,Δθ < n > o where
r is an unsigned real number in the range 10 to 6000000 decimal (radius)
θ a signed number in the range 0 to +/-32000 decimal (starting angle in degrees)
Δθ is a signed real number in the range 0.0001 to +/-32000 decimal (angle in degrees)
n specifies a vector speed to be taken into effect at the execution of the vector segment. n is an
unsigned even integer between 0 and 3,000,000 for stepper motors.
o specifies a vector speed to be achieved at the end of the vector segment. o is an unsigned even
integer between 0 and 8,000,000.

Note: The product r * Δθ must be limited to +/-4.5 108

USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS
RELATED COMMANDS:
VP Vector Position
VS Vector Speed
VD Vector Deceleration
VA Vector Acceleration
VM Vector Mode
VE End Vector
BG BGS - Begin Sequence
EXAMPLES:
VMAB Specify vector motion in the A and B plane
VS 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.

CR 1000,0,360<40000 Generate circle with radius of 1000 counts, start at 0

degrees and complete one circle in counterclockwise
VE End Sequence
BGS Start motion

54 ● CR B140 Command Reference

 CS
FUNCTION: Clear Sequence
DESCRIPTION:
The CS command will remove VP, CR or LI commands stored in a motion sequence for the S or T
coordinate systems. 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: CSS where
S can be used to clear the sequence buffer for the "S" coordinate system.
USAGE: DEFAULTS:
While Moving No Default Value ---
In a Program Yes Default Format ---
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_CSn contains the segment number in the sequence specified by n, S. This operand is valid in the
Linear mode, LM, Vector mode, VM
RELATED COMMANDS:
CR Circular Interpolation Segment
LI Linear Interpolation Segment
LM Linear Interpolation Mode
VM Vector Mode
VP Vector Position

EXAMPLES:
#CLEAR ;'Label

VP 1000,2000 ;'Vector position

VP 4000,8000 ;'Vector position
CSS ;'Clear vectors specified in S coordinate system

VP 1000,5000 ;'New vector

VP 8000,9000 ;'New vector
CSS ;'Clear vectors specified in S coordinate system
EN ;'End program

B140 Command Reference CS • 55

 CW
FUNCTION: Copyright information / Data Adjustment bit on/off
DESCRIPTION:
The CW command has a dual usage. The CW command will return the copyright information
when the argument, n is 0. Otherwise, the CW command is used as a communications
enhancement for use by the Galil PC software. When turned on, the communication
enhancement sets the MSB of unsolicited, returned ASCII characters to 1. Unsolicited ASCII
characters are those characters which are returned from the controller without being directly
queried from the terminal. This is the case when a program has a command that requires the
controller to return a value or string. Because of the dual function, only one field can be set at
a time. Instead of “CW2,1,” use “CW2;CW,1”.
ARGUMENTS: CW n,m where
n=0 Causes the controller to return the copyright information
n=1 Causes the controller to set the MSB of unsolicited returned characters
to 1
n=2 Causes the controller to not set the MSB of unsolicited characters.
n=? Returns the copyright information for the controller.
m is optional
m=0 Causes the controller to pause program execution when hardware handshake
disables transmissions.
m=1 Causes the controller to continue program execution when hardware handshake
disables transmission. Characters output will be lost.
USAGE: DEFAULTS:
While Moving Yes Default Value 2, 0
In a Program Yes Default Format -----
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_CW contains the value of the data adjustment bit. 2 = off, 1 = on

Note: The CW command can cause unrecognized characters to be returned by the controller. The default
state of the controller is to disable the CW command, however, the Galil Servo Design Kit software and
terminal software may sometimes enable the CW command for internal usage. If the controller is reset
while the Galil software is running, the CW command could be reset to the default value which would
create difficulty for the software. It may be necessary to re-enable the CW command. The CW command
status can be stored in EEPROM

56 ● CW B140 Command Reference

 DA
FUNCTION: Deallocate the Variables & Arrays
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. The argument * deallocates all the
variables, and *[0] deallocates all the arrays.
ARGUMENTS: DA c[0],variable-name where
c[0] = Defined array name
variable-name = Defined variable name
* - Deallocates all the variables
*[0] - Deallocates all the arrays
DA? Returns the number of arrays available on the controller.
USAGE: DEFAULTS:
While Moving Yes Default Value ------
In a Program Yes Default Format ------
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_DA contains the total number of arrays available. For example, before any arrays have been
defined, the operand _DA is 6. If one array is defined, the operand _DA will return 5.
RELATED COMMANDS:
DM Dimension Array

EXAMPLES: ‘Cars’ and ‘Sales’ are arrays and ‘Total’ is a variable.

DM Cars[400],Sales[50] Dimension 2 arrays
Total=70 Assign 70 to the variable Total
DA Cars[0],Sales[0],Total Deallocate the 2 arrays & variables
DA*[] Deallocate all arrays
DA *,*[] Deallocate all variables and all arrays

Note: 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 2 ms.

B140 Command Reference DA • 57

 DC
FUNCTION: Deceleration
DESCRIPTION:
The Deceleration command (DC) sets the linear deceleration rate 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: DC n,n,n,n, or DCA=n where
n is an unsigned numbers in the range 1024 to 1073740800
n=? Returns the deceleration value for the specified axes.
USAGE: DEFAULTS:
While Moving Yes* Default Value 256000
In a Program Yes Default Format 10.0
Command Line Yes
Controller Usage ALL CONTROLLERS
*
When moving, the DC command can only be specified while in the jog mode.
OPERAND USAGE:
_DCn contains the deceleration rate for the specified axis.
RELATED COMMANDS:
AC Acceleration
PR Position Relative
PA Position Absolute
SP Speed
JG Jog
SD Limit Switch Deceleration

EXAMPLES:
PR 10000 Specify position
AC 2000000 Specify acceleration rate
DC 1000000 Specify deceleration rate
SP 5000 Specify slew speed
BG Begin motion

Note: The DC command may be changed during the move in JG move, but not in PR or PA move.

58 ● DC B140 Command Reference

 DE
FUNCTION: Define Encoder Position
DESCRIPTION:

The DE command defines the encoder position when used with stepper motors.

ARGUMENTS: DE n,n,n,n or DEA=n where

n is a signed integers in the range -2147483648 to 2147483647 decimal
n=? Returns the position of the auxiliary encoders for the specified axes.
n = ? returns the commanded reference position of the motor (in step
pulses) when used with a stepper motor. Example: DE 0 This will
define the TP or encoder position to 0. This will not effect the DE ?
value. (To set the DE value when in stepper mode use the DP
command.)

USAGE: DEFAULTS:
While Moving Yes Default Value 0,0,0,0
In a Program Yes Default Format Position Format
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_DEn contains the current position of the specified encoder.
RELATED COMMANDS:
DP Define position
TD
5 Tell Dual Encoder position

EXAMPLES:
DE 0,100,200,400 Set the current 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

B140 Command Reference DE • 59

 DH
FUNCTION: DHCP Enable
DESCRIPTION:
The DH command configures the DHCP or BOOT-P functionality on the controller for Server IP
addressing.

ARGUMENTS: DH n where
n = 0 disables DHCP and enables BOOT-P
n = 1 disables BOOT-P and enables DHCP
n = ? returns the current state of the setting
USAGE: DEFAULTS:
While Moving Yes Default Value 1.0
In a Program Yes Default Format -
Command Line Yes

RELATED COMMANDS:
IA IP Address

EXAMPLES:
DH 1 Sets the DHCP function on. IA assignment will no
longer work. IP address cannot be burned.
Controller will receive its IP address from the
DHCP server on the network.
DH 0 Sets the DHCP function off, and the Boot-P
function on.

60 ● DH B140 Command Reference

 DL
FUNCTION: Download
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 \. DO NOT insert spaces before each command.
If no parameter is specified, downloading a data file will clear all programs in the controllers
RAM. The data is entered beginning at line 0. If there are too many lines or too many
characters per line, the controller will return a ?. To download a program after a label, specify
the label name following DL. The argument # may be used with DL to append a file at the
end of the program in RAM.
Using Galil DOS Terminal Software: The ED command puts the controller into the Edit
subsystem. In the Edit subsystem, programs can be created, changed, or destroyed. The
commands in the Edit subsystem are:
<cntrl>D Deletes a line
<cntrl>I Inserts a line before the current one
<cntrl>P Displays the previous line
<cntrl>Q Exits the Edit subsystem
<return> Saves a line
ARGUMENTS: DL n where
n = no argument Downloads program beginning at line 0. Erases programs in RAM.
n = #Label Begins download at line following #Label
n=# Begins download at end of program in RAM.
USAGE: DEFAULTS:
While Moving Yes Default Value ---
In a Program No Default Format ---
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
When used as an operand, _DL gives the number of available labels (62 maximum)
RELATED COMMANDS:
UL Upload

EXAMPLES:
DL; Begin download
#A;PR 4000;BGA Data
AMA;MG DONE Data
EN Data
<control> Z End download

B140 Command Reference DL • 61

 DM
FUNCTION: Dimension
DESCRIPTION:
The DM command defines a single dimensional array with a name and the number of elements in
the array. The first element of the defined array starts with element number 0 and the last
element is at n-1.
ARGUMENTS: DM c[n] where
c is a name of up to eight characters, starting with an alphabetic character. n specifies the size of
the array (number of array elements).
n=? Returns the number of array elements available.
USAGE: DEFAULTS:
While Moving Yes Default Value ---
In a Program Yes Default Format ---
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_DM contains the available array space. For example, before any arrays have been defined, the
operand _DM will return 800. If an array of 100 elements is defined, the operand _DM will
return 700.
RELATED COMMANDS:
DA Deallocate Array

EXAMPLES:
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[600] Define dimension of array Tests with 600 elements

62 ● DM B140 Command Reference

 DP
FUNCTION: Define Position
DESCRIPTION:
.
The DP command sets the commanded reference position. 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.
ARGUMENTS: DP n,n,n,n, or DPA=n where
n is a signed integer in the range -2147483648 to 2147483647 decimal.
n=? Returns the current position of the motor for the specified axes.
USAGE: DEFAULTS:
While Moving No Default Value 0,0,0,0
In a Program Yes Default Format Position Format
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_DPn contains the current position of the specified axis.
RELATED COMMANDS:
PF Position Formatting

EXAMPLES:
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
B,C and D axes remain unchanged.
DP ?,?,?,? Interrogate the position of A,B,C and D axis.
:0, -0050000, 200, 400 Returns all the motor positions
DP ? Interrogate the position of A axis
:0 Returns the A-axis motor position

Hint: 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 stepper back on with SH and then
use DP0 to redefine the new position as your absolute zero.

B140 Command Reference DP • 63

 DR
FUNCTION: Configures Axes and I/O Data Record Update Rate
DESCRIPTION:
The controller creates a QR record and sends it periodically to a UDP Ethernet Handle
ARGUMENTS: DR n, m
n specifies the data update rate in samples between updates. When TM is set to the default of
1000, n specifies the data update rate in milliseconds. n=0 to turn it off, or n must be an
integer in the range of 2 to 30,000.
m specifies the Ethernet handle on which to periodically send the Data Record. 0 is handle A, 1 is
B… 3 is D. The handle must be UDP (not TCP).
USAGE: DEFAULTS:
While Moving Yes Default Value DR0 (off)
In a Program Yes Default Format --
Command Line Yes

OPERAND USAGE:
_DR contains the data record update rate.
RELATED COMMANDS:
QZ Sets format of data
QR Query a single data record

EXAMPLES:
: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)

64 ● DR B140 Command Reference

 DT
FUNCTION: Delta Time
DESCRIPTION:
The DT command sets the time interval for Contour Mode. 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: DT n where
n is an integer in the range 0 to 8.

n = 1 through 8 specifies the time interval of 2n samples.

n = -1 allows a pre-load of the contour buffer or to asynchrounsly pause the contour buffer. DT-1
during countor mode will pause the contour buffer (and commanded movement). A positive
DT will resume contour mode from paused position of buffer.
By default the sample period is 1 msec (set by the TM command); with n=1, the time interval
would be 2 msec
n=? Returns the value for the time interval for contour mode.
USAGE: DEFAULTS:
While Moving Yes Default Value 1
In a Program Yes Default Format 1.0
Command Line Yes
Controller Usage ALL CONTROLLERS
OPERAND USAGE:
_DT contains the value for the time interval for Contour Mode
RELATED COMMANDS:
CM Contour Mode
CD Contour Data

EXAMPLES:

DT 4 Specifies time interval to be 16 msec

DT 7 Specifies time interval to be 128 msec

#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;JP#Wait,_CM<>31 ;'Wait until path is done
EN ;'End program

#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

B140 Command Reference DT • 65

 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;JP#Wait,_CM<>31 ;'Wait until path is done
EN ;'End program

66 ● DT B140 Command Reference

 EA
FUNCTION: Choose ECAM master
DESCRIPTION:
The EA command selects the master axis for the electronic cam mode. Any axis may be chosen.
ARGUMENTS: EA n where
n is one of the axis specified as A,B,C,D, or N
USAGE: DEFAULTS:
While Moving Yes Default Value -----
In a Program Yes Default Format -----
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
EB Enable ECAM
EC Set ECAM table index
EG Engage ECAM
EM Specify ECAM cycle
EP Specify ECAM table intervals & staring point
EQ Disengage ECAM
ET ECAM table

EXAMPLES:
EAB Select B as a master for ECAM

B140 Command Reference EA • 67

 EB

FUNCTION: Enable ECAM

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. When the EB command is given, the master axis is
modularized.
ARGUMENTS: EB n where
n=1 Starts ECAM mode
n=0 Stops ECAM mode.
n=? Returns 0 if ECAM is disabled and a 1 if enabled.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 1.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_EB contains the state of Ecam mode. 0 = disabled, 1 = enabled
RELATED COMMANDS:
EA Choose ECAM master
EC Set ECAM table index
EG Engage ECAM
EM Specify ECAM cycle
EP Specify ECAM table intervals & staring point
EQ Disengage ECAM
ET ECAM table

EXAMPLES:
EB1 Starts ECAM mode
EB0 Stops ECAM mode
B = _EB Return status of cam mode

68 ● EB B140 Command Reference

 EC

FUNCTION: ECAM Counter

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: EC n where
n is an integer between 0 and 256.
n=? Returns the current value of the index into the ECAM table.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 1.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_EC contains the current value of the index into the ECAM table.
RELATED COMMANDS:
EA Choose ECAM master
EB Enable ECAM
EG Engage ECAM
EM Specify ECAM cycle
EP Specify ECAM table intervals & staring point
EQ Disengage ECAM
ET ECAM table

EXAMPLES:
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

B140 Command Reference EC • 69

 ED
FUNCTION: Edit
DESCRIPTION:
Using Galil DOS Terminal Software: The ED command puts the controller into the Edit
subsystem. In the Edit subsystem, programs can be created, changed, or destroyed. The
commands in the Edit subsystem are:
<cntrl>D Deletes a line
<cntrl>I Inserts a line before the current one
<cntrl>P Displays the previous line
<cntrl>Q Exits the Edit subsystem
<return> Saves a line
Using Galil Windows Terminal Software: The ED command causes the Windows terminal
software to open the terminal editor.
OPERAND USAGE:
_ED 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).
EXAMPLES:
ED
0 #START
1 PR 2000
2 BGA
3 SLKJ Bad line
4 EN
5 #CMDERR Routine which occurs upon a command error
6 V=_ED
7 MG "An error has occurred" {n}
8 MG "In line", V{F3.0}
9 ST
10 ZS0
11 EN

Hint: Remember to quit the Edit Mode prior to executing or listing a program.

70 ● ED B140 Command Reference

 EG
FUNCTION: ECAM go (engage)
DESCRIPTION:
The EG command engages an ECAM slave axis at a specified position of the master. If a value is
specified outside of the master’s range, the slave will engage immediately. Once a slave
motor is engaged, its position is redefined to fit within the cycle.
ARGUMENTS: EG n,n,n,n, or EGA=n where
n is the ECAM master position at which the ECAM slave axis must be engaged.
n=? Returns 1 if specified axis is engaged and 0 if disengaged.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 1.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_EGn contains ECAM status for specified axis. 0 = axis is not engaged, 1 = axis is engaged.
RELATED COMMANDS:
EA Choose ECAM master
EB Enable ECAM
EC Set ECAM table index
EM Specify ECAM cycle
EP Specify ECAM table intervals & staring point
EQ Disengage ECAM
ET ECAM table

EXAMPLES:
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

Note: 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.

