Galil DMC-13X8 ユーザーズマニュアル

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Often it is desirable to monitor certain conditions continuously without tying up the host or DMC-
13X8 program sequences.  The controller can monitor several important conditions in the background.  
These conditions include checking for the occurrence of a limit switch, a defined input, position error, 
or a command error.  Automatic monitoring is enabled by inserting a special, predefined label in the 
applications program.  The pre-defined labels are: 

#LIMSWI 

Limit switch on any axis goes low 

#ININT 

Input specified by II goes low 

#POSERR 

Position error exceeds limit specified by ER 

#MCTIME 

Motion Complete timeout occurred.  Timeout period set by TW command 

#CMDERR 

Bad command given 

For example, the #POSERR subroutine will automatically be executed when any axis exceeds its 
position error limit.  The commands in the #POSERR subroutine could decode which axis is in error 
and take the appropriate action.  In another example, the #ININT label could be used to designate an 
input interrupt subroutine.  When the specified input occurs, the program will be executed 
automatically. 

NOTE:  An application program must be running for automatic monitoring to function. 

This program prints a message upon the occurrence of a limit switch.  Note, for the #LIMSWI routine 
to function, the DMC-13X8 must be executing an applications program from memory.  This can be a 
very simple program that does nothing but loop on a statement, such as #LOOP;JP #LOOP;EN.  
Motion commands, such as JG 5000 can still be sent from the PC even while the "dummy" 
applications program is being executed. 

:ED Edit 

Mode 

000 #LOOP 

Dummy Program 

001 JP #LOOP;EN 

Jump to Loop 

002 #LIMSWI 

Limit Switch Label 

003 MG "LIMIT OCCURRED" 

Print Message 

004 RE 

Return to main program 

<control> Q 

Quit Edit Mode 

:XQ #LOOP 

Execute Dummy Program 

:JG 5000 

Jog 

:BGX Begin 

Motion 

Now, when a forward limit switch occurs on the X axis, the #LIMSWI subroutine will be executed. 

1)   The RE command is used to return from the #LIMSWI subroutine. 

2)   The #LIMSWI subroutine will be re-executed if the limit switch remains active. 

The #LIMSWI routine is only executed when the motor is being commanded to move. 

:ED Edit 

Mode 

000 #LOOP 

Dummy Program