Galil Motion Control DMC-42 0 Series, User Manual

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DMC-42x0 Event Triggers
Command Function
AM X Y Z W or S
(A B C D E F G H)
Halts program execution until motion is complete on the
specified axes or motion sequence(s). AM with no parameter
tests for motion complete on all axes. This command is useful
for separating motion sequences in a program.
AD X or Y or Z or W
(A or B or C or D or E or F or G or H) Halts program execution until position command has reached
the specified relative distance from the start of the move.
Only one axis may be specified at a time.
AR X or Y or Z or W
(A or B or C or D or E or F or G or H) Halts program execution until after specified distance from
the last AR or AD command has elapsed. Only one axis may
be specified at a time.
AP X or Y or Z or W
(A or B or C or D or E or F or G or H) Halts program execution until after absolute position occurs.
Only one axis may be specified at a time.
MF X or Y or Z or W
(A or B or C or D or E or F or G or H)
Halt program execution until after forward motion reached
absolute position. Only one axis may be specified. If position
is already past the point, then MF will trip immediately. Will
function on geared axis or aux. inputs.
MR X or Y or Z or W
(A or B or C or D or E or F or G or H) Halt program execution until after reverse motion reached
absolute position. Only one axis may be specified. If position
is already past the point, then MR will trip immediately. Will
function on geared axis or aux. inputs.
MC X or Y or Z or W
(A or B or C or D or E or F or G or H)
Halt program execution until after the motion profile has
been completed and the encoder has entered or passed the
specified position. TW x,y,z,w sets timeout to declare an
error if not in position. If timeout occurs, then the trippoint
will clear and the stop code will be set to 99. An application
program will jump to label #MCTIME.
AI ± n Halts program execution until after specified input is at
specified logic level. n specifies input line. Positive is high
logic level, negative is low level. n=1 through 8 for DMC-
4210, 4020, 4030, 4040. n=1 through 16 for DMC-4250,
4060, 4070, 4080
Also n= 17-48
AS X Y Z W S
(A B C D E F G H)
Halts program execution until specified axis has reached its
slew speed.
AT ±n,m For m=omitted or 0, halts program execution until n msec
from reference time. AT 0 sets reference. AT n waits n msec
from reference. AT -n waits n msec from reference and sets
new reference after elapsed time.
For m=1. Same functionality except that n is number of
samples rather than msec
AV n Halts program execution until specified distance along a
coordinated path has occurred.
WT n,m For m=omitted or 0, halts program execution until specified
time in msec has elapsed.
For m=1. Same functionality except that n is number of
samples rather than msec.
Event Trigger Examples:
Event Trigger - Multiple Move Sequence
The AM trippoint is used to separate the two PR moves. If AM is not used, the controller returns a ? for the second
PR command because a new PR cannot be given until motion is complete.
#TWOMOVE;' Label
PR 2000;' Position Command
BGX;' Begin Motion
AMX;' Wait for Motion Complete
PR 4000;' Next Position Move
BGX;'
Begin 2
nd
move
EN;' End program
Chapter 7 Application Programming ▫ 107 DMC-42x0 User Manual