Galil Motion Control DMC-42 0 Series, User Manual

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Example - Motion Complete Timeout
#BEGIN Begin main program
TW 1000 Set the time out to 1000 ms
PA 10000 Position Absolute command
BGX Begin motion
MCX Motion Complete trippoint
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.
Example - Command Error
#BEGIN Begin main program
speed = 2000 Set variable for speed
JG speed;BGX; Begin motion
#LOOP
JG speed;WT100
Update Jog speed based upon speed variable
JP #LOOP
EN
End main program
#CMDERR
Command error utility
JP#DONE,_ED<>2 Check if error on line 2
JP#DONE,_TC<>6 Check if out of range
MG “SPEED TOO HIGH” Send message
MG “TRY AGAIN” Send message
ZS1 Adjust stack
JP #BEGIN Return to main program
#DONE End program if other error
ZS0
Zero stack
EN End program
The above program prompts the operator to enter a jog speed. If the operator enters a number out of range
(greater than 8 million), the #CMDERR routine will be executed prompting the operator to enter a new number.
In multitasking applications, there is an alternate method for handling command errors from different threads.
Using the XQ command along with the special operands described below allows the controller to either skip or
retry invalid commands.
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.
Chapter 7 Application Programming ▫ 115 DMC-42x0 User Manual