Galil DMC-1700 Manual De Usuario

‘  BOTTOM LINE 
CR 1500,270,-180 
‘  HALF CIRCLE MOTION 
VP 0,3000 
‘  TOP LINE 
CR 1500,90,-180 
‘  HALF CIRCLE MOTION 
VE 
‘  END VECTOR SEQUENCE 
BGS 
‘  BEGIN SEQUENCE MOTION 
EN 
‘  END OF PROGRAM 

Note: The NO command is an actual controller command.  Therefore, inclusion of the NO commands will require 
process time by the controller. 

The DMC-1700/1800 can run up to 8 independent programs simultaneously.  These programs are called threads and 
are numbered 0 through 7, where 0 is the main thread. Multitasking is useful for executing independent operations 
such as PLC functions that occur independently of motion.   

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 input interrupts are implemented for limit switches, position errors or command errors, the subroutines 

are executed as thread 0. 
To begin execution of the various programs, use the following instruction: 

Where n indicates the thread number.  To halt the execution of any thread, use the instruction 

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 time, then initialize reference 

CB1 

Clear Output 1 

JP #LOOP1 

Repeat Loop1 

#TASK2 Task2 

label 

XQ #TASK1,1 

Execute Task1 

#LOOP2 Loop2 

label