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_HMn
*Returns status of Home Switch (equals 0 or 1)
_LFn
Returns status of Forward Limit switch input of axis ‘n’ (equals 0 or 1)
_LRX
Returns status of Reverse Limit switch input of axis ‘n’ (equals 0 or 1)
_UL
*Returns the number of available variables
TIME
Free-Running Real Time Clock (off by 2.4% - Resets with power-on).
Note: TIME does not use an underscore character (_) as other keywords.
* - 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 Reference.
Examples of Keywords:
V1=_LFX
Assign V1 the logical state of the Forward Limit Switch on the X-axis
V3=TIME
Assign V3 the current value of the time clock
V4=_HMW
Assign V4 the logical state of the Home input on the W-axis
Arrays
For storing and collecting numerical data, the DMC-40x0 provides array space for 16000 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 (231)followed by two bytes of fraction (+/-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]
Defines an array names POSX with seven entries
DM SPEED[100]
Defines an array named speed with 100 entries
DM POSX[0]
Frees array space
Assignment of Array Entries
Like variables, each array element can be assigned a value. Assigned values can be numbers or returned values
from instructions, functions and keywords.
Array elements are addressed starting at count 0. For example the first element in the POSX array (defined with the
DM command, DM POSX[7]) would be specified as POSX[0].
Values are assigned to array entries using the equal sign. Assignments are made one element at a time by specifying
the element number with the associated array name.
NOTE: Arrays must be defined using the command, DM, before assigning entry values.
Examples:
DM SPEED[10]
Dimension Speed Array
SPEED[1]=7650.2
Assigns the first element of the array, SPEED the value 7650.2
SPEED[1]=
Returns array element value
POSX[10]=_TPX
Assigns the 10th element of the array POSX the returned value
from the tell position command.
DMC-40x0 User Manual
Chapter 7 Application Programming • 154