DMC-1000
Chapter 7 Application Programming
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99
Example - Position Error
Instruction Interpretation
#LOOP Dummy
Program
JP #LOOP;EN
Loop
#POSERR
Position Error Routine
V1=_TEX
Read Position Error
MG "EXCESS POSITION ERROR"
Print Message
MG "ERROR=",V1=
Print Error
RE
Return from Error
While running the 'dummy' program, if the position error on the X axis exceeds that value specified by
the ER command, the #POSERR routine will execute.
NOTE: The RE command is used to return from the #POSERR subroutine
NOTE: The #POSERR routine will continue to be executed until the position error is cleared (is less
than the ER limit).
Example - Input Interrupt
Instruction Interpretation
#A Label
II1
Input Interrupt on 1
JG 30000,,,60000
Jog
BGXW Begin
Motion
#LOOP;JP#LOOP;EN Loop
#ININT Input
Interrupt
STXW;AM Stop
Motion
#TEST;JP #TEST, @IN[1]=0
Test for Input 1 still low
JG 30000,,,6000
Restore Velocities
BGXW;RI
Begin motion and Return to Main Program
EN
NOTE: Use the RI command to return from #ININT subroutine.
Example - Motion Complete Timeout
Instruction Interpretation
#BEGIN
Begin main program
TW 1000
Set the time out to 1000 ms
PA 10000
Position Absolute command
BGX Begin
motion
MCX
Motion Complete trip point
EN
End main program
#MCTIME
Motion Complete Subroutine
MG “X fell short”
Send out a message
EN End
subroutine
This simple program will issue the message “X fell short” if the X axis does not reach the commanded
position within 1 second of the end of the profiled move.
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