Galil DMC-2X00 用户手册

y 81  

#TASK1 Task1 

label 

AT0 

Initialize reference time 

CB1 

Clear Output 1 

#LOOP1 Loop1 

label 

AT 10 

Wait 10 msec from reference time 

SB1 

Set Output 1 

AT -40 

Wait 40 msec from reference, then initialize reference 

CB1 

Clear Output 1 

JP #LOOP1 

Repeat Loop1 

#TASK2 Task2 

label 

XQ #TASK1,1 

Execute Task1 

#LOOP2 Loop2 

label 

PR 1000 

Define relative distance 

BGX Begin 

motion 

AMX 

After motion done 

WT 10 

Wait 10 msec 

JP #LOOP2,@IN[2]=1 

Repeat motion unless Input 2 is low 

HX Halt 

all 

tasks 

The program above is executed with the instruction XQ #TASK2,0 which designates TASK2 as the 
main thread (i.e. Thread 0).  #TASK1 is executed within TASK2. 

The DMC-2x00 provides commands and operands which are useful in debugging application 
programs.   These commands include interrogation commands to monitor program execution, 
determine the state of the controller and the contents of the controllers program, array, and variable 
space.  Operands also contain important status information which can help to debug a program. 

The trace command causes the controller to send each line in a program to the host computer 
immediately prior to execution.  Tracing is enabled with the command, TR1.  TR0 turns the trace 
function off.   

NOTE: When the trace function is enabled, the line numbers as well as the command line will be 
displayed as each command line is executed. 

Data which is output from the controller is stored in the output UART.  The UART buffer can store up 
to 128 characters of information.  In normal operation, the controller places output into the FIFO 
buffer.  When the trace mode is enabled, the controller will send information to the UART buffer at a 
very high rate.  In general, the UART will become full because the hardware handshake line will halt 
serial data until the correct data is read.  When the UART becomes full, program execution will be 
delayed until it is cleared.  If the user wants to avoid this delay, the command CW,1 can be given.  
This command causes the controller to throw away the data which can not be placed into the FIFO.  In 
this case, the controller does not delay program execution.