Galil DMC-13X8 user manual Hardware I/O, Converting to User Units, Digital Outputs

{Fn.m} or {$n.m} following the variable name and the ‘=’ symbol. F specifies decimal and $ specifies hexadecimal. n is the number of digits to the left of the decimal, and m is the number of digits to the right of the decimal. For example:

Examples:

:V1=10	Assign V1
:V1=	Return V1
0000000010.0000	Default Format
:V1={F4.2}	Specify local format
0010.00	New format
:V1={$4.2}	Specify hex format
$000A.00	Hex value
:V1="ALPHA"	Assign string "ALPHA" to V1
:V1={S4}	Specify string format first 4 characters
ALPH

The local format is also used with the MG* command.

Converting to User Units

Variables and arithmetic operations make it easy to input data in desired user units such as inches or RPM.

The DMC-13X8 position parameters such as PR, PA and VP have units of quadrature counts. Speed parameters such as SP, JG and VS have units of counts/sec. Acceleration parameters such as AC, DC,

VA and VD have units of counts/sec2. The controller interprets time in milliseconds.

All input parameters must be converted into these units. For example, an operator can be prompted to input a number in revolutions. A program could be used such that the input number is converted into counts by multiplying it by the number of counts/revolution.

Example:

#RUN	Label
IN "ENTER # OF REVOLUTIONS",N1	Prompt for revs
PR N1*2000	Convert to counts
IN "ENTER SPEED IN RPM",S1	Prompt for RPMs
SP S1*2000/60	Convert to counts/sec
IN "ENTER ACCEL IN RAD/SEC2",A1	Prompt for ACCEL
AC A1*2000/(2*3.14)	Convert to counts/sec2
BG	Begin motion
EN	End program

Hardware I/O

Digital Outputs

The DMC-13X8 has an 8-bit uncommitted output port for controlling external events. The DMC- 13x8 also has an additional 64 I/O (configured as inputs or outputs with CO command). Each bit on the output port may be set and cleared with the software instructions SB (Set Bit) and CB(Clear Bit), or OB (define output bit).

Chapter 7 Application Programming • 138 USER MANUAL