Galil DMC-2X00 user manual Program Flow Commands, Event Triggers & Trippoints

Instruction	Interpretation
:ED	Edit Mode
000 #A	Program Label
001 PR1000	Position Relative 1000
002 BGA	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 while running.	Command not valid while running
:ED 3	Edit Line 3
003 AMX;PR5000;BGA	Add After Motion Done
<cntrl> Q	Quit Edit Mode
:XQ #A	Execute #A

Program Flow Commands

The DMC-2x00 provides instructions to control program flow. The DMC-2x00 program sequencer normally executes program instructions sequentially. The program flow can be altered with the use of event triggers, trippoints, and conditional jump statements.

Event Triggers & Trippoints

To function independently from the host computer, the DMC-2x00 can be programmed to make decisions based on the occurrence of an event. Such events include waiting for motion to be complete, waiting for a specified amount of time to elapse, or waiting for an input to change logic levels.

The DMC-2x00 provides several event triggers that cause the program sequencer to halt until the specified event occurs. Normally, a program is automatically executed sequentially one line at a time. When an event trigger instruction is decoded, however, the actual program sequence is halted. The program sequence does not continue until the event trigger is "tripped". For example, the motion complete trigger can be used to separate two move sequences in a program. The commands for the second move sequence will not be executed until the motion is complete on the first motion sequence. In this way, the DMC-2x00 can make decisions based on its own status or external events without intervention from a host computer.

NOTE: It is not recommended to send trip point commands (e.g. AM) from the PC to a DMC- 2100/2200. The buffer becomes filled easily when using event triggers which would halt communications between the host and the controller.

DMC-2X00 Chapter 7 Application Programming y 83