Galil DMC-1700 Special Operands Keywords, Defining Arrays, Examples of Internal Variables

Examples of Internal Variables:

POSX=_TPX GAIN=_GNZ*2 JP #LOOP,_TEX>5 JP #ERROR,_TC=1

Assigns value from Tell Position X to the variable POSX. Assigns value from GNZ multiplied by two to variable, GAIN. Jump to #LOOP if the position error of X is greater than 5 Jump to #ERROR if the error code equals 1.

Operands can be used in an expression and assigned to a programmable variable, but they cannot be assigned a value. For example: _GNX=2 is invalid.

Special Operands (Keywords)

The DMC-1700/1800 provides a few additional operands which give access to internal variables that are not accessible by standard DMC-1700/1800 commands.

KEYWORD

_BGn

_BN

_DA

_DL

_DM

_HMn

_LFn

_LRX

_UL

TIME

FUNCTION

*Returns a 1 if motion on axis ‘n’ is complete, otherwise returns 0. *Returns serial # of the board.

*Returns the number of arrays available

*Returns the number of available labels for programming *Returns the available array memory

*Returns status of Home Switch (equals 0 or 1)

Returns status of Forward Limit switch input of axis ‘n’ (equals 0 or 1) Returns status of Reverse Limit switch input of axis ‘n’ (equals 0 or 1) *Returns the number of available variables

Free-Running Real Time Clock (off by 2.4% - Resets with power-on). Note: TIME does not use an underscore character (_) as other keywords.

*- These keywords have corresponding commands while the keywords _LF, _LR, and TIME do not have any associated commands. All keywords are listed in the Command Summary, Chapter 11.

Examples of Keywords:

V1=_LFX	Assign V1 the logical state of the Forward Limit Switch on the X-axis
V3=TIME	Assign V3 the current value of the time clock
V4=_HMW	Assign V4 the logical state of the Home input on the W-axis

Arrays

For storing and collecting numerical data, the DMC-1700/1800 provides array space for 8000 elements. The arrays are one dimensional and up to 30 different arrays may be defined. Each array element has a numeric range of 4

bytes of integer (231)followed by two bytes of fraction (+/-2,147,483,647.9999).

Arrays can be used to capture real-time data, such as position, torque and analog input values. In the contouring mode, arrays are convenient for holding the points of a position trajectory in a record and playback application.

Defining Arrays

An array is defined with the command DM. The user must specify a name and the number of entries to be held in the array. An array name can contain up to eight characters, starting with an uppercase alphabetic character. The number of entries in the defined array is enclosed in [ ].

Example:

DMC-1700/1800 Chapter 7 Application Programming • 157