Special Operands (Keywords); Arrays; Defining Arrays - Galil Motion Control DMC-1600 Series User Manual

Special Operands (Keywords)

The DMC-1600 provides a few additional operands which give access to internal variables that are
not accessible by standard DMC-1600 commands.
KEYWORD
_BGn
_BN
_DA
_DL
_DM
_HMn
_LFn
_LRX
_UL
TIME
* - These keywords have corresponding commands while the keywords _LF, _LR, and TIME do
not have any associated commands. All keywords are listed in the Command Summary, Chapter
11.
Examples of Keywords:
V1=_LFX
V3=TIME
V4=_HMW

Arrays

For storing and collecting numerical data, the DMC-1600 provides array space for 8000 elements.
The arrays are one dimensional and up to 30 different arrays may be defined. Each array element
has a numeric range of 4 bytes of integer (2
(+/-2,147,483,647.9999).
Arrays can be used to capture real-time data, such as position, torque and analog input values. In
the contouring mode, arrays are convenient for holding the points of a position trajectory in a
record and playback application.

Defining Arrays

An array is defined with the command DM. The user must specify a name and the number of
entries to be held in the array. An array name can contain up to eight characters, starting with an
uppercase alphabetic character. The number of entries in the defined array is enclosed in [ ].
Example:
DM POSX[7]
DM SPEED[100]
DM POSX[0]
140 • Chapter 7 Application Programming
FUNCTION
*Returns a 1 if motion on axis 'n' is complete, otherwise returns 0.
*Returns serial # of the board.
*Returns the number of arrays available
*Returns the number of available labels for programming
*Returns the available array memory
*Returns status of Home Switch (equals 0 or 1)
Returns status of Forward Limit switch input of axis 'n' (equals 0 or 1)
Returns status of Reverse Limit switch input of axis 'n' (equals 0 or 1)
*Returns the number of available variables
Free-Running Real Time Clock (off by 2.4% - Resets with power-on).
Note: TIME does not use an underscore character (_) as other keywords.
Assign V1 the logical state of the Forward Limit Switch on the X-axis
Assign V3 the current value of the time clock
Assign V4 the logical state of the Home input on the W-axis
31
Defines an array names POSX with seven entries
Defines an array named speed with 100 entries
Frees array space
)followed by two bytes of fraction
DMC-1600