Galil user manual DMC-13X8 and DMC-13X8 Event Triggers, Function

DMC-13X8 and DMC-13X8 Event Triggers

Command

AM X Y Z W or S (A B C D)

AD X or Y or Z or W (A or B or C or D)

AR X or Y or Z or W (A or B or C or D)

AP X or Y or Z or W (A or B or C or D)

MF X or Y or Z or W (A or B or C or D)

MR X or Y or Z or W (A or B or C or D)

MC X or Y or Z or W (A or B or C or D)

AI +/- n

AS X Y Z W S (A B C D)

AT +/-n

AV n

WT n

Function

Halts program execution until motion is complete on the specified axes or motion sequence(s). AM with no parameter tests for motion complete on all axes. This command is useful for separating motion sequences in a program.

Halts program execution until position command has reached the specified relative distance from the start of the move. Only one axis may be specified at a time.

Halts program execution until after specified distance from the last AR or AD command has elapsed. Only one axis may be specified at a time.

Halts program execution until after absolute position occurs. Only one axis may be specified at a time.

Halt program execution until after forward motion reached absolute position. Only one axis may be specified. If position is already past the point, then MF will trip immediately. Will function on geared axis or aux. inputs.

Halt program execution until after reverse motion reached absolute position. Only one axis may be specified. If position is already past the point, then MR will trip immediately. Will function on geared axis or aux. inputs.

Halt program execution until after the motion profile has been completed and the encoder has entered or passed the specified position. TW x,y,z,w sets timeout to declare an error if not in position. If timeout occurs, then the trippoint will clear and the stopcode will be set to 99. An application program will jump to label #MCTIME.

Halts program execution until after specified input is at specified logic level. n specifies input line. Positive is high logic level, negative is low level. n=1 through 80 for DMC-13X8, which includes all standard inputs as well as extended I/O.

Halts program execution until specified axis has reached its slew speed.

Halts program execution until n msec from reference time. AT 0 sets reference. AT n waits n msec from reference. AT -n waits n msec from reference and sets new reference after elapsed time.

Halts program execution until specified distance along a coordinated path has occurred.

Halts program execution until specified time in msec has elapsed.

Chapter 7 Application Programming • 114 USER MANUAL