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DMC-3425 Chapter 7 Application Programming• 119
PR -10000 New Position
SP 30000 New Speed
AC 150000 New Acceleration
BGA Start Motion
EN End
Example- Define Output Waveform Using AT
The following program causes Output 1 to be high for 10 msec and low for 40 msec. The cycle repeats
every 50 msec.
Instruction
Interpretation
#OUTPUT Program label
AT0 Initialize time reference
SB1 Set Output 1
#LOOP Loop
AT 10 After 10 msec from reference,
CB1 Clear Output 1
AT -40 Wait 40 msec from reference and reset reference
SB1 Set Output 1
JP #LOOP Loop
EN
Conditional Jumps
The DMC-3425 provides Conditional Jump (JP) and Conditional Jump to Subroutine (JS) instructions
for branching to a new program location based on a specified condition. The conditional jump
determines if a condition is satisfied and then branches to a new location or subroutine. Unlike event
triggers, the conditional jump instruction does not halt the program sequence. Conditional jumps are
useful for testing events in real-time. They allow the DMC-3425 to make decisions without a host
computer. For example, the DMC-3425 can decide between two motion profiles based on the state of
an input line.
Command Format - JP and JS
Format: Description
JS destination, logical condition Jump to subroutine if logical condition is satisfied
JP destination, logical condition Jump to location if logical condition is satisfied
The destination is a program line number or label where the program sequencer will jump if the
specified condition is satisfied. Note that the line number of the first line of program memory is 0.
The comma designates "IF". The logical condition tests two operands with logical operators.