Galil DMC-1510, Руководство пользователя

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DMC-1500 Chapter 7 Application Programming
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Event Trigger - Multiple Move with Wait
This example makes multiple relative distance moves by waiting for each to be complete before
executing new moves.
Instruction Interpretation
#MOVES Label
PR 12000 Distance
SP 20000 Speed
AC 100000 Acceleration
BGX Start Motion
AD 10000 Wait a distance of 10,000 counts
SP 5000 New Speed
AMX Wait until motion is completed
WT 200 Wait 200 ms
PR -10000 New Position
SP 30000 New Speed
AC 150000 New Acceleration
BGX Start Motion
EN End
Example - Creating an Output Waveform Using AT
The following program causes Output 1 to be high for 10 msec and low for 40 msec. The cycle
repeats every 50 msec.
Instruction Interpretation
#OUTPUT Program label
AT0 Initialize time reference
SB1 Set Output 1
#LOOP Loop
AT 10 After 10 msec from reference,
CB1 Clear Output 1
AT -40 Wait 40 msec from reference and reset reference
SB1 Set Output 1
JP #LOOP Jump to location #LOOP and continue executing commands
EN End of program
Conditional Jumps
The DMC-1500 provides Conditional Jump (JP) and Conditional Jump to Subroutine (JS) instructions
for branching to a new program location. Program execution will continue at the location specified by
the JP or JS command if the conditional statement is satisfied. If no conditional statement is provided,
the jump will occur automatically. See description of conditional statements below.
Conditional jumps are useful for testing events in real-time since they allow the DMC-1500 to make
decisions without a host computer. For example, the DMC-1500 can begin execution at a specified
label or line number based on the state of an input line.