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110 • Chapter 7 Application Programming DMC-3425
AM Wait for motion complete
WT 2000 Wait 2 sec
JP #START Jump to label START
EN End of Program
The above program moves A and B 10000 and 20000 units. After the motion is complete, the motors
rest for 2 seconds. The cycle repeats indefinitely until the stop command is issued.
Special Labels
The DMC-3425 has some special labels, which are used to define input interrupt subroutines, limit
switch subroutines, error handling subroutines, command error subroutines and auto start and recovery
routines.
#AUTO
Label for automatic execution of program upon power up. This program
must be saved in the non-volatile memory with the BP command.
#AUTOERR
Label for detecting errors in the #AUTO routine. If a Checksum error
were to occur, the #AUTO would fail to start at power up. This
#AUTOERR routine would be called instead.
#ININT Label for Input Interrupt subroutine
#LIMSWI Label for Limit Switch subroutine
#POSERR Label for excess Position Error subroutine
#MCTIME Label for timeout on Motion Complete trip point
#CMDERR Label for incorrect command subroutine
#COMINT Label for communication interrupt on the aux. serial port
#TCPERR Ethernet communication error
Commenting Programs
There are two methods for commenting programs. The first method uses the NO command and allows
for comments to be embedded into Galil programs. The second method used the REM statement and
requires the use of Galil software.
NO Command and the Apostrophe (‘)
Programs on the DMC-3425 can be commented using the command, NO, or the apostrophe. These
commands allow the user to include up to 78 characters on a single line. This can be used to include
comments from the programmer as in the following example:
Instruction
Interpretation
#PATH Label
NO 2-D CIRCULAR PATH Comment - No Operation
VMAB Vector Mode
NO VECTOR MOTION ON A AND B Comment - No Operation
VS 10000 Vector Speed
NO VECTOR SPEED IS 10000 Comment - No Operation
VP -4000,0 Vector Position
NO BOTTOM LINE Comment - No Operation
CR 1500,270,-180 Circle Motion
NO HALF CIRCLE MOTION Comment - No Operation