Galil DMC-2X00 user manual Control Variables, Linear Interpolation, Xq #B, Ama, Jp #B

AP ,50000	Wait until position B=50000
SP ,10000	Change speed of B
EN	End program

To start the program, command:

XQ #B Execute Program #B

Control Variables

Objective: To show how control variables may be utilized.

Instruction Interpretation

#A;DP0	Label; Define current position as zero
PR 4000	Initial position
SP 2000	Set speed
BGA	Move A
AMA	Wait until move is complete
WT 500	Wait 500 ms
#B
V1 = _TPA	Determine distance to zero
PR -V1/2	Command A move 1/2 the distance
BGA	Start A motion
AMA	After A moved
WT 500	Wait 500 ms
V1=	Report the value of V1
JP #C, V1=0	Exit if position=0
JP #B	Repeat otherwise
#C	Label #C
EN	End of Program

To start the program, command

XQ #A Execute Program #A

This program moves A to an initial position of 1000 and returns it to zero on increments of half the distance. Note, _TPA is an internal variable which returns the value of the A position. Internal variables may be created by preceding a DMC-2x00 instruction with an underscore, _.

Linear Interpolation

Objective: Move A,B,C motors distance of 7000,3000,6000, respectively, along linear trajectory. Namely, motors start and stop together.

36 • Chapter 2 Getting Started DMC-2X00