iv • Contents DMC-1000
Conditional Jumps.....................................................................................................94
Subroutines................................................................................................................97
Stack Manipulation....................................................................................................97
Automatic Subroutines for Monitoring Conditions...................................................97
Mathematical and Functional Expressions ............................................................................100
Mathematical Expressions.......................................................................................100
Bit-Wise Operators..................................................................................................101
Functions .................................................................................................................102
Variables................................................................................................................................102
Assigning Values to Variables: ...............................................................................103
Operands................................................................................................................................104
Special Operands (Keywords).................................................................................105
Arrays ....................................................................................................................................105
Defining Arrays.......................................................................................................105
Assignment of Array Entries...................................................................................106
Automatic Data Capture into Arrays.......................................................................107
Deallocating Array Space........................................................................................108
Input of Data (Numeric and String).......................................................................................109
Input of Data............................................................................................................109
Output of Data (Numeric and String) ....................................................................................110
Sending Messages ...................................................................................................110
Interrogation Commands.........................................................................................111
Formatting Variables and Array Elements ..............................................................113
Converting to User Units.........................................................................................114
Programmable Hardware I/O.................................................................................................114
Digital Outputs ........................................................................................................114
Digital Inputs...........................................................................................................115
Input Interrupt Function ..........................................................................................116
Analog Inputs ..........................................................................................................117
Example Applications............................................................................................................118
Wire Cutter..............................................................................................................118
X-Y Table Controller ..............................................................................................119
Speed Control by Joystick.......................................................................................121
Position Control by Joystick....................................................................................122
Backlash Compensation by Sampled Dual-Loop....................................................122
Chapter 8 Hardware & Software Protection 125
Introduction............................................................................................................................125
Hardware Protection..............................................................................................................125
Output Protection Lines...........................................................................................125
Input Protection Lines .............................................................................................125
Software Protection ...............................................................................................................126
Programmable Position Limits................................................................................126
Off-On-Error ...........................................................................................................127
Automatic Error Routine.........................................................................................127
Limit Switch Routine...............................................................................................127
Chapter 9 Troubleshooting 129
Overview................................................................................................................................129
Installation .............................................................................................................................129
Communication......................................................................................................................130
Stability..................................................................................................................................130
Operation ...............................................................................................................................130
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