Galil Motion Control DMC-40 0 Series - Page 139

Example: Local Scope
#Local
JS#POWER(2,2)
MG_JS
JS#POWER(2,16)
MG_JS
JS#POWER(2,-8)
MG_JS
'
#POWER ;NO(base ^a,exponent^b) Returns base^exponent power. ± integer only
^c=1 ;'unpassed variable space (^c-^h) can be used as local scope variables
IF ^b=0 ;'special case, exponent = 0
EN,,1
ENDIF
IF ^b<0 ;'special case, exponent < 0, invert result
^d=1
^b=@ABS[^b]
ELSE
^d=0
ENDIF
#PWRHLPR
^c=^c*^a
^b=^b-1
JP#PWRHLPR,^b>0
IF ^d=1 ;'if inversion required
^c=(1/^c)
ENDIF
EN,,^c
Executed program from program1.dmc
4.0000
65536.0000
0.0039
Example: Recursion
'although the stack depth is only 16, Galil DMC code does support recursion
JS#AxsInfo(0)
MG{Z2.0}"Recursed through ",_JS," stacks"
EN
'
#AxsInfo ;NO(axis ^a) List info for axes
~h=^a
^b=(^a+$41)*$1000000 ;'convert to Galil String
MG^b{S1}, " Axis: "{N}
MG{F8.0}"Position: ",_TP~h," Error:",_TE~h," Torque:",_TT~h{F1.4}
IF ^a=7 ;'recursion exit condition
EN,,1
ENDIF
JS#AxsInfo(^a + 1) ;'stack up recursion
EN,,_JS+1 ;' as recursion closes, add up stack depths
Executed program from program1.dmc
A Axis: Position: 00029319 Error: 00001312 Torque: 9.9982
B Axis: Position: -00001612 Error: 00000936 Torque: 1.7253
C Axis: Position: 00001696 Error:-00001076 Torque:-1.9834
D Axis: Position: -00002020 Error: 00001156 Torque: 2.1309
E Axis: Position: 00000700 Error:-00001300 Torque:-2.3963
F Axis: Position: 00000156 Error:-00000792 Torque:-1.4599
G Axis: Position: -00002212 Error: 00001732 Torque: 3.1926
H Axis: Position: 00002665 Error:-00001721 Torque:-3.1723
Recursed through 8 stacks
Chapter 7 Application Programming ▫ 134 DMC-40x0 User Manual