Galil DMC-2X00 user manual Example- Multiple Move Sequence, Example- Set Output after Distance

Example- Multiple Move Sequence

The AM trip point is used to separate the two PR moves. If AM is not used, the controller returns a ? for the second PR command because a new PR cannot be given until motion is complete.

InstructionInterpretation

#TWOMOVE	Label
PR 2000	Position Command
BGA	Begin Motion
AMA	Wait for Motion Complete
PR 4000	Next Position Move
BGA	Begin 2nd move
EN	End program

Example- Set Output after Distance

Set output bit 1 after a distance of 1000 counts from the start of the move. The accuracy of the trip point is the speed multiplied by the sample period.

Instruction	Interpretation
#SETBIT	Label
SP 10000	Speed is 10000
PA 20000	Specify Absolute position
BGA	Begin motion
AD 1000	Wait until 1000 counts
SB1	Set output bit 1
EN	End program

Example- Repetitive Position Trigger

To set the output bit every 10000 counts during a move, the AR is used as shown in the next example.

Instruction	Interpretation
#TRIP	Label
JG 50000	Specify Jog Speed
BGA;n=0	Begin Motion
#REPEAT	# Repeat Loop
AR 10000	Wait 10000 counts
TPA	Tell Position
SB1	Set output 1
WT50	Wait 50 msec
CB1	Clear output 1
n=n+1	Increment counter
JP #REPEAT,n<5	Repeat 5 times
STA	Stop
EN	End

Example - Start Motion on Input

This example waits for input 1 to go low and then starts motion.

DMC-2X00 Chapter 7 Application Programming y 85