Galil DMC-3425 user manual Application Programming 107

Example	99
Motion Smoothing	100
Using the IT and VT Commands:	100
Example	100
Homing	101
Example	102
Command Summary - Homing Operation	104
Operand Summary - Homing Operation	104
High Speed Position Capture (Latch)	104
Example	105
Chapter 7 Application Programming	107
Overview	107
Global vs. Local Programming	107
Entering Programs	108
Edit Mode Commands	108
Example:	109
Program Format	109
Using Labels in Programs	109
Special Labels	110
Commenting Programs	110
Executing Programs - Multitasking	111
Debugging Programs	112
Trace Command	113
Error Code Command	113
Stop Code Command	113
RAM Memory Interrogation Commands	113
Operands	114
Breakpoints and single stepping	114
EEPROM Memory Interrogation Operands	114
Program Flow Commands	115
Event Triggers & Trippoints	115
Conditional Jumps	119
If, Else, and Endif	121
Subroutines	123
Stack Manipulation	123
Auto-Start and Auto Error Routine	123
Automatic Subroutines for Monitoring Conditions	124
Mathematical and Functional Expressions	127
Mathematical Operators	127
Bit-Wise Operators	128
Functions	129
Variables	129
Programmable Variables	130
Operands	131
Special Operands	131
Examples	132
Arrays	132
Defining Arrays	132
Assignment of Array Entries	132
Uploading and Downloading Arrays to On Board Memory	133
Automatic Data Capture into Arrays	133
Deallocating Array Space	135
Outputting Numbers and Strings	135
Sending Messages	135
iv • Contents	DMC-3425