Galil DMC-13X8 user manual Analog Inputs, Example Position Follower Point-to-Point

#LOOP;JP	Loop until Interrupt cleared
#LOOP,@IN[1]=0
JG 15000,10000	Specify new speeds
WT 300	Wait 300 milliseconds
BG XY	Begin motion on X and Y axes
RI	Return from Interrupt subroutine

Analog Inputs

The DMC-13X8 provides eight analog inputs. The value of these inputs in volts may be read using the @AN[n] function where n is the analog input 1 through 8. The resolution of the Analog-to-Digital conversion is 12 bits (16-bit ADC is available as an option). Analog inputs are useful for reading special sensors such as temperature, tension or pressure.

The following examples show programs which cause the motor to follow an analog signal. The first example is a point-to-point move. The second example shows a continuous move.

Example - Position Follower (Point-to-Point)

Objective - The motor must follow an analog signal. When the analog signal varies by 10V, motor must move 10000 counts.

Method: Read the analog input and command X to move to that point.

INSTRUCTION INTERPRETATION

#Points	Label
SP 7000	Speed
AC 80000;DC 80000	Acceleration
#Loop
VP=@AN[1]*1000	Read and analog input, compute position
PA VP	Command position
BGX	Start motion
AMX	After completion
JP #Loop	Repeat
EN	End

Example - Position Follower (Continuous Move)

Method: Read the analog input, compute the commanded position and the position error. Command the motor to run at a speed in proportions to the position error.

INSTRUCTION INTERPRETATION

#Cont	Label
AC 80000;DC 80000	Acceleration rate
JG 0	Start job mode
BGX	Start motion
#Loop
VP=@AN[1]*1000	Compute desired position
VE=VP-_TPX	Find position error
VEL=VE*20	Compute velocity
JG VEL	Change velocity
JP #Loop	Change velocity

USER MANUAL Chapter 7 Application Programming • 141