Galil DMC-2X00 user manual REM Command

REM Command

If you are using Galil software to communicate with the DMC-2x00 controller, you may also include REM statements. ‘REM’ statements begin with the word ‘REM’ and may be followed by any comments which are on the same line. The Galil terminal software will remove these statements when the program is downloaded to the controller. For example:

#PATH

REM 2-D CIRCULAR PATH VMAB

REM VECTOR MOTION ON A AND B VS 10000

REM VECTOR SPEED IS 10000 VP -4000,0

REM BOTTOM LINE CR 1500,270,-180

REM HALF CIRCLE MOTION VP 0,3000

REM TOP LINE

CR 1500,90,-180

REM HALF CIRCLE MOTION VE

REM END VECTOR SEQUENCE BGS

REM BEGIN SEQUENCE MOTION EN

REM END OF PROGRAM

These REM statements will be removed when this program is downloaded to the controller.

Executing Programs - Multitasking

The DMC-2x00 can run up to 8 independent programs simultaneously. These programs are called threads and are numbered 0 through 7, where 0 is the main thread. Multitasking is useful for executing independent operations such as PLC functions that occur independently of motion.

The main thread differs from the others in the following ways:

1.Only the main thread, thread 0, may use the input command, IN.

2.When automatic subroutines are implemented for limit switches, position errors or command errors, they are executed in thread 0.

To begin execution of the various programs, use the following instruction: XQ #A, n

Where n indicates the thread number. To halt the execution of any thread, use the instruction HX n

where n is the thread number.

Note that both the XQ and HX commands can be performed by an executing program. The example below produces a waveform on Output 1 independent of a move.

80 • Chapter 7 Application Programming DMC-2X00