Galil DMC-3425 Manual De Usuario
110 • Chapter 7 Application Programming
DMC-3425
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-3425 has some special labels, which are used to define input interrupt subroutines, limit
switch subroutines, error handling subroutines, command error subroutines and auto start and recovery
routines.
switch subroutines, error handling subroutines, command error subroutines and auto start and recovery
routines.
#AUTO
Label for automatic execution of program upon power up. This program
must be saved in the non-volatile memory with the BP command.
must be saved in the non-volatile memory with the BP command.
#AUTOERR
Label for detecting errors in the #AUTO routine. If a Checksum error
were to occur, the #AUTO would fail to start at power up. This
#AUTOERR routine would be called instead.
were to occur, the #AUTO would fail to start at power up. This
#AUTOERR routine would be called instead.
#ININT
Label for Input Interrupt subroutine
#LIMSWI
Label for Limit Switch subroutine
#POSERR
Label for excess Position Error subroutine
#MCTIME
Label for timeout on Motion Complete trip point
#CMDERR
Label for incorrect command subroutine
#COMINT
Label for communication interrupt on the aux. serial port
#TCPERR
Ethernet communication error
Commenting Programs
There are two methods for commenting programs. The first method uses the NO command and allows
for comments to be embedded into Galil programs. The second method used the REM statement and
requires the use of Galil software.
for comments to be embedded into Galil programs. The second method used the REM statement and
requires the use of Galil software.
NO Command and the Apostrophe (‘)
Programs on the DMC-3425 can be commented using the command, NO, or the apostrophe. These
commands allow the user to include up to 78 characters on a single line. This can be used to include
comments from the programmer as in the following example:
commands allow the user to include up to 78 characters on a single line. This can be used to include
comments from the programmer as in the following example:
Instruction Interpretation
#PATH Label
NO 2-D CIRCULAR PATH
NO 2-D CIRCULAR PATH
Comment - No Operation
VMAB Vector
Mode
NO VECTOR MOTION ON A AND B
Comment - No Operation
VS 10000
Vector Speed
NO VECTOR SPEED IS 10000
Comment - No Operation
VP -4000,0
Vector Position
NO BOTTOM LINE
Comment - No Operation
CR 1500,270,-180
Circle Motion
NO HALF CIRCLE MOTION
Comment - No Operation