Galil DMC-2X00 用户手册
DMC-2X00
Chapter 7 Application Programming
y 95
Where the “,1” at the end of the command line indicates a restart; therefore, the existing program stack
will not be removed when the above format executes.
will not be removed when the above format executes.
The following example shows an error correction routine which uses the operands.
Example - Command Error w/Multitasking
Instruction Interpretation
#A
Begin thread 0 (continuous loop)
JP#A
EN
EN
End
of
thread
0
#B
Begin
thread
1
n=-1
Create
new
variable
KP n
Set KP to value of N, an invalid value
TY
Issue
invalid
command
EN
End
of
thread
1
#CMDERR
Begin command error subroutine
IF (_TC=6)
If error is out of range (KP -1)
N=1
Set N to a valid number
XQ _ED2,_ED1,1
Retry KP N command
ENDIF
IF (_TC=1)
IF (_TC=1)
If error is invalid command (TY)
XQ _ED3,_ED1,1
Skip invalid command
ENDIF
EN
EN
End of command error routine
Example - Communication Interrupt
A DMC-2x10 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.
resumed and stopped via input from an auxiliary port terminal.
Instruction Interpretation
#BEGIN
Label for beginning of program
CC 9600,0,0,0
Setup communication configuration for auxiliary serial
port
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