Galil Motion Control DMC-42 0 Series, User Manual

Page: 123 / 218

Example: Local Scope
#Local
JS #POWER (2,2)
MG _JS
JS #POWER (2,16)
MG _JS
JS #POWER (2,-8)
MG _JS
'
#POWER ;NO(base ^a,exponent^b) Returns base^exponent power.
±
integer only
^c=1 ;'unpassed variable space (^c-^h) can be used as local scope variables
IF ^b=0 ;'special case, exponent = 0
EN ,,1
ENDIF
IF ^b<0 ;'special case, exponent < 0, invert result
^d=1
^b= @ABS [^b]
ELSE
^d=0
ENDIF
#PWRHLPR
^c=^c*^a
^b=^b-1
JP #PWRHLPR,^ b>0
IF ^d=1 ;'if inversion required
^c=(1/^c)
ENDIF
EN
,,^c
Executed program from program1.dmc
4.0000
65536.0000
0.0039
Example: Recursion
'although the stack depth is only 16, Galil DMC code does support recursion
JS #AxsInfo (0)
MG {Z2.0} "Recursed through " , _JS , " stacks"
EN
'
#AxsInfo ;NO(axis ^a) List info for axes
~h=^a
^b=(^a+$41)*$1000000
;'convert to Galil String
MG ^b{S1}, " Axis: " {N}
MG {F8.0 }"Position: " , _TP ~h, " Error:" , _TE ~h, " Torque:" , _TT ~h{F1.4}
IF ^a=7 ;'recursion exit condition
EN ,,1
ENDIF
JS
#AxsInfo (^a + 1) ;'stack up recursion
EN ,, _JS +1 ;' as recursion closes, add up stack depths
Executed program from program1.dmc
A Axis: Position: 00029319 Error: 00001312 Torque: 9.9982
B Axis: Position: -00001612 Error: 00000936 Torque: 1.7253
C Axis: Position: 00001696 Error:-00001076 Torque:-1.9834
D Axis: Position: -00002020 Error: 00001156 Torque: 2.1309
E Axis: Position: 00000700 Error:-00001300 Torque:-2.3963
F Axis: Position: 00000156 Error:-00000792 Torque:-1.4599
G Axis: Position: -00002212 Error: 00001732 Torque: 3.1926
H Axis: Position: 00002665 Error:-00001721 Torque:-3.1723
Recursed through 8 stacks
Chapter 7 Application Programming ▫ 119 DMC-42x0 User Manual