B140 Command Reference EG • 71

 ELSE
FUNCTION: Else function for use with IF conditional statement
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
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format
Command Line No
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
ENDIF End of IF conditional Statement

EXAMPLES:
#A
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 "INPUT 1 AND INPUT 2 ARE ACTIVE" ;'Message to be executed if 2nd IF
;'conditional is true
ELSE ;'ELSE command for 2nd IF conditional
;'statement
MG "ONLY INPUT 1 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
MG "ONLY INPUT 2 IS ACTIVE" ;'Message to be executed if 1st IF
;'conditional statement is false
ENDIF ;'End of 1st conditional statement
EN

72 ● ELSE B140 Command Reference

 EM
FUNCTION: Cam cycles (modulus)
DESCRIPTION:
The EM command is part of the ECAM mode. It is used to define 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. If a slave will return to its
original position at the end of the cycle, the change is zero. If the change is negative, specify
the absolute value.
ARGUMENTS: EM n,n,n,n, or EMA=n where
n is a positive integer in the range between 1 and 8,388,607 for the master axis and between 1 and
2,147,483,647 for a slave axis.
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_EMn contains the cycle of the specified axis.
RELATED COMMANDS:
EA Choose ECAM master
EB Enable ECAM
EC Set ECAM table index
EG Engage ECAM
EP Specify ECAM table intervals & staring point
EQ Disengage ECAM
ET ECAM table

EXAMPLES:
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

B140 Command Reference EM • 73

 EN
FUNCTION: End
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.
The EN command is used to end the automatic subroutines #COMINT and #CMDERR.
When the EN command is used to terminate the #COMINT communications interrupt subroutine,
there are 2 argurments. The first determines whether trippoints will be restored upon
completion of the subroutine, and the second determines whether the communication will be
re-enabled.
ARGUMENTS: EN m, n where
m = 0: Return from subroutine without restoring trippoint
m = 1: Return from subroutine and restore trippoint
n=0: Return from #COMINT without restoring CI interrupt trigger
n=1: Return from #COMINT and restore CI interrupt trigger
Note 1: The default value for the argument is 0.
Note 2: Use the RE command to return from the interrupt handling subroutines #LIMSWI and
#POSERR. Use the RI command to return from the #ININT subroutine.
USAGE: DEFAULTS:
While Moving Yes Default Value m=0
In a Program Yes Default Format
Command Line No
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
RE Return from error subroutine
RI Return from interrupt subroutine

EXAMPLES:
#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

Note: Instead of EN, use the RE command to end the error subroutine and limit subroutine. Use the RI
command to end the input interrupt subroutine

74 ● EN B140 Command Reference

 ENDIF
FUNCTION: End of IF conditional statement
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
USAGE:
While Moving Yes
In a Program Yes
Command Line No
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
IF Command to begin IF conditional statement
ELSE Optional command to be used only after IF command
JP Jump command
JS Jump to subroutine command

EXAMPLES:

#A
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 "INPUT 1 AND INPUT 2 ARE ACTIVE" ;'Message to be executed if 2nd IF
;'conditional is true
ELSE ;'ELSE command for 2nd IF conditional
;'statement
MG "ONLY INPUT 1 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
MG "ONLY INPUT 2 IS ACTIVE" ;'Message to be executed if 1st IF
;'conditional statement is false
ENDIF ;'End of 1st conditional statement
EN

B140 Command Reference ENDIF • 75

 EO
FUNCTION: Echo
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: EO n where
n=0 0 turns echo off
n=1 1 turns echo on.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 1.0
Command Line Yes
Controller Usage ALL CONTROLLERS

EXAMPLES:
EO 0 Turns echo off
EO 1 Turns echo on

76 ● EO B140 Command Reference

 EP
FUNCTION: Cam table intervals and starting point
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. The
parameter m is the interval and n is the starting point. Up to 257 points may be specified.
ARGUMENTS: EP m,n where
m is a positive integer in the range between 1 and 32,767
m=? Returns the value of the interval, m.
n is an integer between -2,147,483,648 and 2,147,483,647. n is the offset.
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_EP contains the value of the interval m.
RELATED COMMANDS:
EA Choose ECAM master
EB Enable ECAM
EC Set ECAM table index
EG Engage ECAM
EM Specify ECAM cycle
EQ Disengage ECAM
ET ECAM table

EXAMPLES:
EP 20,100 Sets the cam master points to 100,120,140 . . .
D = _EP Set the variable D equal to the ECAM internal valve

B140 Command Reference EP • 77

 EQ
FUNCTION: ECAM quit (disengage)
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: EQ n,n,n,n, or EQA=n where
n is the master positions at which the axes are to be 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.
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_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.
RELATED COMMANDS:
EA Choose ECAM master
EB Enable ECAM
EC Set ECAM table index
EG Engage ECAM
EM Specify ECAM cycle
EP Specify ECAM table intervals & staring point
ET ECAM table

EXAMPLES:
EQ 300,700 Disengages the A and B motors at master positions 300
and 700 respectively.

Note: 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.

78 ● EQ B140 Command Reference

 ES
FUNCTION: Ellipse Scale
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 command has two parameters, m and n. The arguments, m and n apply to the axes designated
by the command VM. When m>n, the resolution of the first axis, x, will be multiplied by the
ratio m/n. When m<n, the resolution of the second axis, y, will be multiplied by n/m. 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: ES m,n where
m and n are positive integers in the range between 1 and 65,535.
USAGE: DEFAULTS:
While Moving Yes Default Value 1,1
In a Program Yes Default Format
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
VM Vector Mode
CR Circle move
VP Vector position

EXAMPLES:
VMAB;ES3,4 Divide B resolution by 4/3
VMCA;ES2,3 Divide A resolution by 3/2
VMAC; ES3,2 Divide A Resolution by 3/2

Note: ES must be issued after VM.

B140 Command Reference ES • 79

 ET
FUNCTION: Electronic cam table
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: ET[m] = n,n,n,n where
m is an integer between 0 and 256
n is an integer in the range between -2,147,438,648, and 2,147,438,647.
n=? Returns the slave position for the specified point.
The value m can be left out of the command if the index count has been set using the command,
EC. In this mode, each ET command will automatically increment the index count by 1.
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
EA Choose ECAM master
EB Enable ECAM
EC Set ECAM table index
EG Engage ECAM
EM Specify ECAM cycle
EP Specify ECAM table intervals & staring point
EQ Disengage ECAM

EXAMPLES:
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
EC0 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

80 ● ET B140 Command Reference

 EW
FUNCTION: ECAM Widen Segment
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.
Remember that the widened segment lengths must be taken into account when determining
the modulus (EM) for the master. The segments chosen should not be the first or last
segments, or consecutive segments.
ARGUMENTS: EW m1=n1,m2=n2 where
m1 is the index of the first widened segment. m1 is a positive integer between 1 and 255.
n1 is the length of the first widened segment in master counts. n1 is an integer between 1 and
2,147,483,647.
m2 is the index of the second widened segment. m2 is a positive integer between 3 and 255.
n2 is the length of the second widened segment in master counts. n2 is an integer between 1 and
2,147,483,647.
If m1 or m2 is set to -1, there is no widened segment. The segment number m2 must be greater
than m1, and m2 may not be used unless m1 is used.
USAGE: DEFAULTS:
While Moving No Default Value -1, 0 -1, 0
In a Program Yes Default Format
Command Line Yes
Controller Usage ALL CONTROLERS

OPERAND USAGE:
_EW0 contains m1, the index of the first widened segment.
_EW1 contains n1, the length of the first widened segment.
_EW2 contains m2, the index of the second widened segment
_EW3 contains n2, the length of the second widened segment.
RELATED COMMANDS:
EP ECAM master positions
EA Choose ECAM master
EB Enable ECAM
EC Set ECAM table index
EG Engage ECAM Slave
EM Specify ECAM cycle
EQ Disengage ECAM Slave
ET ECAM table

EXAMPLES:
EW 41=688 :’Widen segment 41 to 688 master counts
EW 41=688, 124=688 :’Widen segments 41 and 124 to 688 master counts

B140 Command Reference EW • 81

 EY
FUNCTION: ECAM Cycle Count
DESCRIPTION:
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. EY can be used to calculate the
absolute position of an axis with the following equation:
Absolute position = EY * EM + TP
ARGUMENTS: EY n where
n is a signed integer in the range -2147483648 to 2147483647 decimal.
n = ? returns the current cycle count.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_EY returns the current cycle count
RELATED COMMANDS:
EM ECAM modulus

EXAMPLES:
MG _EY * _EMY + _TPY print absolute position of master (Y)

82 ● EY B140 Command Reference

 FE
FUNCTION: Find Edge
DESCRIPTION:
The FE command moves a motor until a transition is seen on the homing 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 your own homing sequences.
ARGUMENTS: FE nnnnnnnn where
n is A,B,C,D, or any combination to specify the axis or axes
No argument specifies all axes.
USAGE: DEFAULTS:
While Moving No Default Value
In a Program Yes Default Format
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
FI Find Index
HM Home
BG Begin
AC Acceleration Rate
DC Deceleration Rate
SP Speed for search

EXAMPLES:
FE Set find edge mode
BG Begin all axes
FEA Only find edge on A
BGA
FEB Only find edge on B
BGB
FECD Find edge on C and D
BGCD

Hint: 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.

B140 Command Reference FE • 83

 FI
FUNCTION: Find Index
DESCRIPTION:
The FI and BG commands move the motor until an encoder index pulse is detected. The
controller looks for a transition from low to high. 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 motor will decelerate to a stop.
ARGUMENTS: FI nnnnnn where
n is A,B,C,D, or any combination to specify the axis or sequence
No argument specifies all axes.
USAGE: DEFAULTS:
While Moving No Default Value
In a Program Yes Default Format
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
FE Find Edge
HM Home
BG Begin
AC Acceleration Rate
DC Deceleration Rate
SP Search Speed

EXAMPLES:
#HOME ;'Home Routine
JG 500 ;'Set speed and forward direction
FIA ;'Find index
BGA ;'Begin motion
AMA ;'After motion
MG "FOUND INDEX"
EN

Hint: 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.

84 ● FI B140 Command Reference

 FL
FUNCTION: Forward Software Limit
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. The forward limit is activated at A+1, B+1, C+1, D+1. The forward limit is
disabled at 2147483647. The units are in counts.
When the forward software limit is activated, the automatic subroutine #LIMSWI will be executed
if it is included in the program. See User's Manual, Automatic Subroutine.
ARGUMENTS: FL n,n,n,n, or FLA=n where
n is a signed integers in the range -2147483648 to 2147483647, n represents the absolute position
of axis.
n = 2147483647 turns off the forward limit
n=? Returns the value of the forward limit switch for the specified axis.
USAGE: DEFAULTS:
While Moving Yes Default Value 2147483647
In a Program Yes Default Format Position Format
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_FLn contains the value of the forward software limit for the specified axis.
RELATED COMMANDS:
BL Reverse Limit
PF Position Formatting

EXAMPLES:
FL 150000 Set forward limit to 150000 counts on the A-axis

#TEST ;'Test Program

AC 1000000 ;'Acceleration Rate
DC 1000000 ;'Deceleration Rate
FL 15000 ;'Forward Limit
JG 5000 ;'Jog Forward
BGA ;'Begin
AMA ;'After Limit
TPA ;'Tell Position
EN ;'End

Hint: Galil controllers also provide hardware limits. Both hardware or software limits will trigger the
#LIMSWI automatic subroutine if a program is running.

B140 Command Reference FL • 85

 @FRAC[n]

FUNCTION: Fractional part

DESCRIPTION:
Returns the fractional part of the given number
ARGUMENTS: @FRAC[n]
n is a signed number in the range -2147483648 to 2147483647.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
@INT[n] Integer part

EXAMPLES:
:MG @FRAC[1.2]
0.2000
:MG @FRAC[-2.4]
-0.4000
:

86 ● @FRAC[n] B140 Command Reference

 GA
FUNCTION: Master Axis for Gearing
DESCRIPTION:
The GA command specifies the master axes for electronic gearing. Multiple masters for gearing
may be specified. 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: GA n,n,n,n, or GAA=n where
n can be A,B,C,D, or N. The value of n is used to set the specified main encoder axis as the
gearing master and M and N represents the virtual axis. The slave axis is specified by the
position of the argument. The first position of the argument corresponds to the 'A' axis, the
second position corresponds to the 'B' axis, etc. A comma must be used in place of an
argument if the corresponding axes will not be a slave.
n can be CA,CB,CC,CD. The value of x is used to set the commanded position of the specified
axis as the gearing master.
n can be S. S is used to specify the vector motion of the coordinated system, S, as the gearing
master.
n can be DA,DB,DC,DD. The value of n is used to set the specified auxiliary encoder axis as the
gearing master.
USAGE: DEFAULTS:
While Moving No Default Value
In a Program Yes Default Format
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
GR Gear Ratio
GM Gantry Mode
EXAMPLES:
#GEAR ;'Gear program
GA ,A,PS ;'Specify A axis as master for B and vector motion
;'on PS as master for C
GR ,.5,-2.5 ;'Specify B and C ratios
JG 5000 ;'Specify master jog speed
BGA ;'Begin motion
WT 10000 ;'Wait 10000 msec
STA ;'Stop
AMA ;'Wait for motion to complete
EN ;'End Program

Hint: Using the command position as the master axis is useful for gantry applications. Using the vector
motion as master is useful in generating Helical motion.

B140 Command Reference GA • 87

 GD
FUNCTION: Gear Distance
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. 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.
ARGUMENTS: GD n,n,n,n,n,n,n,n where
n is an integer in the range 0 to 32767, the units are in encoder counts
n=0 will result in the conventional method of instant gear change
n=? will return the value that is set for the appropriate axis
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 5.0
Command Line Yes
Controller Usage

OPERAND USAGE:
_GDn contains the distance the master axis will travel for the specified slave axis to fully engage,
disengage, or change ratios.
RELATED COMMANDS:

_GP Gearing Phase Differential

GR Gear Ratio
GA Gear Axis

EXAMPLES:
#A
GA,X ;'Sets the X axis as the gearing master for the Y axis
GD,5000 ;'Set distance over which gearing is engaged to 5000 counts
;'of the master axis.
JG5000 ;'Set the X axis jog speed to 5000 cts/sec
BGX ;'Begin motion on the X axis
ASX ;'Wait until X axis reaches the set speed of 5000 counts/sec
GR,1 ;'Engage gearing on the Y axis with a ration of 1:1, the
;'distance to fully engage gearing will be 5000 counts of the
;'master axis
WT1000 ;'Wait 1 second
GR,3 ;'Set the gear ratio to three. The ratio will be changed
;'over the distance set by the GD command
WT1000 ;'Wait 1 second
GR,0 ;'Disengage the gearing between the Y 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

88 ● GD B140 Command Reference

 GM
FUNCTION: Gantry mode
DESCRIPTION:
The GM command specifies the axes in which the gearing function is performed in the Gantry
mode. In this mode, the gearing will not be stopped by the ST command or by limit switches.
Only GR0 will stop the gearing in this mode.
ARGUMENTS: GM n,n,n,n or GMA=n where
n=0 Disables gantry mode function
n=1 Enables the gantry mode
n=? Returns the state of gantry mode for the specified axis: 0 gantry mode disabled, 1 gantry
mode enabled
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 1.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_GMn contains the state of gantry mode for the specified axis: 0 gantry mode disabled, 1 gantry
mode enabled
RELATED COMMANDS:
GR Gear Ratio
GA Gear Axes

EXAMPLES:
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

Hint: The GM command is useful for driving heavy load on both sides (Gantry Style).

B140 Command Reference GM • 89

 _GP
FUNCTION: Gearing Phase Differential Operand
DESCRIPTION:
The _GP operand contains the value of the “phase differential”1 accumulated on the most current
change in the gearing 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.
The operand is specified as: _GPn where n is the specified slave axis
1
Phase Differential is a term that is used to describe the lead or lag between the master axis and the
slave axis due to gradual gear shift. Pd=GR*Cm-Cs where Pd is the phase differential, GR is
the gear ratio, Cm is the number of encoder counts the master axis moved, and Cs is the
number of encoder counts the slave moved.
RELATED COMMANDS:
GR Gear Ratio
GA Gear Axis

EXAMPLES:
#A
GAY ;'Sets the Y axis as the gearing master for the X axis.
;'This axis does not have to be under servo control. In
;'this example, the axis is connected to a conveyor
;'operating open loop.
GD1000 ;'Set the distance that the master will travel to 1000
;'counts before the gearing is fully engaged for the X
;'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=_TPY ;'Sets the current Y axis position to variable P1. This
;'variable is used in the next command, because MF
;'requires an absolute position..
MF,(P1+1000) ;'Wait for the Y axis (master) 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.
IP_GPX ;'Increment the difference to bring the master/slave in
;'position sync from the point that the GR1 command was
;'issued.
EN ;'End Program

90 ● _GP B140 Command Reference

 GR
FUNCTION: Gear Ratio
DESCRIPTION:
GR specifies the Gear Ratios for the geared axes in the electronic gearing mode. The master axis
is defined by the GA command. The gear ratio may be different for each geared axis. The
master can go in both directions. A gear ratio of 0 disables gearing for each axis. A limit
switch also disables the gearing unless gantry mode has been enabled (see GM command).
ARGUMENTS: GR n,n,n,n, or GRA=n where
1
n is a signed numbers in the range +/-127, with a fractional resolution of .
216
n=0 Disables gearing
n=? Returns the value of the gear ratio for the specified axis.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 3.4
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_GRn contains the value of the gear ratio for the specified axis.
RELATED COMMANDS:
GA Master Axis
GM Gantry Mode

EXAMPLES:
#GEAR
MOB ;'Turn off servo to B motor
GAB,,B ;'Specify master axis as B
GR .25,,-5 ;'Specify A and C gear ratios
EN ;'End program

Now when the B motor is rotated by hand, the A will rotate at 1/4th the speed and C will rotate 5
times the speed in the opposite direction.
Hint: when the geared motors must be coupled "strongly" to the master, use the gantry mode GM.

B140 Command Reference GR • 91

 HM
FUNCTION: Home
DESCRIPTION:
The HM command performs a two-stage homing sequence for stepper motor operation.
During 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 direction for this first
stage is determined by the initial state of the homing input. Once the homing input
changes state, the motor decelerates to a stop. The state of the homing input can be
configured using the CN command.
At the second stage, the motor change directions and slowly approach the transition again. When
the transition is detected, the motor is stopped instantaneously.

USAGE: DEFAULTS:
While Moving No Default Value
In a Program Yes Default Format
Command Line Yes
Controller Usage ALL CONTROLLERS
OPERAND USAGE:
_HMn contains the state of the home switch for the specified axis
RELATED COMMANDS:
CN Configure Home
FI Find Index Only
FE Find Home Only
HV Homing velocity

EXAMPLES:
HM Set Homing Mode for all axes
BG Home all axes
BGA Home only the A-axis
BGB Home only the B-axis
BGC Home only the C-axis
BGD Home only the D-axis

Hint: You can create your own custom homing sequence by using the FE (Find Home Sensor only) and FI
(Find Index only) commands.

92 ● HM B140 Command Reference

 HS
FUNCTION: Handle Assignment Switch
DESCRIPTION:
The HS command is used to switch the handle assignments between two handles. The controller
assigns handles when the handles are opened with the HC command, or are assigned
explicitly with the IH command. Should those assignments need modifications, the HS
command allows the handles to be reassigned.
ARGUMENTS: HSh=i where
h is the first handle of the switch (A through D, S)
i is the second handle of the switch (A through D, S)
S is used to represent the current handle executing the command
USAGE: DEFAULTS:
While Moving Yes Default Value --
In a Program Yes Default Format --
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
IH Internet Handle

EXAMPLES:
HSC=D Connection for handle C is assigned to handle D. Connection for
handle D is assigned to handle C.
HSS=B Executing handle connection is assigned to handle B. Connection
for handle B is assigned to executing handle.

