Event Trigger - Multiple Move with Wait
This example makes multiple relative distance moves by waiting for each to be complete before
executing new moves.
#MOVES Label
PR 12000
Distance
SP 20000
Speed
AC 100000
Acceleration
BGX Start
Motion
AD 10000
Wait a distance of 10,000 counts
SP 5000
New Speed
AMX
Wait until motion is completed
WT 200
Wait 200 ms
PR -10000
New Position
SP 30000
New Speed
AC 150000
New Acceleration
BGX Start
Motion
EN End
Define Output Waveform Using AT
The following program causes Output 1 to be high for 10 msec and low for 40 msec. The cycle
repeats every 50 msec.
#OUTPUT Program
label
AT0 Initialize
time
reference
SB1
Set Output 1
#LOOP Loop
AT 10
After 10 msec from reference,
CB1
Clear Output 1
AT -40
Wait 40 msec from reference and reset reference
SB1
Set Output 1
JP #LOOP
Loop
EN
Conditional Jumps
The DMC-1600 provides Conditional Jump (JP) and Conditional Jump to Subroutine (JS)
instructions for branching to a new program location based on a specified condition. The
conditional jump determines if a condition is satisfied and then branches to a new location or
subroutine. Unlike event triggers, the conditional jump instruction does not halt the program
sequence. Conditional jumps are useful for testing events in real-time. They allow the DMC-
1600 to make decisions without a host computer. For example, the DMC-1600 can decide
between two motion profiles based on the state of an input line.
DMC-1600
Chapter 7 Application Programming
•
127
