Galil DMC-2X00 user manual Motion Programs with Loops, Motion Programs with Trippoints

Line #	Instruction	Interpretation
000	#A	Define label
001	PR 700	Distance
002	SP 2000	Speed
003	BGA	Start A motion
004	EN	End program

To exit the editor mode, input <cntrl>Q. The program may be executed with the command.

XQ #A Start the program running

If the ED command is issued from the Galil Windows terminal software (such as SmartTERM), the software will open a Windows based editor. From this editor a program can be entered, edited, downloaded and uploaded to the controller.

Motion Programs with Loops

Motion programs may include conditional jumps as shown below.

Instruction	Interpretation
#A	Label
DP 0	Define current position as zero
V1=1000	Set initial value of V1
#LOOP	Label for loop
PA V1	Move A motor V1 counts
BG A	Start A motion
AM A	After A motion is complete
WT 500	Wait 500 ms
TP A	Tell position A
V1=V1+1000	Increase the value of V1
JP #LOOP,V1<10001	Repeat if V1<10001
EN	End

After the above program is entered, quit the Editor Mode, <cntrl>Q. To start the motion, command:

XQ #A Execute Program #A

Motion Programs with Trippoints

The motion programs may include trippoints as shown below.

Instruction	Interpretation
#B	Label
DP 0,0	Define initial positions
PR 30000,60000	Set targets
SP 5000,5000	Set speeds
BGA	Start A motion
AD 4000	Wait until A moved 4000
BGB	Start B motion
AP 6000	Wait until position A=6000
SP 2000,50000	Change speeds
DMC-2X00	Chapter 2 Getting Started y 35