B140 Command Reference HS • 93

 HX
FUNCTION: Halt Execution
DESCRIPTION:
The HX command halts the execution of any program that is running.
ARGUMENTS: HXn where
n is an integer in the range of 0 to 3 and indicates the thread number.
USAGE: DEFAULTS:
While Moving Yes Default Value n=0
In a Program Yes Default Format
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
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
RELATED COMMANDS:
XQ Execute program
HX Stop all threads of motion

EXAMPLES:
XQ #A Execute program #A, thread zero
XQ #B,3 Execute program #B, thread three
HX0 Halt thread zero
HX3 Halt thread three

94 ● HX B140 Command Reference

 IA
FUNCTION: IP Address
DESCRIPTION:
The IA command assigns the controller with an IP address.
The IA command may also be used to specify the time out value. This is only applicable when
using the TCP/IP protocol.
The IA command can only be used via RS-232. Since it assigns an IP address to the controller,
communication with the controller via internet cannot be accomplished until after the address
has been assigned.
ARGUMENTS: IA ip0,ip1,ip2, ip3 or IA n or IA<t where
ip0, ip1, ip2, ip3 are 1 byte numbers separated by commas and represent the individual fields of
the IP address.
n is the IP address for the controller which is specified as an integer representing the signed 32 bit
number (two’s complement).
<t specifies the time in update samples between TCP retries. 1< = t < = 2,147,483,647 up to 5
retries occur. (TCP/IP connection only)
>u specifies the multicast IP address where u is an integer between 0 and 63. (UDP/IP connection
only)
IA? will return the IP address of the controller
USAGE: DEFAULTS:
While Moving No Default Value n = 0, t=250
In a Program Yes Default Format
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_IA0 contains the IP address representing a 32 bit signed number (Two’s complement)
_IA1 contains the value for t (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 5. 0
represents handle A, 1 handle B, etc.
_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

RELATED COMMANDS:
IH Internet Handle

EXAMPLES:
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 500msec

B140 Command Reference IA • 95

 IF
FUNCTION: IF conditional statement
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: IF (condition) where
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
Note: Bit wise operators │ and & can be used to evaluate multiple conditions.

USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line No
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
ELSE Optional command to be used only after IF command
ENDIF End of IF conditional Statement

EXAMPLES:
#A
IF (_TEA<1000) ;'IF conditional statement based on
;'A motor position
MG "Motor is within 1000 counts of zero" ;'Message to be executed if "IF"
;'conditional statement is true
ENDIF ;'End of IF conditional statement
EN ;'End Program

96 ● IF B140 Command Reference

 IH
FUNCTION: Open Internet Handle
DESCRIPTION:
The IH command is used when the controller is operated as a master (also known as a client).
This command opens a handle and connects to a slave.
Each controller may have 4 handles open at any given time. They are designated by the letters A
through H. To open a handle, the user must specify:
1. The IP address of the slave
2. The type of session: TCP/IP or UDP/IP
3. The port number of the slave. This number is not necessary if the slave device does not
require a specific port value. If not specified, the controller will specify the port value as
1000.
ARGUMENTS: IHh= ip0,ip1,ip2,ip3 <p >q or IHh=n <p >q or IHh= >r where
h is the handle, specified as A,B,C,D.
ip0,ip1,ip2,ip3 are integers between 0 and 255 and represent the individual fields of the IP address.
These values must be separated by commas.
n is a signed integer between - 2147483648 and 2147483647. This value is the 32 bit IP address
and can be used instead of specifying the 4 address fields.
IHS => r closes the handle that sent the command; where r = -1 for UDP/IP, or r = -2 for TCP/IP.
IHT => r closes all handles except for the one sending the command; where r = -1 UDP, or r = -
2 TCP.
<p specifies the port number of the slave where p is an integer between 0 and 65535. This value is
not required for opening a handle.
>q specifies the connection type where q is 0 for no connection, 1 for UDP and 2 for TCP
>r specifies that the connection be terminated and the handle be freed, where r is -1 for UDP, -2
for TCP/IP, or -3 for TCP/IP Reset
"?" returns the IP address as 4 1-byte numbers
OPERAND USAGE:
_IHh0 contains the IP address as a 32 bit number
_IHh1 contains the slave port number
_IHh2 contains a 0 if the handle is free
contains a 1 if it is for a UDP slave
contains a 2 if it is for a TCP slave
contains a -1 if it is for a UDP master
contains a -2 if it is for a TCP master
contains a -5 while attempting to establish a UDP handle
contains a -6 while attempting to establish a TCP/IP handle

B140 Command Reference IH • 97

 _IHh3 contains a 0 if the ARP was successful
contains a 1 if it has failed or is still in progress
_IHh4 contains a 1 if the master controller is waiting for acknowledgment from the slave
after issuing a command.
contains a 2 if the master controller received a colon from the slave after issuing a
command.
contains a 3 if the master controller received a question mark from the slave after
issuing a command.
contains a 4 if the master controller timed-out while waiting for a response from the
slave after issuing a command.
USAGE: DEFAULTS:
While Moving No Default Value -----
In a Program Yes Default Format -----
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
IA Internet Address

EXAMPLES:
IHA=251,29,51,1 Open handle A at IP address 251.29.51.1
IHA= -2095238399 Open handle A at IP address 251.29.51.1

Note: 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.

98 ● IH B140 Command Reference

 II
FUNCTION: Input Interrupt
DESCRIPTION:
The II command enables the interrupt function for the specified inputs. By default, input
interrupts are configured for activation with a logic “0” but can be configured for activation
with a logic “1” signal.
If any of the specified inputs are activated during program execution, the program will jump to the
subroutine with label #ININT. Any trippoints set by the program will be cleared but can be
re-enabled by the proper termination of the interrupt subroutine using RI. The RI command is
used to return from the #ININT routine.

ARGUMENTS: II m,n,o,p where

m is an integer between 0 and 8 decimal. 0 disables interrupt. The value of m specifies the lowest
input to be used for the input interrupt. When the 2nd argument, n, is omitted, only the input
specified by m will be enabled.
n is an integer between 2 and 8. This argument is optional and is used with m to specify a range of
values for input interrupts. For example, II 2,4 specifies interrupts occurring for Input 2,
Input 3 and Input 4.
o is an integer between 1 and 255. Using this argument is an alternative to specifying an input
range with m,n. If m and n are specified, o will be ignored. The argument o is an integer
value and represents a binary number. For example, if o = 15, the binary equivalent is
00001111 where the bottom 4 bits are 1 (bit 0 through bit 3) and the top 4 bits are 0 (bit 4
through bit 7). Each bit represents an interrupt to be enabled - bit0 for interrupt 1, bit 1 for
interrupt 2, etc. If o=15, the inputs 1,2,3 and 4 would be enabled.
p is an integer between 1 and 255. The argument p is used to specify inputs that will be activated
with a logic “1”. This argument is an integer value and represents a binary number. This
binary number is used to logically “AND” with the inputs which have been specified by the
parameters m and n or the parameter o. For example, if m=1 and n=4, the inputs 1,2,3 and 4
have been activated. If the value for p is 2 (the binary equivalent of 2 is 00000010), input 2
will be activated by a logic ‘1’ and inputs 1,3, and 4 will be activated with a logic “0”.
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format 3.0 (mask only)
Command Line Yes
Controller Usage All Controllers
RELATED COMMANDS:
RI Return from Interrupt
#ININT Interrupt Subroutine
AI Trippoint for input

B140 Command Reference II • 99

 EXAMPLES:
#A ;'Program A
II 1 ;'Specify interrupt on input 1
JG 5000;BGA ;'Specify jog and begin motion on A axis
#LOOP;JP #LOOP ;'Loop
EN ;'End Program
#ININT ;'Interrupt subroutine
STA;MG "INTERRUPT";AMA ;'Stop A, print message, wait for motion to
;'complete
#CLEAR;JP#CLEAR,@IN[1]=0 ;'Check for interrupt clear
BGA ;'Begin motion
RI0 ;'Return to main program, don't re-enable
;'trippoints

100 ● II B140 Command Reference

 IK
FUNCTION: Block Ethernet ports
DESCRIPTION:
The IK command blocks the controller from receiving packets on Ethernet ports lower than 1000
except for ports 0, 23, 68, and 502.
ARGUMENTS: IKn where
n = 0 allows controller to receive Ethernet packets on any port
n = 1 blocks controller from receiving Ethernet packets on all ports lower than 1000 except for 0,
23, 68, and 502.
n = ? queries controller for value of IK
USAGE: DEFAULTS:
In a Program Yes Default Value n=1
Command Line Yes

OPERAND USAGE:
_IK can not be used as an operand.
RELATED COMMANDS:
TH Tell Handles
IH Open new Ethernet handle

EXAMPLES:
IK1 Blocks undesirable port communication
IK0 Allows all Ethernet ports to be used

B140 Command Reference IK • 101

 IN
FUNCTION: Input Variable
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. Input Interrupts, Error Interrupts and Limit Switch Interrupts
will still be active.
The IN command may only be used in thread 0.
ARGUMENTS: IN "m",n where
m is prompt message
n is the variable name
The total number of characters for n and m must be less than 40 characters.
Note: Do not include a space between the comma at the end of the input message and the variable
name.
USAGE: DEFAULTS:
While Moving Yes Default Value -----
In a Program Yes Default Format Position Format
Command Line No
Controller Usage ALL CONTROLLERS

EXAMPLES:
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
BGA ;'Begin motion
AMA ;'Wait for motion complete
MG "MOVE DONE" ;'Print Message
EN ;'End Program

102 ● IN B140 Command Reference

 @IN[n]

FUNCTION: Read digital input

DESCRIPTION:
Returns the value of the given digital input (either 0 or 1)
ARGUMENTS: @IN[n] where

n is an unsigned integer in the range 1 to 8

USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
@AN[n] Read analog input
@OUT[n] Read digital output
SB Set digital output bit
CB Clear digital output bit
OF Set analog output offset

EXAMPLES:
MG @IN[1] print digital input 1
:1.0000
x = @IN[1] assign digital input 1 to a variable
x = ? query variable
:1.000

B140 Command Reference @IN[n] • 103

 #ININT

FUNCTION: Input interrupt automatic subroutine

DESCRIPTION:
#ININT runs upon a state transition of digital inputs 1 to 8 and is configured with II. #ININT runs
in thread 0.
USAGE:
While Moving Yes
In a Program Yes
Command Line No
Controller Usage ALL

RELATED COMMANDS:
II Input interrupt
@IN[n] Read digital input
RI Return from interrupt

EXAMPLES:
#A
II1 ;' arm digital input 1

#MAIN ;' print message every second

MG "MAIN"
WT1000
JP #MAIN

#ININT ;'runs when input 1 goes low

MG "ININT"
AI1
RI

NOTE: The automatic subroutine runs in thread 0.

NOTE: Use RI to end the routine

104 ● #ININT B140 Command Reference

 @INT[n]

FUNCTION: Integer part

DESCRIPTION:
Returns the integer part of the given number. Note that the modulus operator can be implemented
with @INT (see example below).
ARGUMENTS: @INT[n]
n is a signed number in the range -2147483648 to 2147483647.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
@FRAC[n] Fractional part

EXAMPLES:
:MG @INT[1.2]
1.0000
:MG @INT[-2.4]
-2.0000
:

#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

B140 Command Reference @INT[n] • 105

 IP
FUNCTION: Increment Position
DESCRIPTION:
The IP command allows for a change in the command position while the motor is moving. This
command does not require a BG. The command has three effects depending on the motion
being executed. The units of this are quadrature.
Case 1: Motor is standing still
An IP a,b,c,d command is equivalent to a PR a,b,c,d and BG command. The motor will move to
the specified position at the requested slew speed and acceleration.
Case 2: Motor is moving towards a position as specified by PR, PA, or IP.
An IP command will cause the motor to move to a new position target, which is the old target
plus the specified increment. The incremental position must be in the same direction as the
existing motion.
Case 3: Motor is in the Jog Mode
An IP command will cause the motor to instantly try to servo to a position which is the current
instantaneous position plus the specified increment position. The SP and AC parameters have
no effect. This command is useful when synchronizing 2 axes in which one of the axis' speed
is indeterminate due to a variable diameter pulley.
Warning: When the mode is in jog mode, an IP will create an instantaneous position error. In
this mode, the IP should only be used to make small incremental position movements.
ARGUMENTS: IP n,n,n,n or IPA=n where
n is a signed numbers in the range -2147483648 to 2147483647 decimal.
n=? Returns the current position of the specified axis.
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format PF
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
PF Position Formatting

EXAMPLES:
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
AMA ;Wait for ST to complete
EN ;End Program

106 ● IP B140 Command Reference

 IT
FUNCTION: Independent Time Constant - Smoothing Function
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. Note
that the 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.
ARGUMENTS: IT n,n,n,n or ITA=n where
n is a positive numbers in the range between 0.004 and 1.0 with a resolution of 1/256.
n=? Returns the value of the independent time constant for the specified axis.
USAGE: DEFAULTS:
While Moving Yes Default Value 1
In a Program Yes Default Format 1.4
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_ITn contains the value of the independent time constant for the specified ‘n’ axis.
RELATED COMMANDS:
PR Position relative
PA Position absolute
JG Jog
VM Vector mode
LM Linear Interpolation Mode

EXAMPLES:
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
:0.8

B140 Command Reference IT • 107

 JG
FUNCTION: Jog
DESCRIPTION:
The JG command sets the jog mode and the jog slew speed of the axes.
ARGUMENTS: JG n,n,n,n or JGA=n where
n is a signed numbers in the range 0 to +/-3,000,000 decimal. The units of this are steps/second.
(Use JGN = n for the virtual axes)
n=? Returns the absolute value of the jog speed for the specified axis.
USAGE: DEFAULTS:
While Moving Yes Default Value 25000
In a Program Yes Default Format 8.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_JGn contains the absolute value of the jog speed for the specified axis.
RELATED COMMANDS:
BG Begin
ST Stop
AC Acceleration
DC Deceleration
IP Increment Position
TV Tell Velocity

EXAMPLES:
JG 100,500,2000,5000 Set 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
JG ,,-2000 Change the C-axis to slew in the negative direction at
-2000 counts/sec.

108 ● JG B140 Command Reference

 JP
FUNCTION: Jump to Program Location
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. The condition is a conditional statement
which uses a logical operator such as equal to or less than. A jump is taken if the specified
condition is true.
Multiple conditions can be used in a single jump statement. 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. Note: Each condition must be placed in parenthesis for
proper evaluation by the controller.
ARGUMENTS: JP location,condition where
location is a program line number or label
condition is a conditional statement using a logical operator
The logical operators are:
< less than
> greater than
= equal to
<= less than or equal to
>= greater than or equal to
<> not equal to
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format
Command Line No
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
JS Jump to Subroutine
IF
6 If conditional statement
ELSE Else function for use with IF conditional statement
ENDIF End of IF conditional statement

EXAMPLES:
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 Jump to #B (no condition)

Hint: JP is similar to an IF, THEN command. Text to the right of the comma is the condition that must be
met for a jump to occur. The destination is the specified label before the comma.

B140 Command Reference JP • 109

 JS
FUNCTION: Jump to Subroutine
DESCRIPTION:
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. The line number of the JS command is
saved and after the next EN command is encountered (End of subroutine), program execution
will continue with the instruction following the JS command. There can be a JS command
within a subroutine.
Multiple conditions can be used in a single jump statement. 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. Note: Each condition must be placed in parenthesis for
proper evaluation by the controller.
Note: Subroutines may be nested 16 deep in the controller.
A jump is taken if the specified condition is true. Conditions are tested with logical operators.
The logical operators are:
< less than or equal to <= less than or equal to
> greater than >= greater than or equal to
= equal to <> not equal
ARGUMENTS: JS destination, condition where
destination is a line number or label
condition is a conditional statement using a logical operator
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format
Command Line No
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
EN End

EXAMPLES:
JS #SQUARE,V1<5 Jump to subroutine #SQUARE if V1 is less than 5
JS #LOOP,V1<>0 Jump to #LOOP if V1 is not equal to 0
JS #A Jump to subroutine #A (no condition)

110 ● JS B140 Command Reference

 KS
FUNCTION: Step Motor Smoothing
DESCRIPTION:
The KS parameter sets the amount of smoothing of stepper motor pulses. This is most useful
when operating in full or half step mode. Larger values of KS provide greater
smoothness. This parameter will also increase the motion time by 3KS sampling
periods. KS adds a single pole low pass filter onto the output of the motion profiler.
Note: KS will cause a delay in the generation of output steps.
ARGUMENTS: KS n,n,n,n or KSA=n where
n is a positive number in the range between 0.5 and 64 with a resolution of 1/32.
n=? Returns the value of the smoothing constant for the specified axis.
USAGE: DEFAULTS:
While Moving Yes Default Value 2.000
In a Program Yes Default Format 2.3
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_KSn contains the value of the stepper motor smoothing constant for the specified axis.
RELATED COMMANDS:
MT Motor Type

EXAMPLES:
KS 2, 4 , 8 Specify a,b,c axes
KS 5 Specify a-axis only
KS ,,15 Specify c-axis only

Hint: KS is valid for step motor only.

