Galil DMC-3425 Example Input Interrupt, Example Motion Complete Timeout, Example Command Error

Example - Input Interrupt

This simple program jogs the A and C motors (C motor is the first motor of the first slave controller of a distributed control system). When the first input of the master (input 1), goes low, the controller will stop motion on both axes. When the input returns high, the motors will resume jogging.

Instruction	Interpretation
#A	Label
II1	Input Interrupt on 1
JG 30000,,60000	Jog
BGAD	Begin Motion
#LOOP;JP#LOOP;EN	Loop
#ININT	Input Interrupt
STAD;AMAD	Stop Motion
#TEST;JP #TEST, @IN[1]=0	Test for Input 1 still low
JG 30000,,,6000	Restore Velocities
BGAD	Begin motion
RI0	Return from interrupt routine to Main Program and do not
	re-enable trippoints

Example - Motion Complete Timeout

This simple program will issue the message “A fell short” if the A axis does not reach the commanded position within 1 second of the end of the profiled move.

Instruction	Interpretation
#BEGIN	Begin main program
TW 1000	Set the time out to 1000 ms
PA 10000	Position Absolute command
BGA	Begin motion
MCA	Motion Complete trip point
EN	End main program
#MCTIME	Motion Complete Subroutine
MG “A fell short”	Send out a message
EN	End subroutine

Example - Command Error

The above program prompts the operator to enter a jog speed. If the operator enters a number out of range (greater than 8 million), the #CMDERR routine will be executed prompting the operator to enter a new number.

In multitasking applications, there is an alternate method for handling command errors from different threads. Using the XQ command along with the special operands described below allows the controller to either skip or retry invalid commands.

Instruction	Interpretation
#BEGIN	Begin main program
IN "ENTER SPEED", SPEED	Prompt for speed
JG SPEED;BGA;	Begin motion
JP #BEGIN	Repeat

DMC-3425 Chapter 7 Application Programming• 125