Galil DMC-2X00 用户手册

•  Chapter 7 Application Programming 

If you are using Galil software to communicate with the DMC-2x00 controller, you may also include 
REM statements.  ‘REM’ statements begin with the word ‘REM’ and may be followed by any 
comments which are on the same line.  The Galil terminal software will remove these statements when 
the program is downloaded to the controller.  For example: 

#PATH 
REM 2-D CIRCULAR PATH 
VMAB 
REM VECTOR MOTION ON A AND B 
VS 10000 
REM VECTOR SPEED IS 10000 
VP -4000,0 
REM BOTTOM LINE 
CR 1500,270,-180 
REM HALF CIRCLE MOTION 
VP 0,3000 
REM TOP LINE 
CR 1500,90,-180 
REM HALF CIRCLE MOTION 
VE 
REM END VECTOR SEQUENCE 
BGS 
REM BEGIN SEQUENCE MOTION 
EN 
REM END OF PROGRAM 

These REM statements will be removed when this program is downloaded to the controller. 

The DMC-2x00 can run up to 8 independent programs simultaneously.  These programs are called 
threads and are numbered 0 through 7, where 0 is the main thread. Multitasking is useful for executing 
independent operations such as PLC functions that occur independently of motion.   

The main thread differs from the others in the following ways: 

1.  Only the main thread, thread 0, may use the input command, IN. 

2.  When automatic subroutines are implemented for limit switches, position errors or command errors, 
they are executed in thread 0. 

To begin execution of the various programs, use the following instruction: 

 

XQ #A, n 

Where n indicates the thread number.  To halt the execution of any thread, use the instruction 

 HX 

n 

where n is the thread number. 

Note that both the XQ and HX commands can be performed by an executing program. 

The example below produces a waveform on Output 1 independent of a move.