Galil DMC-1800, DMC-1700 user manual Example - Limit Switch, Example - Position Error

SUBROUTINE	DESCRIPTION
#LIMSWI	Limit switch on any axis goes low
#ININT	Input specified by II goes low
#POSERR	Position error exceeds limit specified by ER
#MCTIME	Motion Complete timeout occurred. Timeout period set by TW command
#CMDERR	Bad command given
#AUTO	Automatically executes on power up
#AUTOERR	Automatically executes when a checksum is encountered during #AUTO
	start-up. Check error condition with _RS.
	bit 0 for variable checksum error
	bit 1 for parameter checksum error
	bit 2 for program checksum error
	bit 3 for master reset error (there should be no program )
#AMPERR	Error reported from Galil AMP-19xxx

For example, the #POSERR subroutine will automatically be executed when any axis exceeds its position error limit. The commands in the #POSERR subroutine could decode which axis is in error and take the appropriate action. In another example, the #ININT label could be used to designate an input interrupt subroutine. When the specified input occurs, the program will be executed automatically.

NOTE: An application program must be running for automatic monitoring to function.

Example - Limit Switch:

This program prints a message upon the occurrence of a limit switch. Note, for the #LIMSWI routine to function, the DMC-1700/1800 must be executing an applications program from memory. This can be a very simple program that does nothing but loop on a statement, such as #LOOP;JP #LOOP;EN. Motion commands, such as JG 5000 can still be sent from the PC even while the “dummy” applications program is being executed.

:ED	Edit Mode
000 #LOOP	Dummy Program
001 JP #LOOP;EN	Jump to Loop
002 #LIMSWI	Limit Switch Label
003 MG “LIMIT OCCURRED”	Print Message
004 RE	Return to main program
<control> Q	Quit Edit Mode
:XQ #LOOP	Execute Dummy Program
:JG 5000	Jog
:BGX	Begin Motion

Now, when a forward limit switch occurs on the X axis, the #LIMSWI subroutine will be executed.

Notes regarding the #LIMSWI Routine:

1)The RE command is used to return from the #LIMSWI subroutine.

2)The #LIMSWI subroutine will be re-executed if the limit switch remains active. The #LIMSWI routine is only executed when the motor is being commanded to move.

Example - Position Error

:ED	Edit Mode
000 #LOOP	Dummy Program

150 • Chapter 7 Application Programming DMC-1700/1800