Galil DMC-13X8 Automatic Subroutines for Monitoring Conditions

Chapter 7 Application Programming • 122 USER MANUAL

Automatic Subroutines for Monitoring Conditions

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:

SUBROUTINE DESCRIPTION

#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.

Notes regarding the #LIMSWI Routine:

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