Galil Motion Control DMC-42 0 Series, Руководство пользователя

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For example, the #POSERR subroutine will automatically be executed when any axis exceeds its position error limit.
The commands in the #POSERR subroutine could decode which axis is in error and take the appropriate action. In
another example, the #ININT label could be used to designate an input interrupt subroutine. When the specified
input occurs, the program will be executed automatically.
NOTE : An application program must be running for #CMDERR to function.
Example - Limit Switch:
This program prints a message upon the occurrence of a limit switch. Note, for the #LIMSWI routine to function,
the DMC-42x0 must be executing an applications program from memory. This can be a very simple program that
does nothing but loop on a statement, such as #LOOP;JP #LOOP;EN. Motion commands, such as JG 5000 can still
be sent from the PC even while the “dummy” applications program is being executed.
#LOOP Dummy Program
JP #LOOP;EN Jump to Loop
#LIMSWI Limit Switch Label
MG “LIMIT OCCURRED”
Print Message
RE Return to main program
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:XQ #LOOP Execute Dummy Program
:JG 5000 Jog
:BGX Begin Motion
Now, when a forward limit switch occurs on the X axis, the #LIMSWI subroutine will be executed.
Notes regarding the #LIMSWI Routine:
1) The RE command is used to return from the #LIMSWI subroutine.
2) The #LIMSWI subroutine will be re-executed if the limit switch remains active.
The #LIMSWI routine is only executed when the motor is being commanded to move.
Example - Position Error
#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
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:XQ #LOOP Execute Dummy Program
:JG 100000 Jog at High Speed
:BGX Begin Motion
Example - Input Interrupt
#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 Begin motion
RI0 Return from interrupt routine to Main Program and do not re-enable trippoints
Chapter 7 Application Programming ▫ 114 DMC-42x0 User Manual