Galil DMC-2X00 用户手册
116
• Chapter 7 Application Programming
DMC-2X00
after the execution of the #ININT subroutine, the Zero Stack (ZS) command is used followed by
unconditional jump statements.
unconditional jump statements.
Important: Use the RI command (not EN) to return from the #ININT subroutine.
Example - Input Interrupt
Instruction Interpretation
#A Label
#A
II 1
Enable input 1 for interrupt function
JG 30000,-20000
Set speeds on A and B axes
BG AB
Begin motion on A and B axes
#B Label
#B
TP AB
Report A and B axes positions
WT 1000
Wait 1000 milliseconds
JP #B
Jump to #B
EN
End of program
#ININT Interrupt
subroutine
MG "Interrupt has occurred"
Displays the message
ST AB
Stops motion on A and B axes
#LOOP;JP #LOOP,@IN[1]=0
Loop until Interrupt cleared
JG 15000,10000
Specify new speeds
WT 300
Wait 300 milliseconds
BG AB
Begin motion on A and B axes
RI
Return from Interrupt subroutine
Analog Inputs
The DMC-2x00 provides eight analog inputs. The value of these inputs in volts may be read using the
@AN[n] function where n is the analog input 1 through 8. The resolution of the Analog-to-Digital
conversion is 12 bits (16-bit ADC is available as an option). Analog inputs are useful for reading
special sensors such as temperature, tension or pressure.
@AN[n] function where n is the analog input 1 through 8. The resolution of the Analog-to-Digital
conversion is 12 bits (16-bit ADC is available as an option). Analog inputs are useful for reading
special sensors such as temperature, tension or pressure.
The following examples show programs which cause the motor to follow an analog signal. The first
example is a point-to-point move. The second example shows a continuous move.
example is a point-to-point move. The second example shows a continuous move.
Example - Position Follower (Point-to-Point)
Objective - The motor must follow an analog signal. When the analog signal varies by 10V, motor
must move 10000 counts.
must move 10000 counts.
Method: Read the analog input and command A to move to that point.
Instruction Interpretation
#POINTS Label
SP 7000
SP 7000
Speed
AC 80000;DC 80000
Acceleration
#LOOP
VP=@AN[1]*1000
VP=@AN[1]*1000
Read and analog input, compute position