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iv • Contents DMC-1700/1800
Using the IT and VT Commands:............................................................................127
Using the KS Command (Step Motor Smoothing):.................................................128
Homing..................................................................................................................................129
Stage 1:....................................................................................................................129
Stage 2:....................................................................................................................129
Stage 3:....................................................................................................................129
Command Summary - Homing Operation...............................................................132
Operand Summary - Homing Operation..................................................................132
High Speed Position Capture (The Latch Function)..............................................................132
Fast Update Rate Mode .........................................................................................................133
Chapter 7 Application Programming 135
Overview ...............................................................................................................................135
Using the DMC-1700/1800 Editor to Enter Programs...........................................................135
Edit Mode Commands.............................................................................................136
Program Format.....................................................................................................................136
Using Labels in Programs .......................................................................................136
Special Labels..........................................................................................................137
Commenting Programs............................................................................................137
Executing Programs - Multitasking.......................................................................................138
Debugging Programs .............................................................................................................139
Program Flow Commands.....................................................................................................140
Event Triggers & Trippoints....................................................................................141
Event Trigger Examples:.........................................................................................143
Conditional Jumps...................................................................................................145
Using If, Else, and Endif Commands ......................................................................147
Subroutines..............................................................................................................149
Stack Manipulation..................................................................................................149
Auto-Start Routine ..................................................................................................149
Automatic Subroutines for Monitoring Conditions.................................................149
Mathematical and Functional Expressions ............................................................................153
Mathematical Operators ..........................................................................................153
Bit-Wise Operators..................................................................................................153
Functions.................................................................................................................154
Variables................................................................................................................................155
Programmable Variables .........................................................................................155
Operands................................................................................................................................156
Special Operands (Keywords).................................................................................157
Arrays ....................................................................................................................................157
Defining Arrays.......................................................................................................157
Assignment of Array Entries...................................................................................158
Automatic Data Capture into Arrays.......................................................................159
Deallocating Array Space........................................................................................160
Input of Data (Numeric and String).......................................................................................160
Input of Data............................................................................................................160
Output of Data (Numeric and String) ....................................................................................161
Sending Messages ...................................................................................................161
Displaying Variables and Arrays.............................................................................163
Interrogation Commands.........................................................................................163
Formatting Variables and Array Elements ..............................................................165
Converting to User Units.........................................................................................165
Hardware I/O.........................................................................................................................166
Digital Outputs ........................................................................................................166
Digital Inputs...........................................................................................................167
Input Interrupt Function ..........................................................................................167