Galil DMC-2X00 user manual

Instruction	Interpretation
v1=10	Assign v1
v1=	Return v1
:0000000010.0000	Default Format
v1={F4.2}	Specify local format
:0010.00	New format
v1={$4.2}	Specify hex format
:$000A.00	Hex value
v1="ALPHA"	Assign string "ALPHA" to v1
v1={S4}	Specify string format first 4 characters
:ALPH

The local format is also used with the MG command.

Converting to User Units

Variables and arithmetic operations make it easy to input data in desired user units such as inches or RPM.

The DMC-2x00 position parameters such as PR, PA and VP have units of quadrature counts. Speed parameters such as SP, JG and VS have units of counts/sec. Acceleration parameters such as AC, DC,

VA and VD have units of counts/sec2. The controller interprets time in milliseconds.

All input parameters must be converted into these units. For example, an operator can be prompted to input a number in revolutions. A program could be used such that the input number is converted into counts by multiplying it by the number of counts/revolution.

Instruction	Interpretation
#RUN	Label
IN "ENTER # OF REVOLUTIONS",n1	Prompt for revs
PR n1*2000	Convert to counts
IN "ENTER SPEED IN RPM",s1	Prompt for RPMs
SP s1*2000/60	Convert to counts/sec
IN "ENTER ACCEL IN RAD/SEC2",a1	Prompt for ACCEL
AC a1*2000/(2*3.14)	Convert to counts/sec2
BG	Begin motion
EN	End program

Hardware I/O

Digital Outputs

The DMC-2x00 has an 8-bit uncommitted output port and an additional 64 I/O which may be configured as inputs or outputs with the CO command for controlling external events. The DMC- 2x50 through DMC-2x80 has an additional 8 outputs. Each bit on the output port may be set and cleared with the software instructions SB (Set Bit) and CB (Clear Bit), or OB (define output bit).

DMC-2X00 Chapter 7 Application Programming y 113