Galil DMC-1510, User Manual

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Chapter 7 Application Programming DMC-1500
DMC-1500 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.
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.
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 stopcode 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 24.
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 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.
AV n Halts program execution until specified distance along a
coordinated path has occurred.
WT n Halts program execution until specified time in msec has
elapsed.
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.