Galil DMC-2010, User Manual

Page: 150 / 267

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.
Example - Command Error w/Multitasking
Instruction Interpretation
#A Begin thread 0 (continuous loop)
JP#A
EN
End of thread 0
#B Begin thread 1
n=-1 Create new variable
KP n Set KP to value of N, an invalid value
TY Issue invalid command
EN End of thread 1
#CMDERR Begin command error subroutine
IF (_TC=6) If error is out of range (KP -1)
N=1 Set N to a valid number
XQ _ED2,_ED1,1 Retry KP N command
ENDIF
IF (_TC=1)
If error is invalid command (TY)
XQ _ED3,_ED1,1 Skip invalid command
ENDIF
EN
End of command error routine
Example - Communication Interrupt
A DMC-2x10 is used to move the A axis back and forth from 0 to 10000. This motion can be paused,
resumed and stopped via input from an auxiliary port terminal.
Instruction Interpretation
#BEGIN Label for beginning of program
CC 9600,0,0,0 Setup communication configuration for auxiliary serial
port
CI 2 Setup communication interrupt for auxiliary serial port
MG {P2}"Type 0 to stop motion" Message out of auxiliary port
MG {P2}"Type 1 to pause motion" Message out of auxiliary port
MG {P2}"Type 2 to resume motion" Message out of auxiliary port
rate=2000 Variable to remember speed
SPA=rate Set speed of A axis motion
#LOOP Label for Loop
PAA=10000 Move to absolute position 10000
BGA Begin Motion on A axis
AMA Wait for motion to be complete
PAA=0 Move to absolute position 0
BGA Begin Motion on A axis
AMA Wait for motion to be complete
JP #LOOP Continually loop to make back and forth motion
140
•
Chapter 7 Application Programming DMC-2X00