Galil DMC-2X00 user manual Using Communication Interrupt

These keywords may be used in an applications program to decode data and they may also be used in conditional statements with logical operators.

Example

Instruction	Interpretation
JP #LOOP,P2CD< >3	Checks to see if status code is 3 (number received)
JP #P,P1CH="V"	Checks if last character received was a V
PR P2NM	Assigns received number to position
JS #XAXIS,P1ST="X"	Checks to see if received string is X

Using Communication Interrupt

The DMC-2x00 provides a special interrupt for communication allowing the application program to be interrupted by input from the user. The interrupt is enabled using the CI command. The syntax for the command is CI n:

n = 0 n = 1 n = 2 n = -1

Don't interrupt Port 2 Interrupt on <enter> Port 2 Interrupt on any character Port 2 Clear any characters in buffer

The #COMINT label is used for the communication interrupt. For example, the DMC-2x00 can be configured to interrupt on any character received on Port 2. The #COMINT subroutine is entered when a character is received and the subroutine can decode the characters. At the end of the routine the EN command is used. EN,1 will re-enable the interrupt and return to the line of the program where the interrupt was called, EN will just return to the line of the program where it was called without re- enabling the interrupt. As with any automatic subroutine, a program must be running in thread 0 at all times for it to be enabled.

Example

A DMC-2x00 is used to jog the A and B axis. This program automatically begins upon power-up and allows the user to input values from the main serial port terminal. The speed of either axis may be changed during motion by specifying the axis letter followed by the new speed value. An S stops motion on both axes.

Instruction	Interpretation
#AUTO	Label for Auto Execute
speedA=10000	Initial A speed
speedB=10000	Initial B speed
CI 2	Set Port 2 for Character Interrupt
JG speedA, speedB	Specify jog mode speed for A and B axis
BGXY	Begin motion
#PRINT	Routine to print message to terminal
MG{P2}"TO CHANGE SPEEDS"	Print message
MG{P2}"TYPE A OR B"
MG{P2}"TYPE S TO STOP"
#JOGLOOP	Loop to change Jog speeds
JG speedA, speedB	Set new jog speed
JP #JOGLOOP
EN	End of main program

DMC-2X00 Chapter 7 Application Programming y 107