Example - Multiple Move with Wait
This example makes multiple relative distance moves by waiting for each to be complete before
executing new moves.
Instruction Interpretation
#MOVES Label
PR 12000 Distance
SP 20000 Speed
AC 100000 Acceleration
BGA Start Motion
AD 10000 Wait a distance of 10,000 counts
SP 5000 New Speed
AMA Wait until motion is completed
WT 200 Wait 200 ms
PR -10000 New Position
SP 30000 New Speed
AC 150000 New Acceleration
BGA Start Motion
EN End
Example- Define Output Waveform Using AT
The following program causes Output 1 to be high for 10 msec and low for 40 msec. The cycle repeats
every 50 msec.
Instruction Interpretation
#OUTPUT Program label
AT0 Initialize time reference
SB1 Set Output 1
#LOOP Loop
AT 10 After 10 msec from reference,
CB1 Clear Output 1
AT -40 Wait 40 msec from reference and reset reference
SB1 Set Output 1
JP #LOOP Loop
EN
Conditional Jumps
The DMC-2x00 provides Conditional Jump (JP) and Conditional Jump to Subroutine (JS) instructions
for branching to a new program location based on a specified condition. The conditional jump
determines if a condition is satisfied and then branches to a new location or subroutine. Unlike event
triggers, the conditional jump instruction does not halt the program sequence. Conditional jumps are
useful for testing events in real-time. They allow the DMC-2x00 to make decisions without a host
computer. For example, the DMC-2x00 can decide between two motion profiles based on the state of
an input line.
132 • Chapter 7 Application Programming DMC-2X00
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