Galil DMC-2X00 user manual Program Format, Using Labels in Programs, Special Labels, Jp #Start

Program Format

A DMC program consists of DMC-2x00 instructions combined to solve a machine control application. Action instructions, such as starting and stopping motion, are combined with Program Flow instructions to form the complete program. Program Flow instructions evaluate real-time conditions, such as elapsed time or motion complete, and alter program flow accordingly.

Each DMC-2x00 instruction in a program must be separated by a delimiter. Valid delimiters are the semicolon (;) or carriage return. The semicolon is used to separate multiple instructions on a single program line where the maximum number of instructions on a line is limited by 80 characters. A carriage return enters the final command on a program line.

Using Labels in Programs

All DMC-2x00 programs must begin with a label and end with an End (EN) statement. Labels start with the pound (#) sign followed by a maximum of seven characters. The first character must be a letter; after that, numbers are permitted. Spaces are not permitted.

The maximum number of labels which may be defined is 510, for firmware 1.0c and higher. Valid labels

#BEGIN

#SQUARE

#X1

#BEGIN1

Invalid labels #1Square #123

Example

Instruction	Interpretation
#START	Beginning of the Program
PR 10000,20000	Specify relative distances on A and B axes
BG AB	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 A and B 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-2x00 has 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-2x00 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

78 • Chapter 7 Application Programming DMC-2X00