Galil DMC-1700 Manual Do Utilizador
168 • Chapter 7 Application Programming DMC-1700/1800
had occurred. If it is desired to return to somewhere else in the program after the execution of the #ININT
subroutine, the Zero Stack (ZS) command is used followed by unconditional jump statements.
subroutine, the Zero Stack (ZS) command is used followed by unconditional jump statements.
IMPORTANT: Use the RI instruction (not EN) to return from the #ININT subroutine.
Examples - Input Interrupt
#A Label
#A
II 1
Enable input 1 for interrupt function
JG 30000,-20000
Set speeds on X and Y axes
BG XY
Begin motion on X and Y axes
#B Label
#B
TP XY
Report X and Y axes positions
WT 1000
Wait 1000 milliseconds
JP #B
Jump to #B
EN
End of program
#ININT Interrupt
subroutine
MG “Interrupt has occurred”
Displays the message
ST XY
Stops motion on X and Y axes
#LOOP;JP #LOOP,@IN[1]=0
Loop until Interrupt cleared
JG 15000,10000
Specify new speeds
WT 300
Wait 300 milliseconds
BG XY
Begin motion on X and Y axes
RI
Return from Interrupt subroutine
Analog Inputs
The DMC-1700/1800 provides eight analog inputs. The value of these inputs in volts may be read using the
@AN[n] function where n is the analog input 1 through 8. The resolution of the Analog-to-Digital conversion is 12
bits (16-bit ADC is available as an option). Analog inputs are useful for reading special sensors such as
temperature, tension or pressure.
@AN[n] function where n is the analog input 1 through 8. The resolution of the Analog-to-Digital conversion is 12
bits (16-bit ADC is available as an option). Analog inputs are useful for reading special sensors such as
temperature, tension or pressure.
The following examples show programs which cause the motor to follow an analog signal. The first example is a
point-to-point move. The second example shows a continuous move.
point-to-point move. The second example shows a continuous move.
Example - Position Follower (Point-to-Point)
Objective - The motor must follow an analog signal. When the analog signal varies by 10V, motor must move
10000 counts.
10000 counts.
Method: Read the analog input and command X to move to that point.
INSTRUCTION INTERPRETATION
#Points Label
SP 7000
SP 7000
Speed
AC 80000;DC 80000
Acceleration
#Loop
VAR=@AN[1]*1000
VAR=@AN[1]*1000
Read and analog input, compute position
PA VAR
Command position
BGX Start
motion
AMX After
completion