Example 7 - Interrogation; Example 8 - Operation In The Buffer Mode; Example 9 - Motion Programs; Example 10 - Motion Programs With Loops - Galil Motion Control DMC-14 5 Series Manual

Example 7 - Interrogation

The values of the parameters may be interrogated using a ?. For example, the instruction
KP ?
The same procedure applies to other parameters such as KI, KD, FA, etc.

Example 8 - Operation in the Buffer Mode

The instructions may be buffered before execution as shown below.
Instruction
PR 600000
SP 10000
WT 10000
BG

Example 9 - Motion Programs

Motion programs may be edited and stored in the memory. They may be executed at a later time.
The instruction
ED
moves the operation to the editor mode where the program may be written and edited. For example, in
response to the first ED command, the Galil Windows software will open a simple editor window.
From this window, the user can type in the following program:
#A
PR 700
SP 2000
BG
EN
This program can be downloaded to the controller by selecting the File menu option download. Once
this is done, close the editor.
Now the program may be executed with the command
XQ #A

Example 10 - Motion Programs with Loops

Motion programs may include conditional jumps as shown below.
Instruction
#A
DP 0
V1=1000
#Loop
PA V1
BG
AM
WT 500
TP
30 Chapter 2 Getting Started
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Return gain
Interpretation
Distance
Speed
Wait 10000 milliseconds before reading the next instruction
Start the motion
Edit mode
Define label
Distance
Speed
Start motion
End program
Start the program running
Interpretation
Label
Define current position as zero
Set initial value of V1
Label for loop
Move motor V1 counts
Start motion
After motion is complete
Wait 500 ms
Tell position
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