Galil DMC-2010, User Manual

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Example - Using Inputs to control program flow
Instruction Interpretation
JP #A,@IN[1]=0 Jump to A if input 1 is low
JP #B,@IN[2]=1 Jump to B if input 2 is high
AI 7 Wait until input 7 is high
AI -6 Wait until input 6 is low
Example - Start Motion on Switch
Motor A must turn at 4000 counts/sec when the user flips a panel switch to on. When panel switch is
turned to off position, motor A must stop turning.
Solution: Connect panel switch to input 1 of DMC-2x00. High on input 1 means switch is in on
position.
Instruction Interpretation
#S;JG 4000 Set speed
AI 1;BGA Begin after input 1 goes high
AI -1;STA Stop after input 1 goes low
AMA;JP #S After motion, repeat
EN;
The Auxiliary Encoder Inputs
The auxiliary encoder inputs can be used for general use. For each axis, the controller has one
auxiliary encoder and each auxiliary encoder consists of two inputs, channel A and channel B. The
auxiliary encoder inputs are mapped to the inputs 81-96.
Each input from the auxiliary encoder is a differential line receiver and can accept voltage levels
b/- 12 volts. The inputs have been configured to accept TTL level signals. To connect TTL
signals, simply connect the signal to the + input and leave the - input disconnected. For other signal
levels, the - input should be connected to a voltage that is ½ of the full voltage range (for example,
connect the - input to 6 volts if the signal is a 0 - 12 volt logic).
Example:
A DMC-2x10 has one auxiliary encoder. This encoder has two inputs (channel A and channel B).
Channel A input is mapped to input 81 and Channel B input is mapped to input 82. To use this input
for 2 TTL signals, the first signal will be connected to AA+ and the second to AB+. AA- and AB-
will be left unconnected. To access this input, use the function @IN[81] and @IN[82].
NOTE:
The auxiliary encoder inputs are not available for any axis that is configured for stepper
motor.
Input Interrupt Function
The DMC-2x00 provides an input interrupt function which causes the program to automatically
execute the instructions following the #ININT label. This function is enabled using the II m,n,o
command. The m specifies the beginning input and n specifies the final input in the range. The
parameter o is an interrupt mask. If m and n are unused, o contains a number with the mask. A 1
designates that input to be enabled for an interrupt, where 2
0
is bit 1, 2
1
is bit 2 and so on. For
example, II,,5 enables inputs 1 and 3 (2
0
+ 2
2
= 5).
A low input on any of the specified inputs will cause automatic execution of the #ININT subroutine.
The Return from Interrupt (RI) command is used to return from this subroutine to the place in the
program where the interrupt had occurred. If it is desired to return to somewhere else in the program
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Chapter 7 Application Programming DMC-2X00