Conditional Jumps - Galil Motion Control DMC-14 5 Series Manual

Event Trigger - Multiple Move with Wait
This example makes multiple relative distance moves by waiting for each to be complete before
executing new moves.
Instruction
#MOVES
PR 12000
SP 20000
AC 100000
BGX
AD 10000
SP 5000
AMX
WT 200
PR -10000
SP 30000
AC 150000
BGX
EN
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
#OUTPUT
AT0
SB1
#LOOP
AT 10
CB1
AT -40
SB1
JP #LOOP
EN

Conditional Jumps

The DMC-14XX 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-14XX to make decisions without a host
computer. For example, the DMC-14XX can decide between two motion profiles based on the state of
an input line.
Command Format - JP and JS
Format
JS destination, logical condition
102 Chapter 7 Application Programming
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Interpretation
Label
Distance
Speed
Acceleration
Start Motion
Wait a distance of 10,000 counts
New Speed
Wait until motion is completed
Wait 200 ms
New Position
New Speed
New Acceleration
Start Motion
End
Interpretation
Program label
Initialize time reference
Set Output 1
Loop
After 10 msec from reference,
Clear Output 1
Wait 40 msec from reference and reset reference
Set Output 1
Loop
Description
Jump to subroutine if logical condition is satisfied
DMC-14x5/6