Galil Motion Control CDS-3310, User Manual

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Chapter 7 Application Programming CDS-3310
OPERAND FUNCTION
_ED1 Returns the number of the thread that generated an error
_ED2 Retry failed command (operand contains the location of the failed command)
_ED3 Skip failed command (operand contains the location of the command after the failed
command)
The operands are used with the XQ command in the following format:
XQ _ED2 (or _ED3),_ED1,1
Where the “,1” at the end of the command line indicates a restart; therefore, the existing program stack
will not be removed when the above format executes.
The following example shows an error correction routine which uses the operands.
Example - Command Error with Multitasking
Instruction Interpretation
#A Begin thread 0 (continuous loop)
JP#A
EN
End of thread 0
#B Begin thread 1
n=-1 Create new variable
KP n Set KP to value of n, an invalid value
TY Issue invalid command
EN End of thread 1
#CMDERR Begin command error subroutine
IF (_TC=6) If error is out of range (KP -1)
n=1 Set n to a valid number
XQ _ED2,_ED1,1 Retry KP n command
ENDIF
IF (_TC=1)
If error is invalid command (TY)
XQ _ED3,_ED1,1 Skip invalid command
ENDIF
EN
End of command error routine
Example – Ethernet Communication Error
This simple program executes in the CDS-3310 and indicates (via the serial port) when a
communication handle fails. By monitoring the serial port, the user can re-establish communication if
needed.
Instruction Interpretation
#LOOP Simple program loop
JP#LOOP
EN
#TCPERR Ethernet communication error auto routine
MG {P1}_IA4 Send message to serial port indicating which handle
did not receive proper acknowledgment.
RE