Galil DMC-1700 Special Labels, Commenting Programs, Using the command, NO or Apostrophe ‘

#SQUARE

#X1

#BEGIN1 Invalid labels

#1Square

#123

A Simple Example Program:

#START	Beginning of the Program
PR 10000,20000	Specify relative distances on X and Y axes
BG XY	Begin Motion
AM	Wait for motion complete
WT 2000	Wait 2 sec
JP #START	Jump to label START
EN	End of Program

The above program moves X and Y 10000 and 20000 units. After the motion is complete, the motors rest for 2 seconds. The cycle repeats indefinitely until the stop command is issued.

Special Labels

The DMC-1700 and DMC-1800 have some special labels, which are used to define input interrupt subroutines, limit switch subroutines, error handling subroutines, and command error subroutines. See section on Auto-Start Routine

The DMC-1700/1800 has a special label for automatic program execution. A program which has been saved into the controller’s non-volatile memory can be automatically executed upon power up or reset by beginning the program with the label #AUTO. The program must be saved into non-volatile memory using the command, BP.

Automatic Subroutines for Monitoring Conditions on page 149.

#ININT	Label for Input Interrupt subroutine
#LIMSWI	Label for Limit Switch subroutine
#POSERR	Label for excess Position Error subroutine
#MCTIME	Label for timeout on Motion Complete trip point
#CMDERR	Label for incorrect command subroutine

Commenting Programs

Using the command, NO or Apostrophe (‘)

The DMC-1700/1800 provides a command, NO, for commenting programs or single apostrophe. This command allows the user to include up to 78 characters on a single line after the NO command and can be used to include comments from the programmer as in the following example:

#PATH

‘2-D CIRCULAR PATH VMXY

‘VECTOR MOTION ON X AND Y VS 10000

‘VECTOR SPEED IS 10000

VP -4000,0

DMC-1700/1800 Chapter 7 Application Programming • 137