Now, when a forward limit switch occurs on the A axis, the #LIMSWI subroutine will be executed

Notes regarding the #LIMSWI Routine:

1)The RE command is used to return from the #LIMSWI subroutine.

2)The #LIMSWI subroutine will be re-executed if the limit switch remains active. The #LIMSWI routine is only executed when the motor is being commanded to move.

Example - Position Error

Instruction

Interpretation

:ED

Edit Mode

000 #LOOP

Dummy Program

001 JP #LOOP;EN

Loop

002 #POSERR

Position Error Routine

003 v1=_TEA

Read Position Error

004 MG "EXCESS POSITION ERROR"

Print Message

005 MG "ERROR=",v1=

Print Error

006 RE

Return from Error

<control> Q

Quit Edit Mode

:XQ #LOOP

Execute Dummy Program

:JG 100000

Jog at High Speed

:BGX

Begin Motion

Example - Input Interrupt

Instruction

Interpretation

#A

Label

II1

Input Interrupt on 1

JG 30000,,,60000

Jog

BGAD

Begin Motion

#LOOP;JP#LOOP;EN

Loop

#ININT

Input Interrupt

STAD;AM

Stop Motion

#TEST;JP #TEST, @IN[1]=0

Test for Input 1 still low

JG 30000,,,6000

Restore Velocities

BGAD

Begin motion

RI0

Return from interrupt routine to Main Program and do not re-

 

enable trippoints

Example - Motion Complete Timeout

Instruction

Interpretation

#BEGIN

Begin main program

DMC-2X00

Chapter 7 Application Programming y 93

Page 148
Image 148
Galil DMC-2X00 user manual Example Position Error, Example Input Interrupt, Example Motion Complete Timeout