Galil DMC-13X8 user manual Using Labels in Programs, Special Labels, #Begin #Square, #BEGIN1

Using Labels in Programs

All DMC-13X8 programs must begin with a label and end with an End (EN) statement. Labels start with the pound (#) sign followed by a maximum of seven characters. The first character must be a letter; after that, numbers are permitted. Spaces are not permitted.

The maximum number of labels which may be defined is 254. Valid labels

#BEGIN

#SQUARE

#X1

#BEGIN1

Invalid labels #1Square #123

A Simple Example Program:

#START	Beginning of the Program
PR 10000,20000	Specify relative distances on X and Y axes
BG XY	Begin Motion
AM	Wait for motion complete
WT 2000	Wait 2 sec
JP #START	Jump to label START
EN	End of Program

The above program moves X and Y 10000 and 20000 units. After the motion is complete, the motors rest for 2 seconds. The cycle repeats indefinitely until the stop command is issued.

Special Labels

The DMC-13X8 has some special labels, which are used to define input interrupt subroutines, limit switch subroutines, error handling subroutines, and command error subroutines.

The following is a list of the automatic subroutines available on the DMC-13X8 controller. Specific information on each subroutine may be found in the section “Automatic Subroutines for Monitoring Conditions” on page 121.

#ININT	Label for Input Interrupt subroutine
#LIMSWI	Label for Limit Switch subroutine
#POSERR	Label for excess Position Error subroutine
#MCTIME	Label for timeout on Motion Complete trip point
#CMDERR	Label for incorrect command subroutine

The DMC-13X8 also has a special label for automatic program execution. A program which has been saved into the controllers non-volatile memory can be automatically executed upon power up or reset by beginning the program with the label #AUTO. The program must be saved into non-volatile memory using the command, BP.

USER MANUAL Chapter 7 Application Programming • 109