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DMC-2X00 Chapter 2 Getting Started y 35
Line # Instruction Interpretation
000 #A Define label
001 PR 700 Distance
002 SP 2000 Speed
003 BGA Start A motion
004 EN End program
To exit the editor mode, input <cntrl>Q. The program may be executed with the command.
XQ #A Start the program running
If the ED command is issued from the Galil Windows terminal software (such as SmartTERM), the
software will open a Windows based editor. From this editor a program can be entered, edited,
downloaded and uploaded to the controller.
Motion Programs with Loops
Motion programs may include conditional jumps as shown below.
Instruction Interpretation
#A Label
DP 0 Define current position as zero
V1=1000 Set initial value of V1
#LOOP Label for loop
PA V1 Move A motor V1 counts
BG A Start A motion
AM A After A motion is complete
WT 500 Wait 500 ms
TP A Tell position A
V1=V1+1000 Increase the value of V1
JP #LOOP,V1<10001 Repeat if V1<10001
EN End
After the above program is entered, quit the Editor Mode, <cntrl>Q. To start the motion, command:
XQ #A Execute Program #A
Motion Programs with Trippoints
The motion programs may include trippoints as shown below.
Instruction Interpretation
#B Label
DP 0,0 Define initial positions
PR 30000,60000 Set targets
SP 5000,5000 Set speeds
BGA Start A motion
AD 4000 Wait until A moved 4000
BGB Start B motion
AP 6000 Wait until position A=6000
SP 2000,50000 Change speeds