B140 Command Reference KS • 111

 LA
FUNCTION: List Arrays
DESCRIPTION:
The LA command returns a list of all arrays in memory. The listing will be in alphabetical order.
The size of each array will be included next to each array name in square brackets.
ARGUMENTS: None
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
LL List Labels
LS List Program
LV List Variable

EXAMPLES:
: LA
CA [10]
LA [5]
NY [25]
VA [17]

112 ● KS B140 Command Reference

 LC
FUNCTION: Low Current Stepper Mode
DESCRIPTION:
Causes the amp enable line for the specified axes to toggle (disabling the stepper drives) a
programmable amount of time after the respective axes stop (profiler holding position). Each
axis is handled individually. This will reduce current consumption, but there will be no
holding torque.
ARGUMENTS: LC n,n,n,n where
n=0 Normal (stepper drive always on)
n=1 Stepper drive on at a reduced current
n is an integer between 2 and 32767 specifying the number of samples to wait between the end of
the move and when the amp enable line toggles
n=? Returns the current value
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 5.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_LCn contains the low current value.
RELATED COMMANDS:
MT Motor Type

EXAMPLES:
MTZ=2 Specify stepper mode for the z axis
LCZ=1 Specify low current mode for the z axis and disable immediately

B140 Command Reference LC • 113

 LD
FUNCTION: Limit Disable
DESCRIPTION:
Disables limit switches. Soft limits BL and FL are still in effect. This feature should be used to
gain additional digital inputs if limit switches are not used, or if there is a noise problem
which causes limit switch conditions even though no limit switches are connected.
ARGUMENTS: LD n,n,n,n, or LDA=n where
n=0 enabled (default)
n=1 forward limit disabled
n=2 reverse limit disabled
n=3 both disabled
n=? returns the current setting
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 1.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_LDn contains the current value
RELATED COMMANDS:
_LFX State of Forward limit
_LRX State of Reverse limit
SC Stop code
BL Backward soft limit
FL Forward soft limit

EXAMPLES:
LDX=1 Disable the forward limit switch on the X axis

114 ● LD B140 Command Reference

 LE
FUNCTION: Linear Interpolation End
DESCRIPTION: LE
Signifies the end of a linear interpolation sequence. It follows the last LI specification in a linear
sequence. After the LE specification, the controller issues commands to decelerate the motors
to a stop. The VE command is interchangeable with the LE command.
ARGUMENTS:
n=? Returns the total move length in encoder counts for the selected coordinate system, S
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format PF
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_LEn contains the total vector move length in steps.
RELATED COMMANDS:
LI Linear Distance
BG BGS - Begin Sequence
LM Linear Interpolation Mode
VS Vector Speed
VA Vector Acceleration
VD Vector Deceleration
PF Position Formatting

EXAMPLES:
CAS Specify S coordinated motion system
LM CD Specify linear interpolation mode for C and D axes
LI ,,100,200 Specify linear distance
LE End linear move
BGS Begin motion

B140 Command Reference LE • 115

 _LF
FUNCTION: Forward Limit Switch Operand
DESCRIPTION:
The _LF operand contains the state of the forward limit switch for the specified axis.
The operand is specified as: _LFn where n is the specified axis.
Note: This operand is affected by the configuration of the limit switches set by the command CN:
For CN -1:
_LFn = 1 when the limit switch input is inactive*
_LFn = 0 when the limit switch input is active*
For CN 1:
_LFn = 0 when the limit switch input is inactive*
_LFn = 1 when the limit switch input is active*

* The term “active” refers to the condition when at least 1 ma of current is flowing through the
input circuitry. The input circuitry can be configured to sink or source current to become
active.
EXAMPLES:
MG _LFA Display the status of the A axis forward limit switch

116 ● _LF B140 Command Reference

 LI
FUNCTION: Linear Interpolation Distance
DESCRIPTION:
The LI a,b,c,d 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. Up to 7 LI specifications may be given ahead of the Begin Sequence
(BGS) command. Additional LI commands may be sent during motion when the controller
sequence buffer frees additional spaces for new vector segments. The Linear End (LE)
command must be given after the last LI specification in a sequence. This command tells the
controller to decelerate to a stop at the last LI command. It is the responsibility of the user to
keep enough LI segments in the controller's sequence buffer to ensure continuous motion.
LM ? Returns the available spaces for LI segments that can be sent to the buffer. 31 returned
means the buffer is empty and 32 LI segments can be sent. A zero means the buffer is full
and no additional segments can be sent. It should be noted that the controller computes the
vector speed based on the axes specified in the LM mode. For example, LM ABC designates
linear interpolation for the A,B and C axes. The speed of these axes will be computed from
2 2 2 2
VS =AS +BS +CS where AS, BS and CS are the speed of the A,B and C axes. If the LI
command specifies only A and B, the speed of C will still be used in the vector calculations.
The controller always uses the axis specifications from LM, not LI, to compute the speed.
The parameter n is optional and can be used to define the vector speed that is attached to the
motion segment.
ARGUMENTS: LI n,n,n,n,n,n,n,n <o >p or LIA=n where
n is a signed integer in the range -8,388,607 to 8,388,607 and represents the incremental move
distance (at least one n must be non-zero).
o specifies a vector speed to be taken into effect at the execution of the linear segment. o is an
unsigned even integer between 0 and 3,000,000 for stepper motors.
p specifies a vector speed to be achieved at the end of the linear segment. Based on vector accel
and decal rates, p is an unsigned even integer between 0 and 3,000,000 for steppers.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
LE Linear end
LM Linear Interpolation Mode

EXAMPLES:
LM ABC Specify linear interpolation mode
LI 1000,2000,3000 Specify distance
LE Last segment
BGS Begin sequence

B140 Command Reference LI • 117

 #LIMSWI
FUNCTION: Limit switch automatic subroutine
DESCRIPTION:
Without #LIMSWI defined, the controller will effectively issue the STn on the axis when it’s limit
switch is tripped. With #LIMSWI defined, the axis is still stopped, and in addition, code is
executed. #LIMSWI is most commonly used to turn the motor off when a limit switch is
tripped (see example below). For #LIMSWI to run, the switch corresponding to the direction
of motion must be tripped (forward limit switch for positive motion and negative limit switch
for negative motion). #LIMSWI interrupts thread 0 when it runs.
USAGE:
While Moving Yes
In a Program Yes
Command Line No
Controller Usage ALL

RELATED COMMANDS:
_LFX State of Forward limit switch
_LRX State of Reverse limit switch

EXAMPLES:
#Main ;'print a message every second
MG "Main"
WT1000
JP#Main
EN

#LIMSWI ;'runs when a limit switch is tripped

IF (_LFX = 0) | (_LRX = 0)
MG "X"
DCX=67107840
STX
AMX
MOX
ELSE; IF (_LFY = 0) | (_LRY = 0)
MG "Y"
DCY=67107840
STY
AMY
MOY
ENDIF; ENDIF
RE1

NOTE: The automatic subroutine runs in thread 0.

NOTE: Use RE to end the routine

118 ● #LIMSWI B140 Command Reference

 <control>L<control>K
FUNCTION: Lock program
DESCRIPTION:
<control>L<control>K 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.
The locked or unlocked state can be saved with a BN command. Upon master reset, the controller
is unlocked. Once the program is unlocked, it will remain accessible until a lock command or
a reset (with the locked condition burned in) occurs.
ARGUMENTS: <control>L<control>Kpassword,n where
When n is 1, this command will lock the application program.
When n is 0, the program will be unlocked.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
PW Password
ED Edit program
UL Upload program
LS List program
TR Trace program

EXAMPLES:
:PW test,test Set password to "test"
:^L^Ktest,1 Lock the program
:ED Attempt to edit program
?
:TC1
106 Privilege violation
:

B140 Command Reference <control>L<control>K • 119

 LL
FUNCTION: List Labels
DESCRIPTION:
The LL command returns a listing of all of the program labels in memory and their associated line
numbers. The listing will be in alphabetical order.
ARGUMENTS: None
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
List Arrays
LA
LS List Program
LV List Variables

EXAMPLES:
: LL
# FIVE=5
# FOUR=4
# ONE=1
# THREE=3
# TWO=2

120 ● LL B140 Command Reference

 LM
FUNCTION: Linear Interpolation Mode
DESCRIPTION:
The LM command specifies the linear interpolation mode and specifies the axes for linear
interpolation. Any set of 1 thru 8 axes may be used for linear interpolation. LI commands are
used to specify the travel distances for linear interpolation. The LE command specifies the
end of the linear interpolation sequence. Several LI commands may be given as long as the
controller sequence buffer has room for additional segments. Once the LM command has
been given, it does not need to be given again unless the VM command has been used.
It should be noted that the controller computes the vector speed based on the axes specified in the
LM mode. For example, LM ABC designates linear interpolation for the A,B and C axes.
2 2 2 2
The speed of these axes will be computed from VS =AS +BS +CS , where AS, BS and CS
are the speed of the A,B and C axes. In this example, If the LI command specifies only A and
B, the speed of C will still be used in the vector calculations. The controller always uses the
axis specifications from LM, not LI, to compute the speed.
ARGUMENTS: LM nnnnnnnnnn where
n is A,B,C,D or any combination to specify the axis or axes
n=? Returns the number of spaces available in the sequence buffer for additional LI
commands.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_LM contains the number of spaces available in the sequence buffer for the 'n' coordinate system.
RELATED COMMANDS:
LE Linear end
LI Linear Distance
VA Vector acceleration
VS Vector Speed
VD Vector deceleration
AV Vector distance
CS _CS - Sequence counter

EXAMPLES:
LM ABCD Specify linear interpolation mode
VS 10000; VA 100000;VD 1000000 Specify vector speed, acceleration and deceleration
LI 200,300,400,500 Specify linear distance
LE; BGS Last vector, then begin motion

B140 Command Reference LM • 121

 _LR
FUNCTION: Reverse Limit Switch Operand
DESCRIPTION:
The _LR operand contains the state of the reverse limit switch for the specified axis.
The operand is specified as: _LRn where n is the specified axis.
Note: This operand is affected by the configuration of the limit switches set by the command CN:
For CN -1:
_LRn = 1 when the limit switch input is inactive*
_LRn = 0 when the limit switch input is active*
For CN 1:
_LRn = 0 when the limit switch input is inactive*
_LRn = 1 when the limit switch input is active*

* The term “active” refers to the condition when at least 1 ma of current is flowing through the
input circuitry. The input circuitry can be configured to sink or source current to become
active. See Chapter 3 in the User’s Manual for further details.
EXAMPLES:
MG _LRA Display the status of the A axis reverse limit switch

122 ● _LR B140 Command Reference

 LS
FUNCTION: List Program
DESCRIPTION:
The LS command returns a listing of the programs in memory.
ARGUMENTS: LS n,m where
n and m are valid numbers from 0 to 449, or labels. n is the first line to be listed, m is the last.
n is an integer in the range of 0 to 449 or a label in the program memory. n is used to specify the
first line to be listed.
m is an integer in the range of 1 to 449 or a label on the program memory. m is used to specify the
last line to be listed.
USAGE: DEFAULTS:
While Moving Yes Default Value 0, Last Line
In a Program No Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
List Arrays
LA
LL List Labels
LV List Variables

EXAMPLES:
:LS #A,6 List program starting at #A through line 6
2 #A
3 PR 500
4 BGA
5 AM
6 WT 200

Hint: Remember to quit the Edit Mode <cntrl> Q prior to giving the LS command. (DOS)

B140 Command Reference LS • 123

 LV
FUNCTION: List Variables
DESCRIPTION:
The LV command returns a listing of all of the program variables in memory. The listing will be
in alphabetical order.
ARGUMENTS: None
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format VF
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
List Arrays
LA
LS List Program
LL List Labels

EXAMPLES:
: LV
APPLE = 60.0000
BOY = 25.0000
ZEBRA = 37.0000

124 ● LV B140 Command Reference

 LZ
FUNCTION: Leading Zeros
DESCRIPTION:
The LZ command is used for formatting the values returned from interrogation commands or
interrogation of variables and arrays. By enabling the LZ function, all leading zeros of
returned values will be removed.
ARGUMENTS: LZ n where
n=1 Removes leading zeros
n=0 Does not remove leading zeros.
n=? Returns the state of the LZ function. ‘0’ does not remove and ‘1’ removes zeros
USAGE: DEFAULTS:
While Moving Yes Default Value 1
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_LZ contains the state of the LZ function. ‘0’ is disabled and ‘1’ is enabled.
EXAMPLES:
LZ 0 Disable the LZ function
TPA Interrogate the controller for current position of A axis
:0000021645.0000 Value returned by the controller
VAR1= Request value of variable “VAR1” (previously set to 10)
:0000000010.0000 Value of variable returned by controller
LZ1 Enable LZ function
TPA Interrogate the controller for current position of A axis
:21645.0000 Value returned by the controller
VAR1= Request value of variable “VAR1” (previously set to 10)
:10.0000 Value of variable returned by controller

B140 Command Reference LZ • 125

 MB
FUNCTION: Modbus
DESCRIPTION:
The MB command is used to communicate with I/O devices using the first two levels of the
Modbus protocol.
The format of the command varies depending on each function code. 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 that the controller
supports.

FUNCTION CODE DEFINITION

01 Read Coil Status (Read Bits)
02 Read Input Status (Read Bits)
03 Read Holding Registers (Read Words)
04 Read Input Registers (Read Words)
05 Force Single Coil (Write One Bit)
06 Preset Single Register (Write One Word)
07 Read Exception Status (Read Error Code)
15 Force Multiple Coils (Write Multiple Bits)
16 Preset Multiple Registers (Write Words)
17 Report Slave ID
Note: For those command formats that have “addr”, this is the slave address. The slave address
may be designated or defaulted to the device handle number.
Note: All the formats contain an h parameter. This designates the connection handle number (A
thru D).
ARGUMENTS:
MBh = -1, len, array[] where
len is the number of the bytes
Array[] is the name of array containing data
MBh = addr, 1, m, n, array[] where
m is the starting bit number
n is the number of bits
array[] of which the first element will hold result
MBh = addr, 2, m, n, array[] where
m is the starting bit number
n is the number of bits
array[] of which the first element will hold result

126 ● MB B140 Command Reference

 MBh = addr, 3, m, n, array[] where
m is the starting register number
n is the number of registers
array[] will hold the response
MBh = addr, 4, m, n, array[] where
m is the starting register number
n is the number of registers
array[] will hold the response
MBh = addr, 5, m, n where
m is the starting bit number
n is 0 or 1 and represents the coil set to off or on.
MBh = addr, 6, m, n where
m is the register number
n is the 16 bit value
MBh = addr, 7, array[] where
array[] is where the returned data is stored (one byte per element)
MBh = addr, 15, m, n, array[] where
m is the starting bit number
n is the number of bits
array[] contains the data (one byte per element)
MBh = addr, 16, m, n, array[] where
m is the starting register number
n is the number of registers
array[] contains the data (one 16 bit word per element)
MBh = addr, 17, array[] where
array[] is where the returned data is stored
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

Note: Port 502 must be used as the Modbus Ethernet handle. See the IH command for more info on how to
open a handle with a specific port number.

B140 Command Reference MB • 127

 MC
FUNCTION: Motion Complete - "In Position"
DESCRIPTION:

When used in stepper mode, the controller will hold up execution of the proceeding
commands until the controller has generated the same number of steps as specified in the
commanded position. The actual number of steps that have been generated can be
monitored by using the interrogation command TD. Note: The MC command is
recommended when operating with stepper motors 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.
ARGUMENTS: MC nnnn where
n is A,B,C,D or any combination to specify the axis or axes
No argument specifies that motion on all axes is complete.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line No
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
BG Begin
AM After Move

EXAMPLES:
#MOVE ;'Program MOVE
PR 2000,4000 ;'Independent Move on A and B axis
BG AB ;'Start the B-axis
MC AB ;'After the move is complete on T coordinate system,
MG "DONE"; TP ;'Print message
EN ;'End of Program

Hint: MC can be used to verify that the actual motion has been completed.

128 ● MC B140 Command Reference

 MF
FUNCTION: Forward Motion to Position
DESCRIPTION:
* When using a stepper motor, this condition is satisfied when the stepper position (as determined
by the output buffer) has crossed the specified Forward Motion Position.
ARGUMENTS: MF n,n,n,n, or MFA=n where
n is a signed integer in the range -2147483648 to 2147483647 decimal
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line No
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
AR Trippoint for after Relative Distances
AP Trippoint for after Absolute Position

EXAMPLES:
#TEST ;'Program Test
DP0 ;'Define zero
JG 1000 ;'Jog mode (speed of 1000 counts/sec)
BG A ;'Begin move
MF 2000 ;'After passing the position 2000
V1=_TDA ;'Assign V1 A position
MG "Position is", V1 ;'Print Message
ST ;'Stop
EN ;'End of Program

Hint: The accuracy of the MF command is the number of counts that occur in 2*TM μsec. Multiply the
speed by 2*TM μsec to obtain the maximum error. MF tests for absolute position. The MF command can
also be used when the specified motor is driven independently by an external device.

B140 Command Reference MF • 129

 MG
FUNCTION: Message
DESCRIPTION:
The MG command sends data out the bus. This can be used to alert an operator, send instructions
or return a variable value.
ARGUMENTS: MG "m", {^n}, V {Fm.n or $m,n} {N} {Ex} {Pn} where
"m" is a text message including letters, numbers, symbols or <ctrl>G (up to 72 characters).
{^n} is an ASCII character specified by the value n
V is a variable name or array element where the following formats can be used:
{Fm.n} Display variable in decimal format with m digits to left of decimal, and n to the right.
{Zm.n} Same as {Fm.n} but suppresses the leading zeros.
{$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
{N} Suppress carriage return line feed.
{Ex} Sends the message out the Ethernet handle x, where x is A,B,C,D
{P} Sends the message out the Serial port.
{Lx} Sends the message to the LCD, where x is 1 or 2 for the top or bottom line of the LCD.
Note: Multiple text, variables, and ASCII characters may be used, each must be separated by a
comma.
Note: The order of arguments is not important.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format Variable Format
Command Line Yes
Controller Usage ALL CONTROLLERS

EXAMPLES:
Case 1: Message command displays ASCII strings
MG "Good Morning" Displays the string
Case 2: Message command displays variables or arrays
MG "The Answer is", Total {F4.2} Displays the string with the content of variable 'Total'
in local format of 4 digits before and 2 digits after the decimal point.
Case 3: Message command sends any ASCII characters to the port.
MG {^13}, {^10}, {^48}, {^055} displays carriage return and the characters 0 and 7.

130 ● MG B140 Command Reference

 MO
FUNCTION: Motor Off
DESCRIPTION:
The MO command shuts off the control algorithm. The controller will continue to monitor the
motor position. To turn the motor back on use the Servo Here command (SH).
ARGUMENTS: MO nnnnnn where
n is A,B,C,D or any combination to specify the axis or axes.
No argument specifies all axes.
USAGE: DEFAULTS:
While Moving No Default Value 0
In a Program Yes Default Format 1.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_MOn contains the state of the motor for the specified axis.
RELATED COMMANDS:
SH Servo Here

EXAMPLES:
MO Turn off all motors
MOA Turn off the A motor. Leave the other motors unchanged
MOB Turn off the B motor. Leave the other motors unchanged
MOCA Turn off the C and A motors. Leave the other motors
unchanged
SH Turn all motors on
Bob=_MOA Sets Bob equal to the A-axis servo status
Bob= Return value of Bob. If 1, in motor off mode, If 0, in
servo mode

Hint: The MO command is useful for positioning the motors by hand. Turn them back on with the SH
command.

