Conditional Jumps - Galil Motion Control DMC-1600 Series User Manual

Event Trigger - Multiple Move with Wait
This example makes multiple relative distance moves by waiting for each to be complete before
executing new moves.
#MOVES
PR 12000
SP 20000
AC 100000
BGX
AD 10000
SP 5000
AMX
WT 200
PR -10000
SP 30000
AC 150000
BGX
EN
Define Output Waveform Using AT
The following program causes Output 1 to be high for 10 msec and low for 40 msec. The cycle
repeats every 50 msec.
#OUTPUT
AT0
SB1
#LOOP
AT 10
CB1
AT -40
SB1
JP #LOOP
EN

Conditional Jumps

The DMC-1600 provides Conditional Jump (JP) and Conditional Jump to Subroutine (JS)
instructions for branching to a new program location based on a specified condition. The
conditional jump determines if a condition is satisfied and then branches to a new location or
subroutine. Unlike event triggers, the conditional jump instruction does not halt the program
sequence. Conditional jumps are useful for testing events in real-time. They allow the DMC-
1600 to make decisions without a host computer. For example, the DMC-1600 can decide
between two motion profiles based on the state of an input line.
DMC-1600
Label
Distance
Speed
Acceleration
Start Motion
Wait a distance of 10,000 counts
New Speed
Wait until motion is completed
Wait 200 ms
New Position
New Speed
New Acceleration
Start Motion
End
Program label
Initialize time reference
Set Output 1
Loop
After 10 msec from reference,
Clear Output 1
Wait 40 msec from reference and reset reference
Set Output 1
Loop
Chapter 7 Application Programming • 127