Galil DMC-1510, User Manual

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Chapter 7 Application Programming DMC-1500
NOTE: The #LIMSWI will continue to be executed until the limit switch is cleared (goes high).
Example - Position Error
Instruction Interpretation
#LOOP Dummy Program
JP #LOOP;EN Loop
#POSERR Position Error Routine
V1=_TEX Read Position Error
MG "EXCESS POSITION ERROR" Print Message
MG "ERROR=",V1= Print Error
RE Return from Error
While running the 'dummy' program, if the position error on the X axis exceeds that value specified by
the ER command, the #POSERR routine will execute.
NOTE: The RE command is used to return from the #POSERR subroutine
NOTE: The #POSERR routine will continue to be executed until the position error is cleared (is less
than the ER limit).
Example - Input Interrupt
Instruction Interpretation
#A Label
II1 Input Interrupt on 1
JG 30000,,,60000 Jog
BGXW Begin Motion
#LOOP;JP#LOOP;EN Loop
#ININT Input Interrupt
STXW;AM Stop Motion
#TEST;JP #TEST, @IN[1]=0 Test for Input 1 still low
JG 30000,,,6000 Restore Velocities
BGXW;RI Begin motion and Return to Main Program
EN
NOTE: Use the RI command to return from #ININT subroutine.
Example - Motion Complete Timeout
Instruction Interpretation
#BEGIN Begin main program
TW 1000 Set the time out to 1000 ms
PA 10000 Position Absolute command
BGX Begin motion
MCX Motion Complete trip point
EN End main program
#MCTIME Motion Complete Subroutine
MG “X fell short” Send out a message
EN End subroutine without restoring trippoint