interrogation command, LS (List). To list the application program labels only, use the interrogation command, LL (List Labels).

Operands

In general, all operands provide information which may be useful in debugging an application program. Below is a list of operands which are particularly valuable for program debugging. To display the value of an operand, the message command may be used. For example, since the operand, _ED contains the last line of program execution, the command MG _ED will display this line number.

_ED contains the last line of program execution. Useful to determine where program stopped. _DL contains the number of available labels.

_UL contains the number of available variables. _DA contains the number of available arrays.

_DM contains the number of available array elements. _AB contains the state of the Abort Input

_LFx contains the state of the forward limit switch for the ‘x’ axis _LRx contains the state of the reverse limit switch for the ‘x’ axis

Debugging Example:

The following program has an error. It attempts to specify a relative movement while the X-axis is already in motion. When the program is executed, the controller stops at line 003. The user can then query the controller using the command, TC1. The controller responds with the corresponding explanation:

:ED

Edit Mode

000 #A

Program Label

001 PR1000

Position Relative 1000

002 BGX

Begin

003 PR5000

Position Relative 5000

004 EN

End

<cntrl> Q

Quit Edit Mode

:XQ #A

Execute #A

?003 PR5000

Error on Line 3

:TC1

Tell Error Code

?7 Command not valid

Command not valid while running

while running.

 

:ED 3

Edit Line 3

003 AMX;PR5000;BGX

Add After Motion Done

<cntrl> Q

Quit Edit Mode

:XQ #A

Execute #A

Program Flow Commands

The DMC-1700/1800 provides instructions to control program flow. The controller program sequencer normally executes program instructions sequentially. The program flow can be altered with the use of event triggers, trippoints, and conditional jump statements.

140 • Chapter 7 Application Programming

DMC-1700/1800

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Galil DMC-1800, DMC-1700 user manual Program Flow Commands, Operands, Debugging Example
Page 147 Page 149

DMC-1800, DMC-1700 specifications

The Galil DMC-1700 and DMC-1800 are advanced motion controllers widely recognized for their high performance and versatility in the automation and robotics industries. These controllers are designed to meet the demands of complex motion control applications, providing users with enhanced features and innovative technologies that optimize motion precision and efficiency.

One of the main features of the Galil DMC-1700 is its ability to handle up to 8 axes of motion control. This capability makes it suitable for a range of applications, from simple point-to-point movements to intricate trajectories in multi-axis systems. In contrast, the DMC-1800 extends this functionality, supporting up to 64 axes, making it ideal for large-scale automation environments.

Both models leverage Galil's powerful programming interface, which simplifies the development of motion control applications. The DMC-1700 and DMC-1800 controllers utilize a high-level programming language that supports advanced motion commands, including linear interpolation, circular interpolation, and complex motion profiles. This feature allows users to implement sophisticated motion sequences seamlessly.

In terms of connectivity, the Galil DMC series offers multiple communication options, including Ethernet, RS-232, and CAN bus, ensuring compatibility with various hardware and enabling easy integration into existing systems. The controllers also come equipped with digital and analog I/O ports, providing flexibility for sensor feedback and actuator control.

The advanced technology incorporated into both the DMC-1700 and DMC-1800 includes on-board PID control, which ensures precise motion control through closed-loop feedback. This results in improved stability and accuracy, particularly in high-speed applications. Additionally, the controllers offer extensive diagnostics and monitoring capabilities, allowing for real-time performance analysis and troubleshooting.

Another notable characteristic of these motion controllers is their compact design, which offers space-saving advantages while maintaining high processing power. Their robust construction and ability to operate in challenging environments make them suitable for a wide range of industrial applications, from CNC machining to assembly lines.

In conclusion, the Galil DMC-1700 and DMC-1800 motion controllers stand out due to their high-performance capabilities, advanced programming features, and flexibility in connectivity. With their ability to handle complex motion control tasks efficiently, these controllers are invaluable tools for engineers and manufacturers looking to enhance their automation processes. By integrating Galil's innovative motion control technology, industries can achieve greater precision, speed, and reliability in their operational workflows.
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