Galil DMC-4040, Руководство пользователя

Страница: 155 / 284

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-4010 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 9600,0,1,0 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
EN End main program
#COMINT Interrupt Routine
JP #STOP,P2CH="0" Check for S (stop motion)
JP #PAUSE,P2CH="1" Check for P (pause motion)
JP #RESUME,P2CH="2" Check for R (resume motion)
EN1,1 Do nothing
#STOP Routine for stopping motion
STA;ZS;EN Stop motion on A axis; Zero program stack; End Program
#PAUSE Routine for pausing motion
rate=_SPA Save current speed setting of A axis motion
SPA=0 Set speed of A axis to zero (allows for pause)
EN1,1 Re-enable trip-point and communication interrupt
#RESUME Routine for resuming motion
SPA=rate Set speed on A axis to original speed
EN1,1 Re-enable trip-point and communication interrupt
For additional information, see section on Using Communication Interrupt.
Example – Ethernet Communication Error
This simple program executes in the DMC-40x0 and indicates (via the serial port) when a communication handle
fails. By monitoring the serial port, the user can re-establish communication if needed.
Instruction Interpretation
DMC-40x0 User Manual Chapter 7 Application Programming
•
146