Galil DMC-4040, User Manual

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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.
#TWOMOVE Label
PR 2000 Position Command
BGX Begin Motion
AMX Wait for Motion Complete
PR 4000 Next Position Move
BGX Begin 2 nd move
EN End program
Event Trigger - Set Output after Distance
Set output bit 1 after a distance of 1000 counts from the start of the move. The accuracy of the trippoint is the speed
multiplied by the sample period.
#SETBIT Label
SP 10000 Speed is 10000
PA 20000 Specify Absolute position
BGX Begin motion
AD 1000 Wait until 1000 counts
SB1 Set output bit 1
EN End program
Event Trigger - Repetitive Position Trigger
To set the output bit every 10000 counts during a move, the AR trippoint is used as shown in the next example.
#TRIP Label
JG 50000 Specify Jog Speed
BGX;n=0 Begin Motion
#REPEAT # Repeat Loop
AR 10000 Wait 10000 counts
TPX Tell Position
SB1 Set output 1
WT50 Wait 50 msec
CB1 Clear output 1
n=n+1 Increment counter
JP #REPEAT,n<5 Repeat 5 times
STX Stop
EN End
Event Trigger - Start Motion on Input
This example waits for input 1 to go low and then starts motion. Note: The AI command actually halts execution of
the program until the input occurs. If you do not want to halt the program sequences, you can use the Input Interrupt
function (II) or use a conditional jump on an input, such as
JP#GO,@IN[1] = 1
.
Chapter 7 Application Programming
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137 DMC-40x0 User Manual