Galil DMC-2X00 - Manual (Page 147)

beginning the program with the label #AUTO. The program must be saved into non-volatile memory
using the command, BP.
Automatic Subroutines for Monitoring Conditions
Often it is desirable to monitor certain conditions continuously without tying up the host or DMC-2x00
program sequences. The DMC-2x00 can monitor several important conditions in the background.
These conditions include checking for the occurrence of a limit switch, a defined input, position error,
or a command error. Automatic monitoring is enabled by inserting a special, predefined label in the
applications program. The pre-defined labels are:
SUBROUTINE DESCRIPTION
#LIMSWI Limit switch on any axis goes low
#ININT Input specified by II goes low
#POSERR Position error exceeds limit specified by ER
#MCTIME Motion Complete timeout occurred. Timeout period set by TW command
#CMDERR Bad command given
#COMINT (DMC-2000 only) Communication Interrupt Routine
#TCPERR TCP/IP communication error (2100 and 2200 only)
For example, the #POSERR subroutine will automatically be executed when any axis exceeds its
position error limit. The commands in the #POSERR subroutine could decode which axis is in error
and take the appropriate action. In another example, the #ININT label could be used to designate an
input interrupt subroutine. When the specified input occurs, the program will be executed
automatically.
NOTE: An application program must be running for automatic monitoring to function.
Example - Limit Switch:
This program prints a message upon the occurrence of a limit switch. Note, for the #LIMSWI routine
to function, the DMC-2x00 must be executing an applications program from memory. This can be a
very simple program that does nothing but loop on a statement, such as #LOOP;JP #LOOP;EN.
Motion commands, such as JG 5000 can still be sent from the PC even while the "dummy"
applications program is being executed.
Instruction Interpretation
:ED Edit Mode
000 #LOOP Dummy Program
001 JP #LOOP;EN Jump to Loop
002 #LIMSWI Limit Switch Label
003 MG "LIMIT OCCURRED" Print Message
004 RE Return to main program
Q Quit Edit Mode
:XQ #LOOP Execute Dummy Program
:JG 5000 Jog
:BGA Begin Motion
DMC-2X00 Chapter 7 Application Programming y 137