Galil Motion Control CDS-3310, User Manual

Page: 94 / 166

CDS-3310 Chapter 7 Application Programming
i
33
AMA Wait for motion to be complete
PAA=0 Move to absolute position 0
BGA Begin Motion on A axis
AMA Wait for motion to be complete
JP #LOOP Continually loop to make back and forth motion
EN End main program
#COMINT Interrupt Routine
#STOP,P1CH="0" Check for S (stop motion)
JP #PAUSE,P1CH="1" Check for P (pause motion)
JP #RESUME,P1CH="2" Check for R (resume motion)
EN1,1 Do nothing
#STOP Routine for stopping motion
STA;ZS;EN
Stop motion on A axis; Zero program stack; End
Program
#PAUSE Routine for pausing motion
rate=_SPA Save current speed setting of A axis motion
SPA=0 Set speed of A axis to zero (allows for pause)
EN1,1 Re-enable trip-point and communication interrupt
#RESUME Routine for resuming motion
SPA=rate Set speed on A axis to original speed
EN1,1 Re-enable trip-point and communication interrupt
Example - Command Error
Instruction Interpretation
#BEGIN Begin main program
IN "ENTER SPEED", speed Prompt for speed
JG speed;BGA; Begin motion
JP #BEGIN Repeat
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
EN End program
The above program prompts the operator to enter a jog speed. If the operator enters a number out of
range (greater than 8 million), the #CMDERR routine will be executed prompting the operator to enter
a new number.
In multitasking applications, there is an alternate method for handling command errors from different
threads. Using the XQ command along with the special operands described below allows the
controller to either skip or retry invalid commands.