B140 Command Reference MO • 131

 MR
FUNCTION: Reverse Motion to Position
DESCRIPTION:
* When using a stepper motor, this condition is satisfied when the stepper position (as determined
by the output buffer) has crossed the specified Reverse Motion Position.
ARGUMENTS: MR n,n,n,n or MRA=n where
n is a signed integers in the range -2147483648 to 2147483647 decimal
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format
Command Line No
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
AR Trippoint for Relative Distances
AP Trippoint for after Absolute Position

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

Hint: The accuracy of the MR command is the number of counts that occur in 2*TM μsec. Multiply the
speed by 2*TM μsec to obtain the maximum error. MR tests for absolute position. The MR command can
also be used when the specified motor is driven independently by an external device.

132 ● MR B140 Command Reference

 MT
FUNCTION: Motor Type
DESCRIPTION:
Sets the step and direction signaling behavior.

ARGUMENTS: MT n,n,n,n or MTA=n where

n = -2 Specifies Step motor with active high step pulses
n=2 Specifies Step motor with active low step pulses
n = -2.5 Specifies Step motor with reversed direction and active high step pulses
n = 2.5 Specifies Step motor with reversed direction and active low step pulses
n=? Returns the value of the motor type for the specified axis.
USAGE: DEFAULTS:
While Moving No Default Value 2,2,2,2
In a Program Yes Default Format 1.1
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_MTn contains the value of the motor type for the specified axis.
RELATED COMMANDS:
CE Configure encoder type

EXAMPLES:
MT 2,2,2,2
MT ?,? Interrogate motor type
V=_MTA Assign motor type to variable

B140 Command Reference MT • 133

 MW
FUNCTION: Modbus Wait
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. If
the response is never received, then the #TCPERR subroutine will be triggered and an error
code of 123 will occur on _TC.
ARGUMENTS: MWn where
n=0 Disables the Modbus Wait function
n=1 Enables the Modbus Wait function
USAGE: DEFAULTS:
While Moving Yes Default Value 1
In a Program Yes Default Format 1.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
MW? contains the state of the Modbus Wait.
_MW contains returned function code
_MW1 contains returned error code
RELATED COMMANDS:
MB Modbus

EXAMPLES:
MW1 Enables Modbus Wait
SB1001 Set Bit 1 on Modbus Handle A
CB1001 Clear Bit 1 on Modbus Handle A

Hint: The MW command ensures that the command that was sent to the Modbus device was successfully
received before continuing program execution. This prevents the controller from sending multiple
commands to the same Modbus device before it has a chance to execute them.

134 ● MW B140 Command Reference

 NO (‘ apostrophe also accepted)
FUNCTION: No Operation
DESCRIPTION:
The NO or an apostrophe (‘) command performs no action in a sequence, but can be used as a
comment in a program. This helps to document a program.
ARGUMENTS: NO m where
m is any group of letters and numbers
up to 32 characters can follow the NO command
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_NO returns a bit field 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, and 15 means
all 4 threads are running).
EXAMPLES:
#A ;'Program A
NO ;'No Operation
NO This Program ;'No Operation
NO Does Absolutely ;'No Operation
NO Nothing ;'No Operation
EN ;'End of Program

B140 Command Reference NO (‘ apostrophe also accepted) • 135

 OB
FUNCTION: Output Bit
DESCRIPTION:
The OB n, logical expression command defines output bit n as either 0 or 1 depending on the
result from the logical expression. Any non-zero value of the expression results in a one on
the output.
ARGUMENTS: OB n, expression where
n denotes the output bit
expression is any valid logical expression, variable or array element.
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format
Command Line Yes
Controller Usage ALL CONTROLLERS

EXAMPLES:
OB 1, POS=1 If POS 1 is non-zero, Bit 1 is high.
If POS 1 is zero, 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

136 ● OB B140 Command Reference

 OE
FUNCTION: Off On Error
DESCRIPTION:
Sets axis to stop when SPM Error.
ARGUMENTS: OE n,n,n,n,n or OEA=n where
n=1 Motor will stop on SPm error.
n=2 Motor shut off (MO)by limit switches.
n=3 Motor shut off by SPM, limit switch, or abort
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 1.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_OEn contains the status of the off on error function for the specified axis.
RELATED COMMANDS:
Abort

SH Servo Here
#POSERR Error Subroutine
#LIMSWI Limit switch automatic subroutine

EXAMPLES:
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

Hint: The OE command is useful for preventing system damage.

B140 Command Reference OE • 137

 OP
FUNCTION: Output Port
DESCRIPTION:
The OP command sends data to the output ports of the controller. You can use the output port to
control external switches and relays.
ARGUMENTS: OP m where
m is an integer in the range 0 to 15 decimal, or $0 to $F hexadecimal.
m is the decimal representation of the general output bits. 1 through Output 4.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 5.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_OP0 contains the value of the first argument, m
RELATED COMMANDS:
SB Set output bit
CB Clear output bit

EXAMPLES:
OP 0 Clear Output Port -- all bits
OP $05 Set outputs 1,3; clear the others
MG _OP0 Returns the first parameter "m"

138 ● OP B140 Command Reference

 @OUT[n]

FUNCTION: Read digital output

DESCRIPTION:
Returns the value of the given digital output (either 0 or 1)
ARGUMENTS: @OUT[n] where

n is an unsigned integer in the range 1 to 4

USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
@AN[n] Read analog input
@IN[n] Read digital input
SB Set digital output bit
CB Clear digital output bit
OF Set analog output offset

EXAMPLES:
MG @OUT[1] ;'print digital output 1
:1.0000
x = @OUT[1] ;'assign digital output 1 to a variable

B140 Command Reference @OUT[n] • 139

 PA
FUNCTION: Position Absolute
DESCRIPTION:
The PA command will set the final destination of each axis. The position is referenced to the
absolute zero.
ARGUMENTS: PA n,n,n,n, or PAA=n where
n is a signed integers in the range -2147483648 to 2147483647 decimal. Units are in encoder
counts.
n=? Returns the commanded position at which motion stopped.
USAGE: DEFAULTS:
While Moving No Default Value -
In a Program Yes Default Format Position Format
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_PAn contains the last commanded position at which motion stopped.
RELATED COMMANDS:
PR Position relative
SP Speed
AC Acceleration
DC Deceleration
BG Begin
PF Position Formatting

EXAMPLES:
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;AM Execute Motion and Wait for Motion Complete
PA ?,?,?,? Returns the current commanded position after motion has
completed
:400, -600, 500, 200
BG Start the move
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.

140 ● PA B140 Command Reference

 PF
FUNCTION: Position Format
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 fractions 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. If PF is negative, 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 can be used to format values returned from the following commands:
BL ? LE ?
PA ?
DP ? PR ?
EM ?
FL ? VE ?
IP ? TE
TP
ARGUMENTS: PF m.n where
m is an integer between -8 and 10 which represents the number of places preceding the decimal
point. A negative sign for m specifies hexadecimal representation.
n is an integer between 0 and 4 which represent the number of places after the decimal point.
n=? Returns the value of m.
USAGE: DEFAULTS:
While Moving Yes Default Value 10.0
In a Program Yes Default Format 2.1
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_PF contains the value of the position format parameter.
EXAMPLES:
TPX Tell position of X
:0 Default format
PF 5.2 Change format to 5 digits of integers and 2 of fractions
TPX Tell Position
:21.00
PF-5.2 New format. Change format to hexadecimal
TPX Tell Position
:$00015.00 Report in hex

B140 Command Reference PF • 141

 P1CD

FUNCTION: Serial port 1 code

DESCRIPTION:
P1CD returns the status of the serial port
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
P1CH Serial port 1 character
Serial port1 number
P1NM Serial port 1 string
CI Configure #COMINT

#COMINT Communication interrupt automatic subroutine

EXAMPLES:
:MG "TEST" {P1} ;'send a message to the hand terminal
:MG P1CD ;'no characters entered on hand terminal
0.0000
:MG P1CD ;'the number 6 was pushed on the hand terminal
1.0000
:MG P1CD ;'enter key pushed on hand terminal
3.0000
:MG P1CD ;'the character B was pushed (shift f2) then enter
2.0000

142 ● P1CD B140 Command Reference

 P1CH

FUNCTION: Serial port 1 character

DESCRIPTION:
P1CH returns the last character sent to the serial port.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
P1CD Serial port1 code
P1NM Serial port1 number
P1ST Serial port 1 string
CI Configure #COMINT

#COMINT Communication interrupt automatic subroutine

B140 Command Reference P1CH • 143

 P1NM

FUNCTION: Serial port 1 number

DESCRIPTION:
P1NM 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.
P1NM returns the last number (followed by carriage return) sent to serial port
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
P1CD Serial port 1 code
P1CH Serial port1 character
P1ST Serial port 1 string
CI Configure #COMINT

#COMINT Communication interrupt automatic subroutine

144 ● P1NM B140 Command Reference

 P1ST

FUNCTION: Serial port 1 string

DESCRIPTION:
P1ST returns the last string (followed by carriage return) NO MORE THAN SIX CHARACTERS
CAN BE ACCESSED.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
P1CD Serial port 1 code
P1CH Serial port 1 character
P1NM Serial port 1 number
CI Configure #COMINT

#COMINT Communication interrupt automatic subroutine

B140 Command Reference P1ST • 145

 #POSERR
FUNCTION: Position error automatic subroutine
DESCRIPTION:
Automate subroutine run when S.P.M. determines a stepper error.
USAGE:
While Moving Yes
In a Program Yes
Command Line No
Controller Usage ALL

RELATED COMMANDS:
OE Off an error
YA Step Drive Resolution
YB Step Motor Resolution
YE Encoder Resolution
YR Error Correction
YS Stepper Position Maintenance. Mode (SPM) Enable
Q5 Error Magnitude

EXAMPLES:
#A ;'"Dummy" program
JP #A

#POSERR ;'Position error routine

MG "TE > ER" ;'Send message
RE1 ;'Return to main program

NOTE: The automatic subroutine runs in thread 0.

NOTE: Use RE to end the routine

146 ●
#POSERR B140 Command Reference
 PR
FUNCTION: Position Relative
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: PR n,n,n,n or PRA=n where
n is a signed integer in the range -2147483648 to 2147483647 decimal. Units are in encoder
counts
n=? Returns the current incremental distance for the specified axis.
USAGE: DEFAULTS:
While Moving No Default Value 0
In a Program Yes Default Format Position Format
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_PRn contains the current incremental distance for the specified axis.
RELATED COMMANDS:
PA Position Absolute
BG Begin
AC Acceleration
DC Deceleration
SP Speed
IP Increment Position
PF Position Formatting

EXAMPLES:
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.

B140 Command Reference PR • 147

 PT
FUNCTION: Position Tracking
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 on the fly. The motion
profile is trapezoidal with the parameters controlled by acceleration, deceleration, and speed
(AD, DC, SP). The absolute position may be specified such that the axes will begin motion,
continue in the same direction, reverse directions, or decelerate to a stop. When an axis is in
the special mode, the ST command, will exit the mode. The PA command is used to give the
controller an absolute position target. Motion commands other than PA are not supported in
this mode.
ARGUMENTS: PT n,n,n,n
n=0 or 1 where 1 designates the controller is in the special mode.
n=? returns the current setting
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 1.0
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
PA Position Absolute
AC Acceleration
DC Deceleration
SP Speed

EXAMPLES:
#A
PT1,1,1,1 ;'Enable the position tracking mode for axes X, Y, Z, and W
#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.
PAV1,V2,V3,V4 ;'Command XYZW axes to move to absolute positions. Motion
;'begins when the command is processed. BG is not required
;'to begin motion in this mode. In this example, it is
;'assumed that the user is updating the variables 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

Special Notes: The AM, and MC trip points are not valid in this mode. It is recommended to use MF and
MR as trip points with this command, as they allow the user to specify both the absolute position, and the
direction. The AP trip point may also be used.

148 ● PT B140 Command Reference

 PW
FUNCTION: Password
DESCRIPTION:
The password can be set with the command PW password,password where the password can be
up to 8 alphanumeric characters. The default value after master reset is a null string. The
password can only be changed when the controller is in the unlocked state (^L^K). The
password is burnable but cannot be interrogated. If you forget the password you must master
reset the controller to gain access.
ARGUMENTS: PW n,n where
n is a string from 0 to 8 characters in length

USAGE: DEFAULTS:
While Moving Yes Default Value “” (null string)
In a Program No Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
<control>L<control>K Lock/Unlock
ED Edit program
UL Upload program
LS List program
TR Trace program

EXAMPLES:
:PWtest,test Set password to "test"
:^L^K test,1 Lock the program
:ED Attempt to edit program
?
:TC1
106 Privilege violation
:
PWtest,test Set the password to "test"

B140 Command Reference PW • 149

 QD
FUNCTION: Download Array
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. The array elements can be separated by a
comma ( , ) or by <CR> <LF>. The downloaded array is terminated by a \.
ARGUMENTS: QD array[],start,end where
array[] is valid array name
start is index of first element of array (default=0)
end is index of last element of array (default = size-1)
USAGE: DEFAULTS:
While Moving Yes Default Value start=0, end=size-1
In a Program No Default Format
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
QU Upload array

HINT:
Using Galil terminal software, the command can be used in the following manner:
1. Set the timeout to 0
2. Send the command QD
3a. Use the send file command to send the data file.
OR
3b. Enter data manually from the terminal. End the data entry with the character '\'

150 ● QD B140 Command Reference

 QR
FUNCTION: Data Record
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.
ARGUMENTS: QR nnnnnn where
n is A,B,C,D, or I or any combination to specify the axis, axes, sequence, or I/O status
S represent the S coordinated motion planeI represents the status of the I/O
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

Note: The Galil windows terminal will not display the results of the QR command since the results are in
binary format.

B140 Command Reference QR • 151

 QS
FUNCTION: Error Magnitude
DESCRIPTION:
The QS command reports the magnitude of error, in step counts, for axes in Stepper Position
Maintenance mode. A step count is directly proportional to the resolution of the step drive.
ARGUMENTS: QS nnnn or QSn = ? where
n is A,B,C,D, or any combination to specify the axis or axes
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 1.4
Command Line Yes

OPERAND USAGE:
_QSn contains the error magnitude in drive step counts for the given axis.
RELATED COMMANDS:
YA Step Drive Resolution
YB Step Motor Resolution
YC Encoder Resolution
YR Error Correction
YS Stepper Position Maintenance Mode Enable, Status

EXAMPLES:
1. For Q microstepping drive, query the error of B axis:
:QSB=?
:253 This shows 253 step counts of error. The drive
resolution is 64 microsteps per full motor step, nearly
four full motor steps of error.
2. Query the value of all axes:
:QS
Response shows all axes error values
:0,253,0,0,0,0,0,0

Notes:
1. When QS exceeds three full motor steps of error, the YS command indicates the excessive
position error condition by changing to 2. This condition also executes the #POSERR
automatic subroutine if included in the runtime code.
2. The operand use of the QS command can be used in conjunction with the YR command to
correct for position error. See the YR command for more details.

152 ● QS B140 Command Reference

 QU
FUNCTION: Upload Array
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. The uploaded array will be followed by a <control>Z as an end of text marker.
ARGUMENTS: QU array[],start,end,delim where
“array[]” is a valid array name
“start” is the first element of the array (default=0)
“end” is the last element of the array (default = last element)
“delim” specifies the character used to delimit the array elements. If delim is 1, then the array
elements will be separated by a comma. Otherwise, the elements will be separated by a
carriage return.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
QD Download array

B140 Command Reference QU • 153

 QZ
FUNCTION: Return/ Data Record information
DESCRIPTION:
The QZ command is an interrogation command that returns information regarding data record
transfers. The controller’s response to this command will be the return of 4 integers separated
by commas. The four fields represent the following:
First field returns the number of axes.
Second field returns the number of bytes to be transferred for general status
Third field returns the number bytes to be transferred for coordinated move status
Fourth field returns the number of bytes to be transferred for axis specific information
ARGUMENTS: QZ
USAGE: DEFAULTS:
While Moving Yes Default Value ---
In a Program Yes Default Format
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
DR Ethernet data record update rate

154 ● QZ B140 Command Reference

 RA
FUNCTION: Record Array
DESCRIPTION:
The RA command selects one through four arrays for automatic data capture. The selected arrays
must be dimensioned by the DM command. The data to be captured is specified by the RD
command and time interval by the RC command.
ARGUMENTS: RA n [],m [],o [],p [] where
n,m,o and p are dimensioned arrays as defined by DM command. The [] contain nothing.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
DM Dimension Array
RD Record Data
RC Record Interval

EXAMPLES:
#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

Hint: 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.

