SPEED Z

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Assigning Values to Variables:

Assigned values can be numbers, internal variables and keywords, functions, controller parameters and strings;

The range for numeric variable values is 4 bytes of integer (231) followed by two bytes of fraction (+/-2,147,483,647.9999).

Numeric values can be assigned to programmable variables using the equal sign.

Any valid DMC-13X8 function can be used to assign a value to a variable. For example, V1=@ABS[V2] or V2=@IN[1]. Arithmetic operations are also permitted.

To assign a string value, the string must be in quotations. String variables can contain up to six characters which must be in quotation.

Examples:

POSX=_TPX

Assigns returned value from TPX command to variable POSX.

SPEED=5.75

Assigns value 5.75 to variable SPEED

INPUT=@IN[2]

Assigns logical value of input 2 to variable INPUT

V2=V1+V3*V4

Assigns the value of V1 plus V3 times V4 to the variable V2.

VAR="CAT"

Assign the string, CAT, to VAR

Assigning Variable Values to Controller Parameters

Variable values may be assigned to controller parameters such as GN or PR.

PR V1

Assign V1 to PR command

SP VS*2000

Assign VS*2000 to SP command

Displaying the value of variables at the terminal

Variables may be sent to the screen using the format, variable=. For example, V1= , returns the value of the variable V1.

Example - Using Variables for Joystick

The example below reads the voltage of an X-Y joystick and assigns it to variables VX and VY to drive the motors at proportional velocities, where

10 Volts = 3000 rpm = 200000 c/sec Speed/Analog input = 200000/10 = 20000

#JOYSTIK

Label

JG 0,0

Set in Jog mode

BGXY

Begin Motion

#LOOP

Loop

VX=@AN[1]*20000

Read joystick X

VY=@AN[2]*20000

Read joystick Y

JG VX,VY

Jog at variable VX,VY

JP#LOOP

Repeat

EN

End

Chapter 7 Application Programming • 128

USER MANUAL

Page 128
Image 128
Galil DMC-13X8 user manual Assigning Values to Variables, Assigning Variable Values to Controller Parameters, Speed Z