Galil DMC-2X00 用户手册
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• Chapter 7 Application Programming
DMC-2X00
Program Format
A DMC program consists of DMC-2x00 instructions combined to solve a machine control application.
Action instructions, such as starting and stopping motion, are combined with Program Flow
instructions to form the complete program. Program Flow instructions evaluate real-time conditions,
such as elapsed time or motion complete, and alter program flow accordingly.
Action instructions, such as starting and stopping motion, are combined with Program Flow
instructions to form the complete program. Program Flow instructions evaluate real-time conditions,
such as elapsed time or motion complete, and alter program flow accordingly.
Each DMC-2x00 instruction in a program must be separated by a delimiter. Valid delimiters are the
semicolon (;) or carriage return. The semicolon is used to separate multiple instructions on a single
program line where the maximum number of instructions on a line is limited by 80 characters. A
carriage return enters the final command on a program line.
semicolon (;) or carriage return. The semicolon is used to separate multiple instructions on a single
program line where the maximum number of instructions on a line is limited by 80 characters. A
carriage return enters the final command on a program line.
Using Labels in Programs
All DMC-2x00 programs must begin with a label and end with an End (EN) statement. Labels start
with the pound (#) sign followed by a maximum of seven characters. The first character must be a
letter; after that, numbers are permitted. Spaces are not permitted.
with the pound (#) sign followed by a maximum of seven characters. The first character must be a
letter; after that, numbers are permitted. Spaces are not permitted.
The maximum number of labels which may be defined is 510, for firmware 1.0c and higher.
Valid labels
#BEGIN
#SQUARE
#X1
#BEGIN1
Invalid labels
#1Square
#123
Example
Instruction Interpretation
#START
Beginning of the Program
PR 10000,20000
Specify relative distances on A and B axes
BG AB
Begin Motion
AM
Wait for motion complete
WT 2000
Wait 2 sec
JP #START
Jump to label START
EN
End of Program
The above program moves A and B 10000 and 20000 units. After the motion is complete, the motors
rest for 2 seconds. The cycle repeats indefinitely until the stop command is issued.
rest for 2 seconds. The cycle repeats indefinitely until the stop command is issued.
Special Labels
The DMC-2x00 has some special labels, which are used to define input interrupt subroutines, limit
switch subroutines, error handling subroutines, and command error subroutines. See section on Auto-
Start Routine
switch subroutines, error handling subroutines, and command error subroutines. See section on Auto-
Start Routine
The DMC-2x00 has a special label for automatic program execution. A program which has been saved
into the controller’s non-volatile memory can be automatically executed upon power up or reset by
into the controller’s non-volatile memory can be automatically executed upon power up or reset by