Galil DMC-2X00 user manual Example Limit Switch

beginning the program with the label #AUTO. The program must be saved into non-volatile memory using the command, BP.

Automatic Subroutines for Monitoring Conditions

Often it is desirable to monitor certain conditions continuously without tying up the host or DMC-2x00 program sequences. The DMC-2x00 can monitor several important conditions in the background. These conditions include checking for the occurrence of a limit switch, a defined input, position error, or a command error. Automatic monitoring is enabled by inserting a special, predefined label in the applications program. The pre-defined labels are:

SUBROUTINE	DESCRIPTION
#LIMSWI	Limit switch on any axis goes low
#ININT	Input specified by II goes low
#POSERR	Position error exceeds limit specified by ER
#MCTIME	Motion Complete timeout occurred. Timeout period set by TW command
#CMDERR	Bad command given
#COMINT (DMC-2000 only)	Communication Interrupt Routine
#TCPERR	TCP/IP communication error (2100 and 2200 only)

For example, the #POSERR subroutine will automatically be executed when any axis exceeds its position error limit. The commands in the #POSERR subroutine could decode which axis is in error and take the appropriate action. In another example, the #ININT label could be used to designate an input interrupt subroutine. When the specified input occurs, the program will be executed automatically.

NOTE: An application program must be running for automatic monitoring to function.

Example - Limit Switch:

This program prints a message upon the occurrence of a limit switch. Note, for the #LIMSWI routine to function, the DMC-2x00 must be executing an applications program from memory. This can be a very simple program that does nothing but loop on a statement, such as #LOOP;JP #LOOP;EN.

Motion commands, such as JG 5000 can still be sent from the PC even while the "dummy" applications program is being executed.

Instruction	Interpretation
:ED	Edit Mode
000 #LOOP	Dummy Program
001 JP #LOOP;EN	Jump to Loop
002 #LIMSWI	Limit Switch Label
003 MG "LIMIT OCCURRED"	Print Message
004 RE	Return to main program
<control> Q	Quit Edit Mode
:XQ #LOOP	Execute Dummy Program
:JG 5000	Jog
:BGA	Begin Motion

92 • Chapter 7 Application Programming DMC-2X00