Download DMC-30000 User Manual - Galil Motion Control

DMC-30000 Event Triggers
Command
AM A or S
AD A
AR A
AP A
MF A
MR A
MC A
AI ± n
AS A
AT ±n,m
AV n
WT n,m
Function
Halts program execution until motion is complete on the specified axes or motion sequence(s). This
command is useful for separating motion sequences in a program.
Halts program execution until position command has reached the specified relative distance from
the start of the move.
Halts program execution until after specified distance from the last AR or AD command has elapsed.
Halts program execution until after absolute position occurs.
Halt program execution until after forward motion reached absolute position. If position is already
past the point, then MF will trip immediately. Will function on geared axis or aux. inputs.
Halt program execution until after reverse motion reached absolute position. If position is already
past the point, then MR will trip immediately. Will function on geared axis or aux. inputs.
Halt program execution until after the motion profile has been completed and the encoder has
entered or passed the specified position. TW x sets timeout to declare an error if not in position. If
timeout occurs, then the trippoint will clear and the stop code will be set to 99. An application
program will jump to label #MCTIME.
Halts program execution until after specified input is at specified logic level. n specifies input line.
Positive is high logic level, negative is low level. n=1 through 8
Halts program execution until the axis has reached its slew speed.
For m=omitted or 0, halts program execution until n msec from reference time. AT 0 sets reference.
AT n waits n msec from reference. AT -n waits n msec from reference and sets new reference after
elapsed time.
For m=1. Same functionality except that n is number of samples rather than msec
Halts program execution until specified distance along a coordinated path has occurred.
For m=omitted or 0, halts program execution until specified time in msec has elapsed.
For m=1. Same functionality except that n is number of samples rather than msec.
Event Trigger Examples:
Event Trigger - Multiple Move Sequence
The AM trippoint is used to separate the two PR moves. If AM is not used, the controller returns a ? for the second
PR command because a new PR cannot be given until motion is complete.
#TWOMOVE;'
PR 2000;'
BGX;'
AMX;'
PR 4000;'
BGX;'
EN;'
Label
Position Command
Begin Motion
Wait for Motion Complete
Next Position Move
Begin 2nd move
End program
Event Trigger - Set Output after Distance
Set output bit 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;'
SP 10000;'
PA 20000;'
BGX;'
AD 1000;'
SB1;'
EN;'
Chapter 7 Application Programming ▫ 108
Label
Speed is 10000
Specify Absolute position
Begin motion
Wait until 1000 counts
Set output bit 1
End program
DMC-30000 User Manual