Galil DMC-3425 user manual Conditional Jumps, Example- Define Output Waveform Using AT

PR -10000	New Position
SP 30000	New Speed
AC 150000	New Acceleration
BGA	Start Motion
EN	End

Example- Define Output Waveform Using AT

The following program causes Output 1 to be high for 10 msec and low for 40 msec. The cycle repeats every 50 msec.

Instruction	Interpretation
#OUTPUT	Program label
AT0	Initialize time reference
SB1	Set Output 1
#LOOP	Loop
AT 10	After 10 msec from reference,
CB1	Clear Output 1
AT -40	Wait 40 msec from reference and reset reference
SB1	Set Output 1
JP #LOOP	Loop
EN

Conditional Jumps

The DMC-3425 provides Conditional Jump (JP) and Conditional Jump to Subroutine (JS) instructions for branching to a new program location based on a specified condition. The conditional jump determines if a condition is satisfied and then branches to a new location or subroutine. Unlike event triggers, the conditional jump instruction does not halt the program sequence. Conditional jumps are useful for testing events in real-time. They allow the DMC-3425 to make decisions without a host computer. For example, the DMC-3425 can decide between two motion profiles based on the state of an input line.

Command Format - JP and JS

Format:

JS destination, logical condition

JP destination, logical condition

Description

Jump to subroutine if logical condition is satisfied Jump to location if logical condition is satisfied

The destination is a program line number or label where the program sequencer will jump if the specified condition is satisfied. Note that the line number of the first line of program memory is 0. The comma designates "IF". The logical condition tests two operands with logical operators.

DMC-3425 Chapter 7 Application Programming• 119