Galil DMC-13X8 Example 12 Motion Programs with Loops, Example 13 Motion Programs with Trippoints

003	BGX	Start X motion
004	EN	End program

To exit the editor mode, input <cntrl>Q. The program may be executed with the command.

XQ #A Start the program running

Example 12 - Motion Programs with Loops

Motion programs may include conditional jumps as shown below.

Instruction	Interpretation
#A	Label
DP 0	Define current position as zero
V1=1000	Set initial value of V1
#Loop	Label for loop
PA V1	Move X motor V1 counts
BG X	Start X motion
AM X	After X motion is complete
WT 500	Wait 500 ms
TP X	Tell position X
V1=V1+1000	Increase the value of V1
JP #Loop,V1<10001	Repeat if V1<10001
EN	End

After the above program is entered, quit the Editor Mode, <cntrl>Q. To start the motion, command:

XQ #A Execute Program #A

Example 13 - Motion Programs with Trippoints

The motion programs may include trippoints as shown below.

Instruction	Interpretation
#B	Label
DP 0,0	Define initial positions
PR 30000,60000	Set targets
SP 5000,5000	Set speeds
BGX	Start X motion
AD 4000	Wait until X moved 4000
BGY	Start Y motion
AP 6000	Wait until position X=6000
SP 2000,50000	Change speeds
AP ,50000	Wait until position Y=50000
SP ,10000	Change speed of Y
EN	End program

To start the program, command:

XQ #B Execute Program #B

Chapter 2 Getting Started • 34 USER MANUAL