Galil DMC-2X00 user manual Example Command Error

TW 1000	Set the time out to 1000 ms
PA 10000	Position Absolute command
BGA	Begin motion
MCA	Motion Complete trip point
EN	End main program
#MCTIME	Motion Complete Subroutine
MG “A fell short”	Send out a message
EN	End subroutine

This simple program will issue the message “A fell short” if the A axis does not reach the commanded position within 1 second of the end of the profiled move.

Example - Command Error

Instruction	Interpretation
#BEGIN	Begin main program
IN "ENTER SPEED", speed	Prompt for speed
JG speed;BGA	Begin motion
JP #BEGIN	Repeat
EN	End main program
#CMDERR	Command error utility
JP#DONE,_ED<>2	Check if error on line 2
JP#DONE,_TC<>6	Check if out of range
MG "SPEED TOO HIGH"	Send message
MG "TRY AGAIN"	Send message
ZS1	Adjust stack
JP #BEGIN	Return to main program
#DONE	End program if other error
ZS0	Zero stack
EN	End program

The above program prompts the operator to enter a jog speed. If the operator enters a number out of range (greater than 8 million), the #CMDERR routine will be executed prompting the operator to enter a new number.

In multitasking applications, there is an alternate method for handling command errors from different threads. Using the XQ command along with the special operands described below allows the controller to either skip or retry invalid commands.

OPERAND

_ED1

_ED2

_ED3

FUNCTION

Returns the number of the thread that generated an error

Retry failed command (operand contains the location of the failed command)

Skip failed command (operand contains the location of the command after the failed command)

The operands are used with the XQ command in the following format: XQ _ED2 (or _ED3),_ED1,1

94 • Chapter 7 Application Programming DMC-2X00