Galil DMC-1700 Manual De Usuario

This example makes multiple relative distance moves by waiting for each to be complete before executing new 
moves. 

#MOVES Label 
PR 12000 

Distance 

SP 20000 

Speed 

AC 100000 

Acceleration 

BGX Start 

Motion 

AD 10000 

Wait a distance of 10,000 counts 

SP 5000 

New Speed 

AMX 

Wait until motion is completed 

WT 200 

Wait 200 ms 

PR -10000 

New Position 

SP 30000 

New Speed 

AC 150000 

New Acceleration 

BGX Start 

Motion 

EN End 

The following program causes Output 1 to be high for 10 msec and low for 40 msec.  The cycle repeats every 50 
msec. 

#OUTPUT Program 

label 

AT0 Initialize 

time 

reference 

SB1 

Set Output 1 

#LOOP Loop 
AT 10 

After 10 msec from reference, 

CB1 

Clear Output 1 

AT -40 

Wait 40 msec from reference and reset reference 

SB1 

Set Output 1 

JP #LOOP 

Loop 

EN  

The DMC-1700/1800 provides Conditional Jump (JP) and Conditional Jump to Subroutine (JS) instructions for 
branching to a new program location based on a specified condition. The conditional jump determines if a condition 
is satisfied and then branches to a new location or subroutine.  Unlike event triggers, the conditional jump 
instruction does not halt the program sequence.  Conditional jumps are useful for testing events in real-time.  They 
allow the controller to make decisions without a host computer.  For example, the DMC-1700 or DMC-1800 can 
decide between two motion profiles based on the state of an input line.