Galil DMC-2X00 user manual Analog Inputs, Example Position Follower Point-to-Point, Tp Ab, St Ab

after the execution of the #ININT subroutine, the Zero Stack (ZS) command is used followed by unconditional jump statements.

Important: Use the RI command (not EN) to return from the #ININT subroutine.

Example - Input Interrupt

Instruction	Interpretation
#A	Label #A
II 1	Enable input 1 for interrupt function
JG 30000,-20000	Set speeds on A and B axes
BG AB	Begin motion on A and B axes
#B	Label #B
TP AB	Report A and B axes positions
WT 1000	Wait 1000 milliseconds
JP #B	Jump to #B
EN	End of program
#ININT	Interrupt subroutine
MG "Interrupt has occurred"	Displays the message
ST AB	Stops motion on A and B axes
#LOOP;JP #LOOP,@IN[1]=0	Loop until Interrupt cleared
JG 15000,10000	Specify new speeds
WT 300	Wait 300 milliseconds
BG AB	Begin motion on A and B axes
RI	Return from Interrupt subroutine

Analog Inputs

The DMC-2x00 provides eight analog inputs. The value of these inputs in volts may be read using the @AN[n] function where n is the analog input 1 through 8. The resolution of the Analog-to-Digital conversion is 12 bits (16-bit ADC is available as an option). Analog inputs are useful for reading special sensors such as temperature, tension or pressure.

The following examples show programs which cause the motor to follow an analog signal. The first example is a point-to-point move. The second example shows a continuous move.

Example - Position Follower (Point-to-Point)

Objective - The motor must follow an analog signal. When the analog signal varies by 10V, motor must move 10000 counts.

Method: Read the analog input and command A to move to that point.

InstructionInterpretation

#POINTS	Label
SP 7000	Speed
AC 80000;DC 80000	Acceleration
#LOOP
VP=@AN[1]*1000	Read and analog input, compute position

116 • Chapter 7 Application Programming DMC-2X00