Galil DMC-3425 user manual Defining Arrays, Assignment of Array Entries

_HMn

_LFn

_LRn

_UL

TIME

*Returns status of Home Switch (equals 0 or 1)

Returns status of Forward Limit switch input of axis ‘n’ (equals 0 or 1) Returns status of Reverse Limit switch input of axis ‘n’ (equals 0 or 1) *Returns the number of available variables

Free-Running Real Time Clock (off by 2.4% - Resets with power-on). NOTE: TIME does not use an underscore character (_) as other operands.

*These operands have corresponding commands while the operands _LF, _LR and TIME do not have any associated commands. All operands are listed in the Command Reference Manual.

Examples

V1=_LFA	Assign V1 the state of the Forward Limit Switch on the A-axis
V3=TIME	Assign V3 the current value of the time clock
V4=_HMD	Assign V4 the logical state of the Home input on the D-axis

Arrays

For storing and collecting numerical data, the DMC-3425 provides array space for 2000 elements. The arrays are one-dimensional and up to 14 different arrays may be defined. The array data is available to both threads on each controller. When operating with multiple controllers, arrays are only defined within the same controller.

Each array element has a numeric range of 4 bytes of integer (231) followed by two bytes of fraction (+/-2,147,483,647.9999).

Arrays can be used to capture real-time data, such as position, torque and analog input values. In the contouring mode, arrays are convenient for holding the points of a position trajectory in a record and playback application.

Defining Arrays

An array is defined with the command DM. The user must specify a name and the number of entries to be held in the array. An array name can contain up to eight characters, starting with an uppercase alphabetic character. The number of entries in the defined array is enclosed in [ ].

DM POSA[7]	Defines an array names POSA with seven entries
DM SPEED[100]	Defines an array named speed with 100 entries
DM POSA[0]	Frees array space

Assignment of Array Entries

Like variables, each array element can be assigned a value. Assigned values can be numbers or returned values from instructions, functions and keywords.

Array elements are addressed starting at count 0. For example the first element in the POSA array (defined with the DM command, DM POSA[7]) would be specified as POSA[0].

Values are assigned to array entries using the equal sign. Assignments are made one element at a time by specifying the element number with the associated array name.

NOTE: Arrays must be defined using the command, DM, before assigning entry values.

132 • Chapter 7 Application Programming DMC-3425