Galil DMC-3425 user manual Example 12 Control Variables, Example 13 Control Variables and Offset

SP 5000	Set speed
BGA	Start motion
AD 4000	Wait until A moved 4000
TPA	Tell position
EN	End program

To start the program, command:

XQ #B Execute Program #B

Example 12 - Control Variables

Objective: To show how control variables may be utilized.

Instruction	Interpretation
#A;DP0	Label; Define current position as zero
PR 4000	Initial position
SP 2000	Set speed
BGA	Move
AMA	Wait until move is complete
WT 500	Wait 500 ms
#B
V1 = _TP	Determine distance to zero
PR –V1/2	Command move 1/2 the distance
BGA	Start motion
AMA	After motion
WT 500	Wait 500 ms
V1=	Report the value of V1
JP #C, V1=0	Exit if position=0
JP #B	Repeat otherwise
#C;EN	End

To start the program, command

XQ #A Execute Program #A

This program moves the motor to an initial position of 4000 and returns it to zero on increments of half the distance. Note, _TP is an internal variable that returns the value of the position. Internal variables may be created by preceding a DMC-3425 instruction with an underscore, _.

Example 13 - Control Variables and Offset

Objective: Illustrate the use of variables in iterative loops and use of multiple instructions on one line.

Instruction	Interpretation
#A	Set initial values
KI0
DP0
V1=8; V2=0	Initializing variables to be used by program
#B	Program label #B
OF V1	Set offset value
WT 200	Wait 200 msec

DMC-3425 Chapter 2 Getting Started• 35