Galil DMC-2X00 Example Multiple Move with Wait, Example- Define Output Waveform Using AT

Example - Multiple Move with Wait

This example makes multiple relative distance moves by waiting for each to be complete before executing new moves.

Instruction	Interpretation
#MOVES	Label
PR 12000	Distance
SP 20000	Speed
AC 100000	Acceleration
BGA	Start Motion
AD 10000	Wait a distance of 10,000 counts
SP 5000	New Speed
AMA	Wait until motion is completed
WT 200	Wait 200 ms
PR -10000	New Position
SP 30000	New Speed
AC 150000	New Acceleration
BGA	Start Motion
EN	End

Example- Define Output Waveform Using AT

The following program causes Output 1 to be high for 10 msec and low for 40 msec. The cycle repeats every 50 msec.

InstructionInterpretation

#OUTPUT	Program label
AT0	Initialize time reference
SB1	Set Output 1
#LOOP	Loop
AT 10	After 10 msec from reference,
CB1	Clear Output 1
AT -40	Wait 40 msec from reference and reset reference
SB1	Set Output 1
JP #LOOP	Loop
EN

Conditional Jumps

The DMC-2x00 provides Conditional Jump (JP) and Conditional Jump to Subroutine (JS) instructions for branching to a new program location based on a specified condition. The conditional jump determines if a condition is satisfied and then branches to a new location or subroutine. Unlike event triggers, the conditional jump instruction does not halt the program sequence. Conditional jumps are useful for testing events in real-time. They allow the DMC-2x00 to make decisions without a host computer. For example, the DMC-2x00 can decide between two motion profiles based on the state of an input line.

DMC-2X00 Chapter 7 Application Programming y 87