Galil DMC-2010, User Manual

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beginning the program with the label #AUTO. The program must be saved into non-volatile memory
using the command, BP.
Automatic Subroutines for Monitoring Conditions on page 136.
#ININT Label for Input Interrupt subroutine
#LIMSWI Label for Limit Switch subroutine
#POSERR Label for excess Position Error subroutine
#MCTIME Label for timeout on Motion Complete trip point
#CMDERR Label for incorrect command subroutine
#COMINT Label for communication interrupt on the aux. serial port
#TCPERR Label for TCP/IP communication error (2100 and 2200 only)
Commenting Programs
There are two methods for commenting programs. The first method uses the NO command and allows
for comments to be embedded into Galil programs. The second method used the REM statement and
requires the use of Galil software.
NO Command
The DMC-2x00 provides a command, NO, for commenting programs. This command allows the user
to include up to 78 characters on a single line after the NO command and can be used to include
comments from the programmer as in the following example:
Instruction Interpretation
#PATH Label
NO 2-D CIRCULAR PATH
Comment - No Operation
VMAB Vector Mode
NO VECTOR MOTION ON A AND B Comment - No Operation
VS 10000 Vector Speed
NO VECTOR SPEED IS 10000 Comment - No Operation
VP -4000,0 Vector Position
NO BOTTOM LINE Comment - No Operation
CR 1500,270,-180 Circle Motion
NO HALF CIRCLE MOTION Comment - No Operation
VP 0,3000 Vector Position
NO TOP LINE Comment - No Operation
CR 1500,90,-180 Circle
NO HALF CIRCLE MOTION Comment - No Operation
VE Vector End
NO END VECTOR SEQUENCE Comment - No Operation
BGS Begin Sequence
NO BEGIN SEQUENCE MOTION Comment - No Operation
EN End of Program
NO END OF PROGRAM Comment - No Operation
NOTE:
The NO command is an actual controller command. Therefore, inclusion of the NO
commands will require process time by the controller.
HINT: Some users annotate their programs using the word “NOTE:”; everything after the “NO” is a
comment.
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Chapter 7 Application Programming DMC-2X00