Galil DMC-1700 Manual De Usuario

PR 1000 

Define relative distance 

BGX Begin 

motion 

AMX 

After motion done 

WT 10 

Wait 10 msec 

JP #LOOP2,@IN[2]=1 

Repeat motion unless Input 2 is low 

HX Halt 

all 

tasks 

The program above is executed with the instruction XQ #TASK2,0 which designates TASK2 as the main thread (ie. 
Thread 0).  #TASK1 is executed within TASK2. 

The DMC-1700/1800 provides commands and operands which 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 which can help to debug a program. 

The trace command causes the controller to send each line in a program to the host computer immediately prior to 
execution.  Tracing is enabled with the command, TR1.  TR0 turns the trace function off.  Note: When the trace 
function is enabled, the line numbers as well as the command line will be displayed as each command line is 
executed. 

Data which is output from the controller is stored in an output FIFO buffer.  The output FIFO buffer can store up to 
512 characters of information.  In normal operation, the controller places output into the FIFO buffer.  The software 
on the host computer monitors this buffer and reads information as needed.  When the trace mode is enabled, the 
controller will send information to the FIFO buffer at a very high rate.  In general, the FIFO will become full since 
the software is unable to read the information fast enough.  When the FIFO becomes full, program execution will be 
delayed until it is cleared.  If the user wants to avoid this delay, the command CW,1 can be given.  This command 
causes the controller to throw away the data which can not be placed into the FIFO.  In this case, the controller does 
not delay program execution. 

When there is a program error, the DMC-1700/1800 halts the program execution at the point where the error occurs.  
To display the last line number of program execution, issue the command, MG _ED.  

The user can obtain information about the type of error condition that occurred by using the command, TC1.  This 
command reports back a number and a text message which describes the error condition.  The command, TC0 or 
TC, will return the error code without the text message.  For more information about the command, TC, see the 
Command Reference. 

The status of motion for each axis can be determined by using the stop code command, SC.  This can be useful when 
motion on an axis has stopped unexpectedly.  The command SC will return a number representing the motion status.  
See the command reference for further information. 

For debugging the status of the program memory, array memory, or variable memory, the DMC-1700/1800 has 
several useful commands.  The command, DM ?, will return the number of array elements currently available.  The 
command, DA ?, will return the number of arrays which can be currently defined.  For example, a standard DMC-
1710 or DMC-1810 will have a maximum of 8000 array elements in up to 30 arrays.  If an array of 100 elements is 
defined, the command DM ? will return the value 7900 and the command DA ? will return 29. 

To list the contents of the variable space, use the interrogation command LV (List Variables). To list the contents of 
array space, use the interrogation command, LA (List Arrays).  To list the contents of the Program space, use the