B140 Command Reference RA • 155

 RC
FUNCTION: Record
DESCRIPTION:
The RC command begins recording for the Automatic Record Array Mode (RA). RC 0 stops
recording .
ARGUMENTS: RC n,m where
n is an integer 1 thru 8 and specifies 2n samples between records. RC 0 stops recording.
m is optional and specifies the number of records to be recorded. If m is not specified, the DM
number will be used. A negative number for m causes circular recording over array addresses
0 to m-1. The address for the array element for the next recording can be interrogated with
_RD.
n = ? Returns status of recording. ‘1’ if recording, ‘0’ if not recording.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_RC contains status of recording. ‘1’ if recording, ‘0’ if not recording.
RELATED COMMANDS:
DM Dimension Array
RD Record Data
QZ Record Array Mode

EXAMPLES:
#RECORD ;'Record
DM POS ;'Define Array
RA T800 ;'Specify Record Mode
RD POS ;'Specify Data Type
RC TDA ;'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

156 ● RC B140 Command Reference

 RD
FUNCTION: Record Data
DESCRIPTION:
The RD command specifies the data type to be captured for the Record Array (RA) mode. The
command type includes:
TIME Time in servo sample as read by the TIME command
_DEn 2nd encoder

_TPn Position
_TDn Stepper Position

_SHn Commanded position

_RLn Latched position
_TI Inputs
_OP Outputs
_TSn Switches, only 0-3 bits valid
_SCn Stop code

where ‘n’ is the axis specifier, A…D

ARGUMENTS: RD m1, m2, m3, m4, where
the arguments are data types to be captured using the record Array feature. The order is important.
Each data type corresponds with the array specified in the RA command.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_RD contains the address for the next array element for recording.
RELATED COMMANDS:
RA Record Array
RC Record Interval
DM Dimension Array

EXAMPLES:
DM ERRORA[50],ERRORB[50] Define array
RA ERRORA[],ERRORB[ ] Specify record mode
RD _TEA,_TEB Specify data type
RC1 Begin record
JG 1000;BG Begin motion

B140 Command Reference RD • 157

 RE
FUNCTION: Return from Error Routine
DESCRIPTION:
The RE command is used to end a position error handling subroutine or limit switch handling
subroutine. The error handling subroutine begins with the #POSERR label. The limit switch
handling subroutine begins with the #LIMSWI. An RE at the end of these routines causes a
return to the main program. Care should be taken to be sure the error or limit switch
conditions no longer occur to avoid re-entering the subroutines. If the program sequencer was
waiting for a trippoint to occur, prior to the error interrupt, the trippoint condition is preserved
on the return to the program if RE1 is used. A motion trippoint such as MF or MR requires
the axis to be actively profiling in order to be restored with RE1. RE0 clears the trippoint. To
avoid returning to the main program on an interrupt, use the ZS command to zero the
subroutine stack.
ARGUMENTS: RE n where
n=0 Clears the interrupted trippoint
n=1 Restores state of trippoint
no argument clears the interrupted trippoint
USAGE: DEFAULTS:
While Moving No Default Value -
In a Program Yes Default Format -
Command Line No
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
#POSERR Error Subroutine
#LIMSWI Limit Subroutine

EXAMPLES:
#A;JP #A;EN ;'Label for main program
#POSERR ;'Begin Error Handling Subroutine
MG "ERROR" ;'Print message
SB1 ;'Set output bit 1
RE ;'Return to main program and clear trippoint

158 ● RE B140 Command Reference

 REM
FUNCTION: Remark
DESCRIPTION:
REM is used for comments. 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. REM differs from NO (or ‘) in the following ways:
(1) NO comments are downloaded to the controller and REM comments aren’t
(2) NO comments take up execution time and REM comments don’t; therefore, REM should be
used for code that needs to run fast.
(3) REM comments cannot be recovered when uploading a program but NO comments are
recovered. Thus the uploaded program is less readable with REM.
(4) NO comments take up program line space and REM lines don’t.
(5) REM comments must be the first and only thing on a line, whereas NO can be used to place
comments to the right of code on the same line.

NO (or ‘) should be used instead of REM unless speed or program space is an issue.
ARGUMENTS: REM n where
n is a text string comment
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line No
Controller Usage ALL

RELATED COMMANDS:
NO (‘ apostrophe also No operation (comment)
accepted)

EXAMPLES:

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

B140 Command Reference REM • 159

 RI
FUNCTION: Return from Interrupt Routine
DESCRIPTION:
The RI command is used to end the interrupt subroutine beginning with the label #ININT. An RI
at the end of this routine causes a return to the main program. The RI command also re-
enables input interrupts. If the program sequencer was interrupted while waiting for a
trippoint, such as WT, RI1 restores the trippoint on the return to the program. A motion
trippoint such as MF or MR requires the axis to be actively profiling in order to be restored
with RI1. RI0 clears the trippoint. 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.
ARGUMENTS: RI n where
n=0 Clears the interrupted trippoint
n=1 Restores state of trippoint
no argument clears the interrupted trippoint
USAGE: DEFAULTS:
While Moving No Default Value -
In a Program Yes Default Format -
Command Line No
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
#ININT Input interrupt subroutine
II Enable input interrupts

EXAMPLES:
#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

160 ● RI B140 Command Reference

 RL
FUNCTION: Report Latched Position
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 a 0 must occur on the appropriate input. Each axis uses a
specific general input for the latch input:
X (A) axis latch Input 1
Y (B) axis latch Input 2
Z (C) axis latch Input 3
W (D) axis latch Input 4

The armed state of the latch can be configured using the CN command.
Note: The Latch Function works with the main encoder. When working with a stepper motor
without an encoder, the latch can be used to capture the stepper position. To do this,
place a wire from the controller Step (PWM) output into the main encoder input, channel
A+. Connect the Direction (sign) output into the channel B+ input. Configure the main
encoder for Step/Direction using the CE command. The latch will now capture the
stepper position based on the pulses generated by the controller.
ARGUMENTS: RL nnnnnn where
n is X,Y,Z,W,A,B,C,D, or any combination to specify the axis or axes
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format Position Format
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_RLn contains the latched position of the specified axis.
RELATED COMMAND:
AL Arm Latch

EXAMPLES:
JG ,5000 Set up to jog the B-axis
BGB Begin jog
ALB Arm the B latch; assume that after about 2 seconds, input goes low
RLB Report the latch
:10000

B140 Command Reference RL • 161

 @RND[n]

FUNCTION: Round
DESCRIPTION:
Rounds the given number to the nearest integer
ARGUMENTS: @RND[n]
n is a signed number in the range -2147483648 to 2147483647.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
@INT[n] Truncates to the nearest integer

EXAMPLES:
:MG @RND[1.2]
1.0000
:MG @RND[5.7]
6.0000
:MG @RND[-1.2]
-1.0000
:MG @RND[-5.7]
-6.0000
:MG @RND[5.5]
6.0000
:MG @RND[-5.5]
-5.0000
:

162 ● @RND[n] B140 Command Reference

 RP
FUNCTION: Reference Position
DESCRIPTION:
This command returns the commanded reference position of the motor(s).
ARGUMENTS: RP nnnnnn where
n is A,B,C,D, or N, or any combination to specify the axis or axes`
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format Position Format
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_RPn contains the commanded reference position for the specified axis.
RELATED COMMAND:
TP Tell Position

EXAMPLES: 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
LZ0 Turn leading zeroes on
RP
0000200,-0000010,0000000,-0000110 Return A,B,C,D reference positions
RPA
0000200 Return the A motor reference position
RPB
-0000010 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

Hint: RP command is useful when operating step motors since it provides the commanded
position in steps when operating in stepper mode.

B140 Command Reference RP • 163

 RS
FUNCTION: Reset
DESCRIPTION:
The RS command resets the state of the processor to its power-on condition. The previously saved
state of the controller, along with parameter values, and saved sequences are restored.
RS-1 Soft master reset. Restores factory defaults without changing EEPROM. To restore
EEPROM settings use RS with no arguments.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program No Default Format 3.0
Command Line Yes
Controller Usage ALL CONTROLLERS

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 (there should be no program to execute)

Bit 2 For program check sum error
Bit 1 For parameter check sum error
Bit 0 For variable check sum error

164 ● RS B140 Command Reference

 <control>R<control>S
FUNCTION: Master Reset
DESCRIPTION:
This command resets the controller to factory default settings and erases EEPROM.
A master reset can also be performed by installing a jumper on the controller at the location
labeled MRST and resetting the controller (power cycle or pressing the reset button). Remove
the jumper after this procedure.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program No Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

B140 Command Reference <control>R<control>S • 165

 <control>R<control>V
FUNCTION: Revision Information
DESCRIPTION:
The Revision Information command causes the controller to return firmware revision information.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program No Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

166 ● <control>R<control>V B140 Command Reference

 SA
FUNCTION: Send command
DESCRIPTION:
SA sends a command form one controller to another via Ethernet.
NOTE: A wait statement (e.g. WT5) must be inserted between successive calls to SA.
ARGUMENTS: SAh=arg or SAh=arg, arg, arg, arg, arg, arg, arg, arg, where
h is the handle being used to send commands to the slave controller.
arg is a number, controller operand, variable, mathematical function, or string; The range for
numeric values is 4 bytes of integer (231) followed by two bytes of fraction (+/-
2,147,483,647.9999). The maximum number of characters for a string is 38 characters.
Strings are identified by quotations.
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
USAGE: DEFAULTS:
While Moving Yes Default Value -----
In a Program Yes Default Format -----
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_SAhn gives the value of the response to the command sent with an SA command. The h value
represents the handle A thru D and the n value represents the specific field returned from the
controller (0-3). If the specific field is not used, the operand will be –2^31.
RELATED COMMAND:
MG Display messages
IH
8 Opens handle

EXAMPLES:
#A
IHA=10,0,0,12 ;'Configures handle A to be connected to a controller with
;'the IP address 10.0.0.12
#B;JP#B,_IHA2<>-2 ;'Wait for connection
SAA="KI", 1, 2 ;'Sends the command to handle A (slave controller): KI 1,2
WT5
SAA="TE" ;'Sends the command to handle A (slave controller): TE
WT5
MG_SAA0 ;'Display the content of the operand_SAA (first response to
;'TE command)
: 132 --response from controller--
MG_SAA1 ;'Display the content of the operand_SAA (2nd response to TE
;'command)
: 12 --response from controller--
SAA="TEMP=",16 ;'Sets variable temp equal to 16 on handle A controller
EN ;'End Program

B140 Command Reference SA • 167

 SB
FUNCTION: Set Bit
DESCRIPTION:
The SB command sets one of the output bits.
ARGUMENTS: SB n where
n is an integer which represents a specific controller output bit to be set high (output = 1).
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMAND
CB Clear Bit

EXAMPLES:
SB 4 Set output line 4
SB 1 Set output line 1

168 ● SB B140 Command Reference

 SC
FUNCTION: Stop Code
DESCRIPTION:
The SC command allows the user to determine why a motor stops. The controller responds with
the stop code as follows:
CODE MEANING CODE MEANING
0 Motors are running, independent 10 Stopped after homing (HM)
mode
1 Motors stopped at commanded 11 Stopped by Selective Abort
independent position Input
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 16 Stepper Position Maintenance
Command (ST) Mode error exceeded (QS)
6 Stopped by Abort input 50 Contour running
7 Stopped by Abort command (AB) 51 Contour Stop
8 Decelerating or stopped by Off on
Error (OE1)
9 Stopped after Finding Edge (FE) 100 Motors are running, vector
sequence
101 Motors stopped at commanded
vector

ARGUMENTS: SC nnnnnn where

n is A,B,C,D, or any combination to specify the axis or axes
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format 3.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_SCn contains the value of the stop code for the specified axis.
RELATED COMMANDS:
LCD Update

EXAMPLES:
Tom =_SCD Assign the Stop Code of D to variable Tom

B140 Command Reference SC • 169

 SD
FUNCTION: Switch Deceleration
DESCRIPTION:
The Limit Switch Deceleration command (SD) sets the linear deceleration rate of the motors when
a limit switch has been reached. The parameters will be rounded down to the nearest factor of
1024 and have units of counts per second squared.
ARGUMENTS: SD n,n,n,n, or SDA=n where
n is an unsigned numbers in the range 1024 to 1073740800
n=? Returns the deceleration value for the specified axes.
USAGE: DEFAULTS:
While Moving Yes* Default Value 256000
In a Program Yes Default Format 10.0
Command Line Yes
Controller Usage ALL CONTROLLERS
*
SD command cannot be specified while moving.
OPERAND USAGE:
_SDn contains the deceleration rate for the specified axis.
RELATED COMMANDS:
AC Acceleration
DC Deceleration
PR Position Relative
PA Position Absolute
SP Speed

EXAMPLES:
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

Note: The SD command may be changed during the move in JG move, but not in PR or PA move.

170 ● SD B140 Command Reference

 SH
FUNCTION: Servo Here
DESCRIPTION:
The SH commands tells the controller to the amplifer.
This command can be useful when the position of a motor has been manually adjusted following a
motor off (MO) command.
ARGUMENTS: SH nnnn where
n is A,B,C,D or any combination to specify the axis or axes
USAGE: DEFAULTS:
While Moving No Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
MO Motor-off

EXAMPLES:
SH Activate A,B,C,D motors
SHA Only activate the A motor, the B,C and D motors remain in
its previous state.
SHB Activate the B motor; leave the A,C and D motors
unchanged
SHC Activate the C motor; leave the A,B and D motors
unchanged
SHD Activate the D motor; leave the A,B and C motors
unchanged

Note: The SH command changes the coordinate system. Therefore, all position commands given prior to
SH, must be repeated. Otherwise, the controller produces incorrect motion.

B140 Command Reference SH • 171

 @SIN[n]

FUNCTION: Sine
DESCRIPTION:
Returns the sine of the given angle in degrees
ARGUMENTS: @SIN[n] where
n is a signed number in degrees in the range of -32768 to 32767, with a fractional resolution of 16-
bit..
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
@ASIN[n] Arc sine
@COS[n] Cosine
@ATAN[n] Arc tangent
@ACOS[n] Arc cosine
@TAN[n] Tangent

EXAMPLES:
: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
:

172 ● @SIN[n] B140 Command Reference

 SL
FUNCTION: Single Step
DESCRIPTION:
For debugging purposes. Single Step through the program after execution has paused at a
breakpoint (BK). Optional argument allows user to specify the number of lines to execute
before pausing again. The BK command resumes normal program execution.
ARGUMENTS: SL n where
n is an integer representing the number of lines to execute before pausing again
USAGE: DEFAULTS:
While Moving Yes Default Value 1
In a Program No
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
BK Breakpoint
TR Trace

EXAMPLES:
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

B140 Command Reference SL • 173

 SM
FUNCTION: Subnet Mask
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: SM sm0, sm1, sm2, sm3 or SM n where
sm0, sm1, sm2, sm3 are 1 byte numbers (0 to 255) separated by commas and represent the
individual fields of the subnet mask.
n is the subnet mask for the controller, which is specified as an integer representing the signed 32
bit number (two’s complement).
SM? will return the subnet mask of the controller
USAGE: DEFAULTS:
While Moving Yes Default Value SM 0, 0, 0, 0
In a Program Yes Default Format
Command Line Yes

OPERAND USAGE:
_SM0 contains the subnet mask representing a 32 bit signed number (Two’s complement)
RELATED COMMANDS:
IH Internet Handle
IA IP address

EXAMPLES:
SM 255, 255, 255, 255 Ignore all incoming Ethernet packets
SM 0, 0, 0, 0 Process all incoming Ethernet packets

174 ● SM B140 Command Reference

 SP
FUNCTION: Speed
DESCRIPTION:
This command sets the slew speed of any or all axes for independent moves.
Note: Negative values will be interpreted as the absolute value.
ARGUMENTS: SP n,n,n,n or SPA=n where
n is an unsigned even number in the range 0 to 3,000,000 motors. The units are stops per second.

n=? Returns the speed for the specified axis.

USAGE: DEFAULTS:
While Moving Yes Default Value 25000
In a Program Yes Default Format 8.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_SPn contains the speed for the specified axis.
RELATED COMMANDS:
AC Acceleration
DC Deceleration
PA Position Absolute
PR Position Relative
BG Begin

EXAMPLES:
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

Note: For vector moves, use the vector speed command (VS) to change the speed. SP is not a "mode" of
motion like JOG (JG).

B140 Command Reference SP • 175

 @SQR[n]
FUNCTION: Square Root
DESCRIPTION:
Takes the square root of the given number. If the number is negative, the absolute value is taken
first.
ARGUMENTS: @SQR[n] where
n is a signed number in the range -2147483648 to 2147483647.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
@ABS[n] Absolute value

EXAMPLES:
:MG @SQR[2]
1.4142
:MG @SQR[-2]
1.4142
:

176 ● @SQR[n] B140 Command Reference

 ST
FUNCTION: Stop
DESCRIPTION:
The ST command stops motion on the specified axis. Motors will come to a decelerated stop. If
ST is sent from the host without an axis specification, program execution will stop in addition
to motion.
ARGUMENTS: ST nnnnnn where
n is A,B,C,D, or any combination to specify the axis or sequence. If the specific axis or sequence
is specified, program execution will not stop.
No argument will stop motion on all axes.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
BG Begin Motion

DC Deceleration rate

EXAMPLES:
ST A Stop A-axis motion
ST S Stop coordinated sequence
ST ABCD Stop A,B,C,D motion
ST Stop ABCD motion
ST SCD Stop coordinated AB sequence, and C and D motion

Hint: Use the after motion complete command, AM, to wait for motion to be stopped.

