Galil DMC-2X00 Example Command Error w/Multitasking, Example Communication Interrupt, PAA=0

Where the “,1” at the end of the command line indicates a restart; therefore, the existing program stack will not be removed when the above format executes.

The following example shows an error correction routine which uses the operands.

Example - Command Error w/Multitasking

Instruction	Interpretation
#A	Begin thread 0 (continuous loop)
JP#A
EN	End of thread 0
#B	Begin thread 1
n=-1	Create new variable
KP n	Set KP to value of N, an invalid value
TY	Issue invalid command
EN	End of thread 1
#CMDERR	Begin command error subroutine
IF (_TC=6)	If error is out of range (KP -1)
N=1	Set N to a valid number
XQ _ED2,_ED1,1	Retry KP N command
ENDIF
IF (_TC=1)	If error is invalid command (TY)
XQ _ED3,_ED1,1	Skip invalid command
ENDIF
EN	End of command error routine

Example - Communication Interrupt

A DMC-2x10 is used to move the A axis back and forth from 0 to 10000. This motion can be paused, resumed and stopped via input from an auxiliary port terminal.

InstructionInterpretation

#BEGIN	Label for beginning of program
CC 9600,0,0,0	Setup communication configuration for auxiliary serial
	port
CI 2	Setup communication interrupt for auxiliary serial port
MG {P2}"Type 0 to stop motion"	Message out of auxiliary port
MG {P2}"Type 1 to pause motion"	Message out of auxiliary port
MG {P2}"Type 2 to resume motion"	Message out of auxiliary port
rate=2000	Variable to remember speed
SPA=rate	Set speed of A axis motion
#LOOP	Label for Loop
PAA=10000	Move to absolute position 10000
BGA	Begin Motion on A axis
AMA	Wait for motion to be complete
PAA=0	Move to absolute position 0
BGA	Begin Motion on A axis
AMA	Wait for motion to be complete
JP #LOOP	Continually loop to make back and forth motion

DMC-2X00 Chapter 7 Application Programming y 95