Executing Programs - Multitasking - Galil Motion Control DMC-1000 User Manual

comments which are on the same line. The Galil terminal software will remove these statements when
the program is downloaded to the controller. For example:
#PATH
REM 2-D CIRCULAR PATH
VMXY
REM VECTOR MOTION ON X AND Y
VS 10000
REM VECTOR SPEED IS 10000
VP -4000,0
REM BOTTOM LINE
CR 1500,270,-180
REM HALF CIRCLE MOTION
VP 0,3000
REM TOP LINE
CR 1500,90,-180
REM HALF CIRCLE MOTION
VE
REM END VECTOR SEQUENCE
BGS
REM BEGIN SEQUENCE MOTION
EN
REM END OF PROGRAM
These REM statements will be removed when this program is downloaded to the controller.

Executing Programs - Multitasking

The DMC-1000 can run up to four independent programs simultaneously. These programs are called
threads and are numbered 0 through 3, where 0 is the main one. Multitasking is useful for executing
independent operations such as PLC functions that occur independently of motion.
The main thread differs from the others in the following ways:
1. Only the main thread may use the input command, IN.
2. When input interrupts are implemented for limit switches, position errors or command errors, the
subroutines are executed in thread 0.
To begin execution of the various programs, use the following instruction:
XQ #A, n
Where n indicates the thread number. To halt the execution of any thread, use the instruction
HX n
where n is the thread number.
Note that both the XQ and HX commands can be performed by an executing program.
DMC-1000
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Chapter 7 Application Programming • 87