Operands; Special Operands (Keywords) - Galil Motion Control DMC-14 5 Series Manual

Displaying the value of variables at the terminal
Variables may be sent to the screen using the format, variable=. For example, V1= , returns the value
of the variable V1.

Operands

Operands allow motion or status parameters of the DMC-14XX to be incorporated into programmable
variables and expressions. Most DMC-14XX commands have an equivalent operand - which are
designated by adding an underscore (_) prior to the DMC-14XX command. The command reference
indicates which commands have an associated operand.
Status commands such as Tell Position return actual values, whereas action commands such as KP or
SP return the values in the DMC-14XX registers. The axis designation is required following the
command.
Examples of Internal Variables:
POSX=_TPX
VAR1=_KPX*2
JP #LOOP,_TEX>5
JP #ERROR,_TC=1
Operands can be used in an expression and assigned to a programmable variable, but they cannot be
assigned a value. For example: _KPX=2 is invalid.

Special Operands (Keywords)

The DMC-14XX provides a few additional operands which give access to internal variables that are
not accessible by standard DMC-14XX commands.
Operand
_BGn
_BN
_DA
_DL
_DM
_HMn
_LFn
_LRX
_UL
TIME
•
- These keywords have corresponding commands while the keywords _LF, _LR, and TIME do not
have any associated commands. All keywords are listed in the Command Reference manual.
Examples of Keywords:
V1=_LFX
V3=TIME
V4=_HMW
114 Chapter 7 Application Programming
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Assigns value from Tell Position X to the variable POSX.
Assigns value from KPX multiplied by two to variable, VAR1.
Jump to #LOOP if the position error of X is greater than 5
Jump to #ERROR if the error code equals 1.
Function
*Returns a 1 if motion on axis 'n' is complete, otherwise returns 0.
*Returns serial # of the board.
*Returns the number of arrays available
*Returns the number of available labels for programming
*Returns the available array memory
*Returns status of Home Switch (equals 0 or 1)
Returns status of Forward Limit switch input of axis 'n' (equals 0 or 1)
Returns status of Reverse Limit switch input of axis 'n' (equals 0 or 1)
*Returns the number of available variables
Free-Running Real Time Clock (off by 2.4% - Resets with power-on).
Note: TIME does not use an underscore character (_) as other keywords.
Assign V1 the logical state of the Forward Limit Switch on the X-axis
Assign V3 the current value of the time clock
Assign V4 the logical state of the Home input on the W-axis
DMC-14x5/6