Galil Motion Control DMC-18 2 Series, User Manual

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DMC-18x2 Chapter 7 Application Programming • 125
#POSERR Position error exceeds limit specified by ER
#MCTIME Motion Complete timeout occurred. Timeout period set by TW command
#CMDERR Bad command given
For example, the #POSERR subroutine will automatically be executed when any axis exceeds its
position error limit. The commands in the #POSERR subroutine could decode which axis is in error
and take the appropriate action. In another example, the #ININT label could be used to designate an
input interrupt subroutine. When the specified input occurs, the program will be executed
automatically.
NOTE: An application program must be running for automatic monitoring to function.
Example - Limit Switch:
This program prints a message upon the occurrence of a limit switch. Note, for the #LIMSWI routine
to function, the DMC-18x2 must be executing an applications program from memory. This can be a
very simple program that does nothing but loop on a statement, such as #LOOP;JP #LOOP;EN.
Motion commands, such as JG 5000 can still be sent from the PC even while the "dummy"
applications program is being executed.
:ED Edit Mode
000 #LOOP Dummy Program
001 JP #LOOP;EN Jump to Loop
002 #LIMSWI Limit Switch Label
003 MG "LIMIT OCCURRED" Print Message
004 RE Return to main program
<control> Q Quit Edit Mode
:XQ #LOOP Execute Dummy Program
:JG 5000 Jog
:BGX Begin Motion
Now, when a forward limit switch occurs on the X axis, the #LIMSWI subroutine will be executed.
Notes regarding the #LIMSWI Routine:
1) The RE command is used to return from the #LIMSWI subroutine.
2) The #LIMSWI subroutine will be re-executed if the limit switch remains active.
The #LIMSWI routine is only executed when the motor is being commanded to move.
Example - Position Error
:ED Edit Mode
000 #LOOP Dummy Program
001 JP #LOOP;EN Loop
002 #POSERR Position Error Routine
003 V1=_TEX Read Position Error
004 MG "EXCESS POSITION ERROR" Print Message
005 MG "ERROR=",V1= Print Error
006 RE Return from Error
<control> Q Quit Edit Mode
:XQ #LOOP Execute Dummy Program
:JG 100000 Jog at High Speed
:BGX Begin Motion
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