Galil DMC-3425 user manual Special Labels, Commenting Programs, NO Command and the Apostrophe ‘

AM	Wait for motion complete
WT 2000	Wait 2 sec
JP #START	Jump to label START
EN	End of Program

The above program moves A and B 10000 and 20000 units. After the motion is complete, the motors rest for 2 seconds. The cycle repeats indefinitely until the stop command is issued.

Special Labels

The DMC-3425 has some special labels, which are used to define input interrupt subroutines, limit switch subroutines, error handling subroutines, command error subroutines and auto start and recovery routines.

#AUTO	Label for automatic execution of program upon power up. This program
	must be saved in the non-volatile memory with the BP command.
#AUTOERR	Label for detecting errors in the #AUTO routine. If a Checksum error
	were to occur, the #AUTO would fail to start at power up. This
	#AUTOERR routine would be called instead.
#ININT	Label for Input Interrupt subroutine
#LIMSWI	Label for Limit Switch subroutine
#POSERR	Label for excess Position Error subroutine
#MCTIME	Label for timeout on Motion Complete trip point
#CMDERR	Label for incorrect command subroutine
#COMINT	Label for communication interrupt on the aux. serial port
#TCPERR	Ethernet communication error

Commenting Programs

There are two methods for commenting programs. The first method uses the NO command and allows for comments to be embedded into Galil programs. The second method used the REM statement and requires the use of Galil software.

NO Command and the Apostrophe (‘)

Programs on the DMC-3425 can be commented using the command, NO, or the apostrophe. These commands allow the user to include up to 78 characters on a single line. This can be used to include comments from the programmer as in the following example:

Instruction	Interpretation
#PATH	Label
NO 2-D CIRCULAR PATH	Comment - No Operation
VMAB	Vector Mode
NO VECTOR MOTION ON A AND B	Comment - No Operation
VS 10000	Vector Speed
NO VECTOR SPEED IS 10000	Comment - No Operation
VP -4000,0	Vector Position
NO BOTTOM LINE	Comment - No Operation
CR 1500,270,-180	Circle Motion
NO HALF CIRCLE MOTION	Comment - No Operation

110 • Chapter 7 Application Programming DMC-3425