Galil DMC-3425 Manual De Usuario

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. 

#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 

#TASK0 Task2 

label 

XQ #TASK1,1 

Execute Task1 

#LOOP2 Loop2 

label 

PR 1000 

Define relative distance 

BGA Begin 

motion 

AMA 

After motion done 

WT 10 

Wait 10 msec 

JP #LOOP2,@IN[2]=1 

Repeat motion unless Input 2 is low 

HX Halt 

all 

tasks 

EN 

End of Program 

The program above is executed with the instruction XQ #TASK0,0 which designates TASK0 as the 
main thread (i.e. Thread 0).  #TASK1 is executed within TASK0. 

The DMC-3425 provides commands and operands that 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 that can help to debug a program.  Breakpoint and single stepping 
commands are available to actively debug a program while in operation.