B140 Command Reference ST • 177

 @TAN[n]
FUNCTION: Tangent
DESCRIPTION:
Returns the tangent of the given angle in degrees
ARGUMENTS: @TAN[n] where
n is a signed number in degrees in the range of -32768 to 32767, with a fractional resolution of 16-
bit.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL

RELATED COMMANDS:
@ASIN[n] Arc sine
@COS[n] Cosine
@ATAN[n] Arc tangent
@ACOS[n] Arc cosine
@SIN[n] Sine

EXAMPLES:
:MG @TAN[-90]
-2147483647.0000
:MG @TAN[0]
0.0000
:MG @TAN[90]
2147483647.0000
:

178 ● @TAN[n] B140 Command Reference

 TB
FUNCTION: Tell Status Byte
DESCRIPTION:
The TB command returns status information from the controller as a decimal number. Each bit of
the status byte denotes the following condition when the bit is set (high):

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

ARGUMENTS:
TB ? returns the status byte
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format 3.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_TB Contains the status byte
EXAMPLES:
TB?
:65 Data Record Active and Echo is on (26 + 20 = 64 + 1 = 65)

B140 Command Reference TB • 179

 TC
FUNCTION: Tell Error Code
DESCRIPTION:
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 at a command or when the response to a command is a question
mark. The TC command will provide the user with a diagnostic tool. After TC has been read,
the error code is set to zero.
ARGUMENTS: TC n where
n=0 Returns code only
n=1 Returns code and message
n=? Returns the error code
No argument will provide the error code for all axes
CODE EXPLANATION CODE EXPLANATION
1 Unrecognized command 56 Array index invalid or out of range
2 Command only valid from program 57 Bad function or array
3 Command not valid in program 58 Bad command response (i.e._GNX)
4 Operand error 59 Mismatched parentheses
5 Input buffer full 60 Download error - line too long or too
many lines
6 Number out of range 61 Duplicate or bad label
7 Command not valid while running 62 Too many labels
8 Command not valid when not running 63 IF statement without ENDIF
9 Variable error 65 IN command must have a comma
10 Empty program line or undefined label 66 Array space full
11 Invalid label or line number 67 Too many arrays or variables
12 Subroutine more than 16 deep 71 IN only valid in task #0
13 JG only valid when running in jog 80 Record mode already running
mode
14 EEPROM check sum error 81 No array or source specified
15 EEPROM write error 82 Undefined Array
16 IP incorrect sign during position move 83 Not a valid number
or IP given during forced deceleration
17 ED, and DL not valid while program 84 Too many elements
running
18 Command not valid when contouring 90 Only A B C D valid operand
19 Application strand already executing 98 Binary Commands not valid in
application program
20 Begin not valid with motor off 99 Bad binary command number
21 Begin not valid while running 100 Not valid when running ECAM
22 Begin not possible due to Limit Switch 101 Improper index into ET
(must be 0-256)

180 ● TC B140 Command Reference

 24 Begin not valid because no sequence 102 No master axis defined for ECAM
defined
25 Variable not given in IN command 103 Master axis modulus greater than
256∗EP value
28 S operand not valid 104 Not valid when axis performing
ECAM
29 Not valid during coordinated move 105 EB1 command must be given first
30 Sequence segment too short 106 Privilege violation
31 Total move distance in a sequence > 2
billion
32 More than 31 segments in a sequence
33 VP or CR commands cannot be mixed
with LI commands
41 Contouring record range error
42 Contour data being sent too slowly
46 Gear axis both master and follower 119 Not valid for axis configured as
stepper
50 Not enough fields 133 Command not valid when locked
51 Question mark not valid 134 All motors must be in MO for this
command
52 Missing " or string too long 135 Motor must be in MO
53 Error in {} 136 Invalid Password
54 Question mark part of string 137 Invalid lock setting
55 Missing [ or [] 138 Passwords not identical

USAGE: DEFAULTS:
While Moving Yes Default Value ---
In a Program Yes Default Format 3.0
Not in a Program Yes
Controller Usage ALL CONTROLLERS

USAGE:
_TC contains the error code
EXAMPLES:
GF32 Bad command
:? Tell error code
TC
:001 Unrecognized command

B140 Command Reference TC • 181

 #TCPERR
FUNCTION: Ethernet communication error automatic subroutine
DESCRIPTION:
The following error (see TC) occurs when a command such as MG “hello” {EA} is sent to a failed
Ethernet connection:

123 TCP lost sync or timeout

This error means that the client on handle A did not respond with a TCP acknowledgement (for
example because the Ethernet cable was disconnected). Handle A is closed in this case.

#TCPERR allows the application programmer to run code (for example to reestablish the
connection) when error 123 occurs.

USAGE:
While Moving Yes
In a Program Yes
Command Line No
Controller Usage B140

RELATED COMMANDS:
TC Tell error code
_IA4 Last dropped handle
MG Print message
SA Send ASCII command via Ethernet

EXAMPLES:
#L
MG {EA} "L"
WT1000
JP#L

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

NOTE: Use RE to end the routine

182 ● #TCPERR B140 Command Reference

 TD
FUNCTION: Tell Stepper Position
DESCRIPTION:
When operating with stepper motors, the TD command returns the number of counts that have
been output by the controller.
ARGUMENTS: TD nnnnnn where
n is A,B,C,D or any combination to specify the axis or axes
No argument will provide the dual encoder position for all axes
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format Position Format
Not in a Program Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_TDn contains value of dual encoder register.
RELATED COMMANDS:
DE Define Encoder Position

EXAMPLES:
TD Return A,B,C,D Stepper Positions
:200, -10, 0, -110
TDA Return the A Stepper Position
:200
DStep=_TDA Assign the variable, Step, the value of TDA

B140 Command Reference TD • 183

 TH
FUNCTION: Tell Handle Status
DESCRIPTION:
The TH command is used to request the controllers’ handle status. Data returned from this
command indicates the IP address and Ethernet address of the current controller. This data is
followed by the status of each handle indicating connection type and IP address.
ARGUMENTS: None
USAGE: DEFAULTS:
While Moving Yes Default Value -----
In a Program Yes Default Format -----
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
IH Internet Handle
WH Which Handle

EXAMPLES:
:TH ;'Tell current handle configuration
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

184 ● TH B140 Command Reference

 TI
FUNCTION: Tell Inputs
DESCRIPTION:
This command returns the state of the inputs including the extended I/O configured as inputs. 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: TIn where
n=0 Return Input Status for Inputs 1 through 8

USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format 3.0
Command Line Yes
Controller Usage ALL CONTROLLERS

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.
EXAMPLES:
TI
:08 Input 4 is high, others low
TI
:00 All inputs low
Input =_TI Sets the variable, Input, with the TI value
TI
:255 All inputs high

B140 Command Reference TI • 185

 TIME
FUNCTION: Time Operand (Keyword)
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. Note that a value of 1000 for
the update rate (TM command) 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.
The clock is reset to 0 with a standard reset or a master reset.
The keyword, TIME, does not require an underscore "_" as does the other operands.
EXAMPLES:
MG TIME Display the value of the internal clock

186 ● TIME B140 Command Reference

 TM
FUNCTION: Update Time
DESCRIPTION:
The TM command sets the sampling period of the update loop. A zero or negative number turns
off the control loop. The units of this command are μsec.
ARGUMENTS: TM n where
With the normal firmware: Using the normal firmware the minimum sample times are the
following: 250 microseconds.

n=? returns the value of the sample time.

USAGE: DEFAULTS:
While Moving Yes Default Value 1000
In a Program Yes Default Format 1.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_TM contains the value of the sample time.
EXAMPLES:
TM -1000 Turn off internal clock
TM 2000 Set sample rate to 2000 msec
TM 1000 Return to default sample rate

NOTE: TM1000 actually specifies a servo update rate of 976 μs

B140 Command Reference TM • 187

 TN
FUNCTION: Tangent
DESCRIPTION:
The TN m,n command describes the tangent axis to the coordinated motion path. m is the scale
factor in counts/degree of the tangent axis. n is the absolute position of the tangent axis where
the tangent axis is aligned with zero degrees in the coordinated motion plane. The tangent
axis is specified with the VM n,m,p command where p is the tangent axis. The tangent
function is useful for cutting applications where a cutting tool must remain tangent to the part.
ARGUMENTS: TN m,n where
m is the scale factor in counts/degree, in the range between -127 and 127 with a fractional
resolution of 0.004
m=? Returns the first position value for the tangent axis.
When operating with stepper motors, m is the scale factor in steps / degree
n is the absolute position at which the tangent angle is zero, in the range between -8388608to
8388607.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format PF
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_TN contains the first position value for the tangent axis. This allows the user to correctly
position the tangent axis before the motion begins.
RELATED COMMANDS:
VM Vector mode
CR Circle Command

EXAMPLES:
VM A,B,C Specify coordinated mode for A and B-axis; C-axis is
tangent to the motion path
TN 100,50 Specify scale factor as 100 counts/degree and 50 counts
at which tangent angle is zero
VP 1000,2000 Specify vector position A,B
VE End Vector
BGS Begin coordinated motion with tangent axis

188 ● TN B140 Command Reference

 TP
FUNCTION: Tell Position
DESCRIPTION:
This command returns the current encoder position of the motor(s).
ARGUMENTS: TP nnnnnn where
n is A,B,C,D or any combination to specify the axis or axes
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format Position Format
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_TPx contains the current position value for the specified axis.
RELATED COMMANDS:
PF Position Formatting

EXAMPLES:
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.
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

B140 Command Reference TP • 189

 TR
FUNCTION: Trace
DESCRIPTION:
The TR command causes each instruction in a program to be sent out the communications port
prior to execution. TR1 enables this function and TR0 disables it. The trace command is
useful in debugging programs.
ARGUMENTS: TR n, m where
n=0 Disables the trace function
n=1 Enables the trace function
m is an integer between 0 and 15 and designates which threads to trace. A binary weighted bit is
set per thread. Thread 0=1, Thread 1=2, Thread 2=4 ... Thread 3 =15. The default is 15 (all
threads)
The least significant bit represents thread 0 and the most significant bit represents thread 3. The
decimal value can be calculated by the following formula.
n = n0 + 2*n1 + 4*n2 + 8*n3
where nx represents the thread. To turn tracing on for a thread, substitute a one into that nx in the
formula. If the nx value is a zero, then tracing will be off for that thread. For example, if
threads 2 and 3 are to be traced, TR12 is issued.
USAGE: DEFAULTS:
While Moving Yes Default Value TR0,15
In a Program Yes Default Format --
Command Line Yes
Controller Usage ALL CONTROLLERS

RELATED COMMANDS:
CW Set/clear most significant bit

EXAMPLES:
:ED ;’define a small looping program

0 #L
1 WT1000
2 JP#L
3
<control>q

:XQ ;’run the program

:TR1 ;’turn the trace on
:2 JP#L
0 #L
1 WT1000

2 JP#L
0 #L
1 WT1000
TR0 ;’turn the trace off

190 ● TR B140 Command Reference

 TS
FUNCTION: Tell Switches
DESCRIPTION:
TS returns status information of the Home switch, Forward Limit switch Reverse Limit switch,
error conditions, motion condition and motor state. The value returned by this command is
decimal and represents an 8 bit value (decimal value ranges from 0 to 255). Each bit
represents the following status information:
Bit Status
Bit 7 Axis in motion if high
Bit 6 Axis error exceeds error limit if high
Bit 5 A motor off if high
Bit 4 Undefined
Bit 3 Forward Limit Switch Status inactive if high
Bit 2 Reverse Limit Switch Status inactive if high
Bit 1 Home A Switch Status
Bit 0 Latched

Note: For active high or active low configuration (CN command), the limit switch bits are '1'
when the switch is inactive and '0' when active.
ARGUMENTS: TS nnnnnn where
n is A,B,C,D, or any combination to specify the axis or axes
No argument will provide the status for all axes
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format 3.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_TS contains the current status of the switches.
EXAMPLES:
V1=_TSB Assigns value of TSB to the variable V1
V1= Interrogate value of variable V1
:15 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)

B140 Command Reference TS • 191

 TV
FUNCTION: Tell Velocity
DESCRIPTION:
The TV command returns the actual velocity of the axes in units of encoder count/s. The value
returned includes the sign.
ARGUMENTS: TV nnnnnn where
n is A,B,C,D, or any combination to specify the axis or axes
No argument will provide the velocity for all axes.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format 8.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_TVn contains the value of the velocity for the specified axis.
EXAMPLES:
VELA=_TVA Assigns value of A-axis velocity to the variable VELA
TVA Returns the A-axis velocity
:3420

Note: 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.

192 ● TV B140 Command Reference

 UL
FUNCTION: Upload
DESCRIPTION:
The UL command transfers data from the controller to a host computer. Programs are sent
without line numbers. The Uploaded program will be followed by a <control>Z as an end of
text marker.
ARGUMENTS: None
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program No Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
When used as an operand, _UL gives the number of available variables. The number of available
variables is 126.
RELATED COMMAND:
DL Download

EXAMPLES:
UL; Begin upload
#A Line 0
NO This is an Example Line 1
NO Program Line 2
EN Line 3
<cntrl>Z Terminator

B140 Command Reference UL • 193

 VA
FUNCTION: Vector Acceleration
DESCRIPTION:
This command sets the acceleration rate of the vector in a coordinated motion sequence.
ARGUMENTS: VA where
s is an unsigned integers in the range 1024 to 1073740800. s represents the vector acceleration for
the S coordinate system. The parameter input will be rounded down to the nearest factor of
1024. The units of the parameter is counts per second squared.
s=? Returns the value of the vector acceleration for the S coordinate plane.
USAGE: DEFAULTS:
While Moving Yes Default Value 256000
In a Program Yes Default Format 10.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_VAx contains the value of the vector acceleration for the specified axis.
RELATED COMMANDS:
VS Vector Speed
VP Vector Position
VE End Vector
CR Circle
VM Vector Mode
BG Begin Sequence
VD Vector Deceleration
IT Smoothing constant - S-curve

EXAMPLES:
VA 1024 Set vector acceleration to 1024 counts/sec2
VA ? Return vector acceleration
:1024
VA 20000 Set vector acceleration
VA ?
:19456 Return vector acceleration
ACCEL=_VA Assign variable, ACCEL, the value of VA

194 ● VA B140 Command Reference

 VD
FUNCTION: Vector Deceleration
DESCRIPTION:
This command sets the deceleration rate of the vector in a coordinated motion sequence.
ARGUMENTS: VD where
s is unsigned integers in the range 1024 to 1073740800. s represents the vector deceleration for
the S coordinate system. The parameter input will be rounded down to the nearest factor of
1024. The units of the parameter is counts per second squared.
s=? Returns the value of the vector deceleration for the S coordinate plane.

USAGE: DEFAULTS:
While Moving No Default Value 256000
In a Program Yes Default Format 10.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_VDn contains the value of the vector deceleration.
RELATED COMMANDS:
VA Vector Acceleration
VS Vector Speed
VP Vector Position
CR Circle
VE Vector End
VM Vector Mode
BG Begin Sequence
IT Smoothing constant - S-curve

EXAMPLES:
#VECTOR ;'Vector Program Label
VMAB ;'Specify plane of motion
VA1000000 ;'Vector Acceleration
VD 5000000 ;'Vector Deceleration
VS 2000 ;'Vector Speed
VP 10000, 20000 ;'Vector Position
VE ;'End Vector
BGS ;'Begin Sequence
AMS ;'Wait for Vector sequence to complete
EN ;'End Program

B140 Command Reference VD • 195

 VE
FUNCTION: Vector Sequence End
DESCRIPTION:
VE is required to specify the end segment of a coordinated move sequence. VE would follow the
final VP or CR command in a sequence. VE is equivalent to the LE command.
The VE command will apply to the selected coordinate system, S.
ARGUMENTS: VE n
No argument specifies the end of a vector sequence
n=? Returns the length of the vector in counts.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format PF
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_VEn contains the length of the vector in counts for the specified coordinate system, S or T.
RELATED COMMANDS:
VM Vector Mode
VS Vector Speed
VA Vector Acceleration
VD Vector Deceleration
CR Circle
VP Vector Position
BG Begin Sequence
CS Clear Sequence

EXAMPLES:
#A ;'Program Label
VM AB ;'Vector move in AB
VP 1000,2000 ;'Linear segment
CR 0,90,180 ;'Arc segment
VP 0,0 ;'Linear segment
VE ;'End sequence
BGS ;'Begin motion
AMS ;'Wait for VE to execute in buffer
EN ;'End program

196 ● VE B140 Command Reference

 VF
FUNCTION: Variable Format
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: VF m.n where
m and n are unsigned numbers in the range 0<m<10 and 0<n<4.
m represents the number of digits before the decimal point. A negative m 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.
n represents the number of digits after the decimal point.
m=? Returns the value of the format for variables and arrays.
USAGE: DEFAULTS:
While Moving Yes Default Value 10.4
In a Program Yes Default Format 2.1
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_VF contains the value of the format for variables and arrays.
RELATED COMMANDS:
PF Position Format

EXAMPLES:
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

B140 Command Reference VF • 197

 VM
FUNCTION: Coordinated Motion Mode
DESCRIPTION:
The VM command specifies the coordinated motion mode and the plane of motion. This mode
may be specified for motion on any set of two axes.
The motion is specified by the instructions VP and CR, which specify linear and circular
segments. Up to 32 segments may be given before the Begin Sequence (BGS) command.
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 Vector End (VE) command must be given after the last segment. This allows the controller to
properly decelerate.
The VM command will apply to the coordinate system S.
ARGUMENTS: VM nmp where
n and m specify plane of vector motion and can be any two axes. Vector Motion can be specified
for one axis by specifying 2nd parameter, m, as N. Specifying one axis is useful for obtaining
sinusoidal motion on 1 axis.
p is the tangent axis and can be specified as any axis except the imaginary axis, N.
USAGE: DEFAULTS:
While Moving No Default Value A,B
In a Program Yes Default Format 8.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_VMn contains instantaneous commanded vector velocity for the specified coordinate system, S
RELATED COMMANDS:
VP Vector Position
CR Circle
VE End Vector Sequence
CS Clear Sequence
IT Vector smoothing constant -- S-curve
AV Trippoint for Vector distance

EXAMPLES:
#A ;'Program Label
VM AB ;'Vector move in AB
VP 1000,2000 ;'Linear segment
VE ;'End sequence
BGS ;'Begin motion
AMS ;'Wait for vector motion to complete
EN ;'End program

198 ● VM B140 Command Reference

 VP
FUNCTION Vector Position
DESCRIPTION:
The VP command defines the target coordinates of a straight line segment in a 2 axis motion
sequence which have been selected by the VM command. 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 linear interpolation, use the LI command. The VP command will apply to the selected
coordinate system, S.
ARGUMENTS: VP n,m < o > p where
n and m are signed integers in the range -2147483648 to 2147483647 The length of each segment
must be limited to 8 ⋅ 106. The values for n and m will specify a coordinate system from the
beginning of the sequence.
o specifies a vector speed to be taken into effect at the execution of the vector segment. n is an
unsigned even integer between 0 and 3,000,000 for stepper motors.
p specifies a vector speed to be achieved at the end of the vector segment. p is an unsigned even
integer between 0 and 8,000,000.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_VPn 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 as an operand is valid in the linear mode, LM, and in the Vector mode,
VM.
RELATED COMMANDS:
VM Vector Mode
VE Vector End
BG Begin Sequence
IT Vector smoothing

EXAMPLES:
#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
BGS ;'Begin motion sequence
AMS ;'Wait for vector motion to complete
EN ;'End Program

Hint: 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.

B140 Command Reference VP • 199

 VR
FUNCTION: Vector Speed Ratio
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 following vector speed commands. 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.
ARGUMENTS: VR s where
s and t are between 0 and 10 with a resolution of .0001. The value specified by s is the vector ratio
to apply to the S coordinate system s = ? Returns the value of the vector speed ratio
for the S coordinate plane.
USAGE: DEFAULTS:
While Moving Yes Default Value 1
In a Program Yes Default Format 2.4
Command Line Yes
Controller Usage ALL CONTROLLERS
OPERAND USAGE:
_VRn contains the vector speed ratio of the specified coordinate system, S
RELATED COMMANDS:
VS Vector Speed
EXAMPLES:
#A ;'Vector Program
VMAB ;'Vector Mode
VP 1000,2000 ;'Vector Position
CR 1000,0,360 ;'Specify Arc
VE ;'End Sequence
VS 2000 ;'Vector Speed
BGS ;'Begin Sequence
AMS ;'After Motion
JP#A ;'Repeat Move

#SPEED ;'Speed Override

VR @AN[1]*.1 ;'Read analog input compute ratio
JP#SPEED ;'Loop

XQ#A,0; XQ#SPEED,1 Execute task 0 and 1 simultaneously

Note: VR is useful for feed rate override, particularly when specifying the speed of individual segments
using the operator ‘<’ and '>'.

