Example 12 - Motion Programs With Loops; Example 13 - Motion Programs With Trippoints; Example 14 - Control Variables - Galil Motion Control DMC-18 2 Series User Manual

Example 12 - Motion Programs with Loops

Motion programs may include conditional jumps as shown below.
Instruction
#A
DP 0
V1=1000
#LOOP
PA V1
BG X
AM X
WT 500
TP X
V1=V1+1000
JP #LOOP,V1<10001
EN
After the above program is entered and downloaded to the controller, start the motion with the
command:
XQ #A

Example 13 - Motion Programs with Trippoints

The motion programs may include trippoints as shown below.
Instruction
#B
DP 0,0
PR 30000,60000
SP 5000,5000
BGX
AD 4000
BGY
AP 6000
SP 2000,50000
AP ,50000
SP ,10000
EN
To start the program, command:
XQ #B

Example 14 - Control Variables

Objective: To show how control variables may be utilized.
Instruction
#A;DP0
PR 4000
26 ● Chapter 2 Getting Started
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Interpretation
Label
Define current position as zero
Set initial value of V1
Label for loop
Move X motor V1 counts
Start X motion
After X motion is complete
Wait 500 ms
Tell position X
Increase the value of V1
Repeat if V1<10001
End
Execute Program #A
Interpretation
Label
Define initial positions
Set targets
Set speeds
Start X motion
Wait until X moved 4000
Start Y motion
Wait until position X=6000
Change speeds
Wait until position Y=50000
Change speed of Y
End program
Execute Program #B
Interpretation
Label; Define current position as zero
Initial position
DMC-18x2