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Example 9 - Interrogation
The values of the parameters may be interrogated. Some examples ...
Instruction
KP ?
KP ,,?
KP ?,?,?,?
Many other parameters such as KI, KD, FA, can also be interrogated. The command reference
denotes all commands which can be interrogated.
Example 10 - Operation in the Buffer Mode
The instructions may be buffered before execution as shown below.
Instruction
PR 600000
SP 10000
WT 10000
BG X
Example 11 - Using the On-Board Editor
Motion programs may be edited and stored in the controller's on-board memory. When the
command, ED is given from the Galil DOS terminal (such as DMCTERM), the controller's editor
will be started.
The instruction
ED
moves the operation to the editor mode where the program may be written and edited. The editor
provides the line number. For example, in response to the first ED command, the first line is zero.
Line #
000
001
002
003
004
To exit the editor mode, input <cntrl>Q. The program may be executed with the command.
XQ #A
If the ED command is issued from the Galil Windows terminal software (such as DTERM32), the
software will open a Windows based editor. From this editor a program can be entered, edited,
downloaded and uploaded to the controller.
Example 12 - Motion Programs with Loops
Motion programs may include conditional jumps as shown below.
Instruction
#A
DMC-1600
Interpretation
Return gain of X axis.
Return gain of Z axis.
Return gains of all axes.
Interpretation
Distance
Speed
Wait 10000 milliseconds before reading the next instruction
Start the motion
Edit mode
Instruction
Interpretation
#A
Define label
PR 700
Distance
SP 2000
Speed
BGX
Start X motion
EN
End program
Start the program running
Interpretation
Label
Chapter 2 Getting Started • 27
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