Event Trigger Examples - Galil Motion Control DMC-1000 User Manual

Table of Contents

Command

AM X Y Z W or S

(A B C D E F G H)

AD X or Y or Z or W

(A or B or C or D or E or F or G or H)

AR X or Y or Z or W

(A or B or C or D or E or F or G or H)

AP X or Y or Z or W

(A or B or C or D or E or F or G or H)

MF X or Y or Z or W

(A or B or C or D or E or F or G or H)

MR X or Y or Z or W

(A or B or C or D or E or F or G or H)

MC X or Y or Z or W

(A or B or C or D or E or F or G or H)

AI +/- n

AS X Y Z W S

(A B C D E F G H)

AT +/-n

AV n

WT n

The AM trippoint is used to separate the two PR moves. If AM is not used, the controller returns a ?

for the second PR command because a new PR cannot be given until motion is complete.

DMC-1000

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DMC-1000 Event Triggers

Function

Halts program execution until motion is complete on the

specified axes or motion sequence(s). AM with no parameter

tests for motion complete on all axes. This command is

useful for separating motion sequences in a program.

Halts program execution until position command has reached

the specified relative distance from the start of the move.

Only one axis may be specified at a time.

Halts program execution until after specified distance from

the last AR or AD command has elapsed. Only one axis may

be specified at a time.

Halts program execution until after absolute position occurs.

Only one axis may be specified at a time.

Halt program execution until after forward motion reached

absolute position. Only one axis may be specified. If

position is already past the point, then MF will trip

immediately. Will function on geared axis.

Halt program execution until after reverse motion reached

absolute position. Only one axis may be specified. If

position is already past the point, then MR will trip

immediately. Will function on geared axis.

Halt program execution until after the motion profile has

been completed and the encoder has entered or passed the

specified position. TW x,y,z,w sets timeout to declare an

error if not in position. If timeout occurs, then the trippoint

will clear and the stopcode will be set to 99. An application

program will jump to label #MCTIME.

Halts program execution until after specified input is at

specified logic level. n specifies input line. Positive is high

logic level, negative is low level. n=1 through 8 for

DMC-1010 to 1040. n=1 through 24 for DMC-1050 to 1080.

Halts program execution until specified axis has reached its

slew speed.

Halts program execution until n msec from reference time.

AT 0 sets reference. AT n waits n msec from reference. AT -

n waits n msec from reference and sets new reference after

elapsed time.

Halts program execution until specified distance along a

coordinated path has occurred.

Halts program execution until specified time in msec has

elapsed.