Galil Motion Control DMC-21 5 Series User Manual page 88

DMC-21x5 Event Triggers
COMMAND
AM Pauses code until motion is complete on the specified axes or motion sequence
Pauses code until reference position has reached the specified relative distance from the start of the move,
AD
only one axis may be specified at a time
Pauses code until after specified distance from the last AR or AD command has elapsed,
AR
only one axis may be specified at a time
AP Pauses code until after absolute position occurs, only one axis may be specified at a time
MF Pauses code until after forward motion reached absolute position, only one axis may be specified
MR Pauses code until after reverse motion reached absolute position, only one axis may be specified
MC Pauses code until after the reference position and the encoder has passed the specified position
AI Pauses code until after specified input is at specified logic level
AS Pauses code until specified axis has reached its slew speed
AT Pauses code until specified time has elapsed from the last time reference created
AV Pauses code until specified distance along a coordinated path has occurred
Pauses code until specified time in msec or samples has elapsed
WT
Event Trigger Examples:
Event Trigger - Multiple Move Sequence
The AM trippoint is used to separate the two
PR command because a new
#twomove;
SH A;
PR 2000;
BG A;
AM A;
PR 4000;
BG A;
AM A;
MO A;
EN;
Event Trigger - Set Output after Distance
Set Output 1 after a distance of 1000 counts from the start of the move. The accuracy of the trippoint is the speed
multiplied by the sample period.
#setbit;
SH A;
SP 10000;
PA 20000;
BG A;
AD 1000;
SB 1;
AM A;
MO A;
EN;
Chapter 7 Application Programming ▫ 83
Table 7.3: List of trippoint commands that halt code execution until an event occurs
PR
PR cannot be given until motion is complete.
'program label
'enable A axis
'position relative command
'begin motion
'wait for motion to finish
'next position relative command
'begin 2nd move
'wait for motion to finish
'disable A axis
'end program
'program label
'enable A axis
'speed is 10000 cts/sec
'specify absolute position
'begin motion
'wait until 1000 counts
'set Output 1
'wait for motion to finish
'disable A axis
'end program
DESCRIPTION
moves. If AM is not used, the controller returns a ? for the second
DMC-21x5 User Manual 1.0a1