200 ● VR B140 Command Reference

 VS
FUNCTION: Vector Speed
DESCRIPTION:
The VS command specifies the speed of the vector in a coordinated motion sequence in either the
LM or VM modes. VS may be changed during motion.
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.
ARGUMENTS: VS s where
s are unsigned even numbers in the range 2 to 3,000,000 for stepper motors. The units are counts
per second.
s=? Returns the value of the vector speed for the S coordinate plane.
USAGE: DEFAULTS:
While Moving Yes Default Value 25000
In a Program Yes Default Format 8.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_VSn contains the vector speed of the specified coordinate system, S
RELATED COMMANDS:
VA Vector Acceleration
VP Vector Position
CR Circle
LM Linear Interpolation
VM Vector Mode
BG Begin Sequence
VE Vector End

EXAMPLES:
VS 2000 Define vector speed of S coordinate system
VS ? Return vector speed of S coordinate system
:2000

Hint: Vector speed can be attached to individual vector segments. For more information, see description
of VP, CR, and LI commands.

B140 Command Reference VS • 201

 VV
FUNCTION: Vector Speed Variable
DESCRIPTION:
The VV command sets the speed of the vector variable in a coordinated motion sequence in either
the LM or VM modes. VV may be changed during motion.
The VV command is used to set the “<” vector speed variable argument for segments that exist in
the vector buffer. 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.
This 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.
The vector variable is supported for VP, CR and LI segments.
ARGUMENTS: VVS=n where,
n specifies the speed as an unsigned even number in the range 2 to 3,000,000 for stepper motors.
The units are in counts per second.
VVS=? Returns the value of the vector speed variable for the S coordinate plane.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 8.0
Command Line Yes

OPERAND USAGE:
_VVn contains the vector speed variable of the specified coordinate system (n= S)
RELATED COMMANDS:
VA Vector Acceleration
VD Vector Deceleration
VP Vector Position Segment
CR Circular Interpolation Segment
LI Linear Interpolation Segment
VM Vector Mode
LM Linear Interpolation Mode

EXAMPLES:
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=? ReturnsÆ 20000 <CRLF>: (as set above)

202 ● VV B140 Command Reference

 WH
FUNCTION: Which Handle
DESCRIPTION:
The WH command is used to identify the handle in which the command is executed. The
command returns IHA through D to indicate on which handle the command was executed.
The command returns RS232 if communicating serially.
ARGUMENTS: None
USAGE: DEFAULTS:
While Moving Yes Default Value -----
In a Program Yes Default Format -----
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_WH contains the numeric representation of the handle in which a command is executed. Handles
A through D are indicated by the value 0-3, while a-1 indicates the serial port.

RELATED COMMANDS:
TH Tell Handle

EXAMPLES:
WH Request handle identification
:IHC Command executed in handle C
WH Request handle identification
:RS232 Command executed in RS232 port

B140 Command Reference WH • 203

 WT
FUNCTION: Wait
DESCRIPTION:
The WT command is a trippoint used to time events. When this command is executed, the
controller will wait for the number of ms specified before executing the next command.
ARGUMENTS: WT n where
n is an integer in the range 0 to 2 Billion decimal
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line No
Controller Usage ALL CONTROLLERS

EXAMPLES: Assume that 10 seconds after a move is over a relay must be closed.
#A ;'Program A
PR 50000 ;'Position relative move
BGA ;'Begin the move
AMA ;'After the move is over
WT 10000 ;'Wait 10 seconds
SB 0 ;'Turn on relay
EN ;'End Program

Hint: To achieve longer wait intervals, just stack multiple WT commands.

204 ● WT B140 Command Reference

 XQ
FUNCTION: Execute Program
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 4 programs may be
executed with the controller.
ARGUMENTS: XQ #A,n XQm,n where
A is a program name of up to seven characters.
m is a line number
n is an integer representing the thread number for multitasking
n is an integer in the range of 0 to 3.
NOTE: The arguments for the command, XQ, are optional. If no arguments are given, the first
program in memory will be executed as thread 0.
USAGE: DEFAULTS:
While Moving Yes Default Value of n: 0
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_XQn contains the current line number of execution for thread n, and -1 if thread n is not running.
RELATED COMMANDS:
HX Halt execution

EXAMPLES:
XQ #APPLE,0 Start execution at label APPLE, thread zero
XQ #DATA,2 Start execution at label DATA, thread two
XQ 0 Start execution at line 0

Hint: Don't forget to quit the edit mode first before executing a program! (DOS)

B140 Command Reference XQ • 205

 YA
FUNCTION: Step Drive Resolution
DESCRIPTION:
The YA command specifies the resolution of the step drive, in step counts per full motor step for
Stepper Position Maintenance mode.
ARGUMENTS: YA m,m,m,m, or YAn = m where
n is A,B,C,D, or any combination to specify the axis or axes.
m is 0 to 9999 which represents the drive resolution in step counts per full motor step.
USAGE: DEFAULTS:
While Moving No Default Value 2
In a Program Yes Default Format 1.4
Command Line Yes

OPERAND USAGE:
_YAn contains the resolution for the specified axis.
RELATED COMMANDS:
QS Error Magnitude
YS Stepper Position Maintenance Mode Enable, Status
YB Step Motor Resolution
YC Encoder Resolution
YR Error Correction

EXAMPLES:
1. Set the step drive resolution for the SDM-44140 Microstepping Drive:
YA 64,64,64,64
2. Query the D axis value:
MG_YAD
:64.0000 Response shows D axis step drive resolution

Notes:
1. This value must be the same as the step drive resolution for the axis. The error magnitude (QS) will
climb quickly causing a false error state if the assigned value differs from the actual.

206 ● YA B140 Command Reference

 YB
FUNCTION: Step Motor Resolution
DESCRIPTION:
The YB command specifies the resolution of the step motor, in full steps per full revolution, for
Stepper Position Maintenance mode.
ARGUMENTS: YB m,m,m,m, or YBn = m where
n is A,B,C,D, or any combination to specify the axis or axes.
m is 0 to 9999 which represents the motor resolution in full steps per revolution.

USAGE: DEFAULTS:
While Moving No Default Value 200
In a Program Yes Default Format 1.4
Command Line Yes

OPERAND USAGE:
_YBn contains the stepmotor resolution for the specified axis.
RELATED COMMANDS:
QS Error Magnitude
YS Stepper Position Maintenance Mode Enable, Status
YA Step Drive Resolution
YC Encoder Resolution
YR Error Correction

EXAMPLES:
1. Set the step motor resolution of the A axis for a 1.8° step motor:
YBA=200
2. Query the A axis value:
YBA=?
:200 Response shows A axis step motor resolution

Notes:
1. This value must be the same as the step motor resolution for that axis. The error magnitude (QS) will
climb quickly causing a false error state if the assigned value differs from actual.

B140 Command Reference YB • 207

 YC
FUNCTION: Encoder Resolution
DESCRIPTION:
The YC command specifies the resolution of the encoder, in counts per revolution, for Stepper
Position Maintenance mode.
ARGUMENTS: YC m,m,m,m, or YCn = m where
n is A,B,C,D, or any combination to specify the axis or axes.
m is 0 to 32766 which represents the encoder resolution in counts per revolution.

USAGE: DEFAULTS:
While Moving No Default Value 4000
In a Program Yes Default Format 1.4
Command Line Yes

OPERAND USAGE:
_YCn contains the encoder resolution for the specified axis.
RELATED COMMANDS:
QS Error Magnitude
YS Stepper Position Maintenance Mode Enable, Status
YA Step Drive Resolution
YB Step Motor Resolution
YR Error Correction

EXAMPLES:
1. Set the encoder resolution of the D axis for a 4000 count/rev encoder:
YC,,,4000
2. Query the D axis value:
YCD=?
:4000 Response shows D axis encoder resolution

Notes:
1. This value must be the same as the encoder resolution for that axis. The error magnitude (QS) will climb
quickly causing a false error state if the assigned value differs from actual.

208 ● YC B140 Command Reference

 YR
FUNCTION: Error Correction
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: YR m,m,m,m, or YRn = m where
n is A,B,C,D, or any combination to specify the axis or axes.
m is a magnitude in step counts.

USAGE: DEFAULTS:
While Moving No Default Value 0
In a Program Yes Default Format 1.4
Command Line Yes

OPERAND USAGE:
None
RELATED COMMANDS:
QS Error Magnitude
YA Step Drive Resolution
YB Step Motor Resolution
YR Error Correction
YS Stepper Position Maintenance Mode Enable, Status

EXAMPLES:

Correct for the error:

YRB=_QSB The motor moves _QS step counts to correct for the error,
is set back to 1

Notes:
1. The YR command issues an increment position move. The magnitude of AC, DC, SP, KS as well as axis
non-linearities will affect the accuracy of the correction. It is recommended to use a significant
KS value, as well as low AC, DC, and SP for corrections.

B140 Command Reference YR • 209

 YS
FUNCTION: Stepper Position Maintenance Mode Enable, Status
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: YS m,m,m,m, or YSn = m where
n is A,B,C,D, or any combination to specify the axis or axes.
m=0 SPM Mode Disable
m=1 Enable SPM Mode, Clear trippoint and QS error
m=2 Error condition occurred
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 1.4
Command Line Yes

OPERAND USAGE:
_YSn contains the status of the mode for the specified axis.
RELATED COMMANDS:
QS Error Magnitude
YA Step Drive Resolution
YB Step Motor Resolution
YC Encoder Resolution
YR Error Correction

EXAMPLES:
1. Enable the mode:
YSH=1
2. Query the value:
YS*=?
:0,0,0,0,0,0,0,1 Response shows H axis is enabled

Notes:
1. Ensure the axis is energized and stable before enabling Stepper Position Maintenance mode. Error will
result from enabling YS and then energizing the axis.
2. Assigning a value of 1 to an axis after encountering an error condition will clear the trippoint and will also
clear QS.
3. A value of 2 is automatically assigned to YS when the position error exceeds three full motor steps. See the
QS command for more details.

210 ● YS B140 Command Reference

 ZA
FUNCTION: User Data Record Variables
DESCRIPTION:
ZA sets the user variables in the data record. The four 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: ZA n,n,n,n, or ZAA=n where
n is an integer and can be a number, controller operand, variable, mathematical function, or string.
The range for numeric values is 4 bytes of integer (–2,147,483,648 to +2,147,483,647). The
maximum number of characters for a string is 4 characters. Strings are identified by
quotations.
n=? returns the current value
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 10.0
Command Line Yes
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_ZAn contains the current value
RELATED COMMANDS:
DR Data record update rate
QZ Data record format

EXAMPLES:
#Thread
ZAX=MyVar ;'constantly update ZA
JP#Thread

B140 Command Reference ZA • 211

 ZS
FUNCTION: Zero Subroutine Stack
DESCRIPTION:
The ZS command is only valid in an application program and is used to avoid returning from an
interrupt (either input or error). ZS alone returns the stack to its original condition. ZS1
adjusts the stack to eliminate one return. This turns the jump to subroutine into a jump. Do
not use RI (Return from Interrupt) when using ZS. To re-enable interrupts, you must use II
command again.
The status of the stack can be interrogated with the operand _ZSn - see operand usage below.
ARGUMENTS: ZS n where
n=0 Returns stack to original condition
n=1 Eliminates one return on stack
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 3.0
Command Line No
Controller Usage ALL CONTROLLERS

OPERAND USAGE:
_ZSn contains the stack level for the specified thread where n = 0 to 7.
EXAMPLES:
#A ;'Main Program
II1 ;'Input Interrupt on 1
#B;JP #B;EN ;'Loop
#ININT ;'Input Interrupt
MG "INTERRUPT" ;'Print message
S=_ZS ;'Interrogate stack
S= ;'Print stack
ZS ;'Zero stack
S=_ZS ;'Interrogate stack
S= ;'Print stack
EN ;'End

212 ● ZS B140 Command Reference

Index

Abort, 16 Coordinated Motion, 196–97, 201

Off On Error, 16 Circular, 200
Stop Motion, 179 Contour Mode, 43, 48
Absolute Position, 26–27, 63 Ecam, 73
Acceleration, 18 Electronic Cam, 67
Analog Output, 25 Vector Mode, 47, 201
Array, 152 Copyright Information, 56
Dimension, 62 Cycle Time
Record Data, 159 Clock, 188
Arrays Data Adjustment Bit, 56
Deallocating, 57 Data Capture, 157
Automatic Subroutine Data Output
MCTIME, 74 Set Bit, 170
Burn Debugging
Save Parameters, 39 Trace Function, 192
Save Program, 40 Deceleration, 58, 172
Save Variables and Arrays, 41 Default Setting
Capture Data Master Reset, 4, 167
Record, 157 Delta Time, 65
Circle, 54 Digital Output
Circular Interpolation, 200 Clear Bit, 42
Clear Bit, 42 Dimension Array, 62
Clear Sequence, 55 DMA, 156
Clock, 188 Download, 61, 152
Update Rate, 188 Ecam
Code, 2 ECAM Quit, 78
Command Specify Table, 77
Syntax, 2–3 ECAM, 73
Communication Problems Choose Master, 67
CW Command, 56 Counter, 69
Conditional jump, 109 Enable, 68
Configure Engage, 71
Communication, 56 Specify Cycles, 73
Master Reset, 167 Specify Table, 80
Configure Encoders ECAM Widen, 81
CE Command, 45 Echo, 76, 181
Configure System Edit
CN Command, 50 Use On Board Editor, 70
Contour Mode, 43, 48 Edit Mode, 70
Time Interval, 65 EEPROM
Coordinate Axes, 47 Erasing, 167

B140 Command Reference Index • 213

Ellipse Scale, 79 Keyword, 213
ELSE Function, 72 TIME, 188
Encoder Label, 61, 99
Quadrature, 165, 191 Latch
Encoder Resolution, 210 Configure, 50
Error Report Position, 163
Codes, 182, 183 Limit Switch, 85, 122, 171, 181
Error Code, 2 Configure, 50
Error Correction, 211 Forward, 116
Error Limit Linear Interpolation
Off On Error, 16 Clear Sequence, 55
Error Magnitude, 154 End of Motion, 115
Error Subroutine End, 160 Master Reset, 4, 167
Execute Program, 207 MCTIME, 74
Find Edge, 83 Memory, 39, 123
Find Index, 84 Array, 152
Formatting, 125 Deallocating Arrays and Variables, 57
Variables, 199 Download, 152
Gearing Modbus, 25
Set Gear Master, 87 Motion Complete
Set Gear Ratio, 91 MCTIME, 74
Halt, 94 Motion Smoothing, 28
Abort, 16 S-Curve, 107
Off On Error, 16 Moving
Stop Motion, 179 Circular, 200
Hardware, 38 Multitasking
Set Bit, 170 Execute Program, 207
Home Input, 83 Halt Thread, 94
Home Switch Non-volatile memory
Configure, 50 Burn, 39, 40, 41
Homing OE
Find Edge, 83 Off On Error, 16
Find Index, 84 Off On Error, 16
I/O Operand
Clear Bit, 42 Internal Variable, 213
Set Bit, 170 Output of Data
IF conditional, 96 Set Bit, 170
IF Conditional Statements Position Capture, 22
ELSE, 72 Position Limit, 85
IF Statement Program
ENDIF, 75 Download, 61
Independent Motion Upload, 195
Deceleration, 58 Program Flow
Jog, 106, 108 Interrupt, 99, 181
Independent Motion Deceleration, 172 Stack, 214
Independent Time Constant, 107 Programming
ININT, 21, 99 Halt, 94
Input Interrupt, 99, 181 Quadrature, 165, 191
ININT, 21, 99 Quit
Internal Variable, 213 Abort, 16
Interrogation Stop Motion, 179
Tell Position, 191 Record, 157, 158
Tell Velocity, 194 Reset, 4, 166
Interrupt, 99, 181 Master Reset, 4, 167
Invert Encoders, 45 Return from Interrupt Routine, 162
Jog, 106, 108 Revision Information, 168

214 ● Index B140 Command Reference

Sample Time Record, 157
Update Rate, 188 Time
Save Clock, 188
Parameters, 39 Update Rate, 188
Program, 40 Trippoint, 20, 21, 23, 26, 27, 28, 30, 34, 94–99,
Variables and Arrays, 41 94–99, 94–99, 206
SB After Absolute Position, 26
Set Bit, 170 After Distance, 20
Scaling After Input, 21
Ellipse Scale, 79 After Motion, 23
S-Curve, 107 After Relative Distance, 27
Selective Abort After Vector Distance, 34
Configure, 50 At Speed, 28
Set Bit, 170 At Time, 30
slew, 177 Troubleshooting, 182
Slew, 106, 108 Update Rate, 188
Smoothing, 28, 107 Upload, 195
speed, 177 Variable
Stack Internal, 213
Zeroing, 214 Variable Axis Designator, 14
Status, 57, 94, 137, 181 Variables
Stop Code, 171 Deallocating, 57
Tell Inputs, 187 Vector Acceleration, 196–98
Tell Status, 193 Vector Mode, 201
Step Drive Resolution, 208 Circular Interpolation, 200
Step Motor Resolution, 209 Clear Sequence, 55
Stepper Position Maintenance, 212 Ellipse Scale, 79
Stop Specify Coordinate Axes, 47
Abort, 16 Tangent, 190, 200
Stop Code, 2, 171 Vector Motion, 200
Stop Motion, 179 Circle, 54
Subroutine, 99, 110 Vector Position, 201
Syntax, 2–3 Vector Speed Ratio, 202
Tangent, 190, 200 XQ
Teach Execute Program, 207
Data Capture, 157 Zero Stack, 214

B140 Command Reference Index • 215