Galil DMC-1510 - Example 12 - Motion Programs with Loops; Example 13 - Motion Programs with Trippoints; Example 14 - Control Variables

22 • Chapter 2 Getting Started DMC-1500
Example 12 - Motion Programs with Loops
Motion programs may include conditional jumps as shown below.
Instruction Interpretation
#A Label
DP 0 Define current position as zero
V1=1000 Set initial value of V1
#Loop Label for loop
PA V1 Move X motor V1 counts
BG X Start X motion
AM X After X motion is complete
WT 500 Wait 500 ms
TP X Tell position X
V1=V1+1000 Increase the value of V1
JP #Loop,V1<10001 Repeat if V1<10001
EN End
After the above program is entered, quit the Editor Mode, <cntrl>Q. To start the motion, command:
XQ #A Execute Program #A
Example 13 - Motion Programs with Trippoints
The motion programs may include trippoints as shown below.
Instruction Interpretation
#B Label
DP 0,0 Define initial positions
PR 30000,60000 Set targets
SP 5000,5000 Set speeds
BGX Start X motion
AD 4000 Wait until X moved 4000
BGY Start Y motion
AP 6000 Wait until position X=6000
SP 2000,50000 Change speeds
AP ,50000 Wait until position Y=50000
SP ,10000 Change speed of Y
EN End program
To start the program, command:
XQ #B Execute Program #B
Example 14 - 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