Galil DMC-13X8 Executing Programs Multitasking, Commenting Programs, Using the command, no

Commenting Programs

Using the command, NO

The DMC-13X8 provides a command, NO, for commenting programs. This command allows the user to include up to 78 characters on a single line after the NO command and can be used to include comments from the programmer as in the following example:

#PATH

NO 2-D CIRCULAR PATH VMXY

NO VECTOR MOTION ON X AND Y VS 10000

NO VECTOR SPEED IS 10000 VP -4000,0

NO BOTTOM LINE

CR 1500,270,-180

NO HALF CIRCLE MOTION VP 0,3000

NO TOP LINE

CR 1500,90,-180

NO HALF CIRCLE MOTION VE

NO END VECTOR SEQUENCE BGS

NO BEGIN SEQUENCE MOTION EN

NO END OF PROGRAM

Note: The NO command is an actual controller command. Therefore, inclusion of the NO commands will require process time by the controller.

Executing Programs - Multitasking

The DMC-13X8 can run up to 8 independent programs simultaneously. These programs are called threads and are numbered 0 through 7, where 0 is the main thread. Multitasking is useful for executing independent operations such as PLC functions that occur independently of motion.

The main thread differs from the others in the following ways:

1.Only the main thread, thread 0, may use the input command, IN.

2.When input interrupts are implemented for limit switches, position errors or command errors, the subroutines are executed as thread 0.

To begin execution of the various programs, use the following instruction: XQ #A, n

Where n indicates the thread number. To halt the execution of any thread, use the instruction HX n

where n is the thread number.

Chapter 7 Application Programming • 110 USER MANUAL