Galil Motion Control DMC-1000 User Manual

DMC-1000 Contents • ix
Debugging Programs...............................................................................................................88
Program Flow Commands.......................................................................................................90
Event Triggers & Trippoints .....................................................................................90
Event Trigger Examples:...........................................................................................91
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 ...........................................................................................................126
Automatic Error Routine.........................................................................................127
Limit Switch Routine ..............................................................................................127
Chapter 9 Troubleshooting 129
Overview ...............................................................................................................................129
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Galil Motion Control DMC-1000 Specifications

General

Brand	Galil Motion Control
Model	DMC-1000
Category	Controller
Language	English