Galil DMC-13X8 user manual Example Input Interrupt, Example Motion Complete Timeout

001 JP #LOOP;EN		Loop
002	#POSERR	Position Error Routine
003	V1=_TEX	Read Position Error
004 MG "EXCESS POSITION ERROR"		Print Message
005 MG "ERROR=",V1=		Print Error
006	RE	Return from Error
<control> Q		Quit Edit Mode
:XQ #LOOP		Execute Dummy Program
:JG 100000		Jog at High Speed
: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

Example - Input Interrupt

#A	Label
II1	Input Interrupt on 1
JG 30000,,,60000	Jog
BGXW	Begin Motion
#LOOP;JP#LOOP;EN	Loop
#ININT	Input Interrupt
STXW;AM	Stop Motion
#TEST;JP #TEST, @IN[1]=0	Test for Input 1 still low
JG 30000,,,6000	Restore Velocities
BGXW	Begin motion
RI0	Return from interrupt routine to Main Program and do not re-enable trippoints

Example - Motion Complete Timeout

#BEGIN	Begin main program
TW 1000	Set the time out to 1000 ms
PA 10000	Position Absolute command
BGX	Begin motion
MCX	Motion Complete trip point
EN	End main program
#MCTIME	Motion Complete Subroutine
MG “X fell short”	Send out a message
EN	End subroutine

This simple program will issue the message “X fell short” if the X axis does not reach the commanded position within 1 second of the end of the profiled move.

USER MANUAL Chapter 7 Application Programming • 123