Galil DMC-3425 Outputting Numbers and Strings, Deallocating Array Space, Sending Messages

RC1	Start recording now, at rate of 2 msec
BG AB	Begin motion
#A;JP #A,RC=1	Loop until done
MG "DONE"	Print message
EN	End program
#PLAY	Play back
N=0	Initial Counter
JP# DONE,N>300	Exit if done
N=	Print Counter
A POS[N]=	Print A position
B POS[N]=	Print B position
AERR[N]=	Print A error
BERR[N]=	Print B error
N=N+1	Increment Counter
#DONE	Done
EN	End Program

Deallocating Array Space

Array space may be deallocated using the DA command followed by the array name. DA*[0] deallocates all the arrays.

Outputting Numbers and Strings

Numerical and string data can be output from the controller using several methods. The message command, MG, can output string and numerical data. Also, the controller can be commanded to return the values of variables and arrays, as well as other information using the interrogation commands (the interrogation commands are described in chapter 5).

Sending Messages

Messages may be sent to the bus using the message command, MG. This command sends specified text and numerical or string data from variables or arrays to the screen.

Text strings are specified in quotes and variable or array data is designated by the name of the variable or array. For example:

MG "The Final Value is", RESULT

In addition to variables, functions and commands, responses can be used in the message command. For example:

MG "Analog input is", @AN[1] MG "The Position of A is", _TPA

Specifying the Port for Messages:

By default, messages will be sent through the port from which the data was requested. However, the port can be specified with the specifier, {P1} for the main serial port or {Ea} for the Ethernet handle. ‘a’ will be the handle letter, A through H.

MG {P1} "Hello World" Sends message to Serial

DMC-3425 Chapter 7 Application Programming• 135