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iv • Contents DMC-3425
Example.....................................................................................................................99
Motion Smoothing.................................................................................................................100
Using the IT and VT Commands:............................................................................100
Example...................................................................................................................100
Homing..................................................................................................................................101
Example...................................................................................................................102
Command Summary - Homing Operation...............................................................104
Operand Summary - Homing Operation..................................................................104
High Speed Position Capture (Latch) ....................................................................................104
Example...................................................................................................................105
Chapter 7 Application Programming 107
Overview ...............................................................................................................................107
Global vs. Local Programming................................................................................107
Entering Programs .................................................................................................................108
Edit Mode Commands.............................................................................................108
Example:..................................................................................................................109
Program Format.....................................................................................................................109
Using Labels in Programs .......................................................................................109
Special Labels..........................................................................................................110
Commenting Programs............................................................................................110
Executing Programs - Multitasking .......................................................................................111
Debugging Programs .............................................................................................................112
Trace Command ......................................................................................................113
Error Code Command..............................................................................................113
Stop Code Command...............................................................................................113
RAM Memory Interrogation Commands ................................................................113
Operands..................................................................................................................114
Breakpoints and single stepping..............................................................................114
EEPROM Memory Interrogation Operands ............................................................114
Program Flow Commands .....................................................................................................115
Event Triggers & Trippoints....................................................................................115
Conditional Jumps...................................................................................................119
If, Else, and Endif....................................................................................................121
Subroutines..............................................................................................................123
Stack Manipulation..................................................................................................123
Auto-Start and Auto Error Routine .........................................................................123
Automatic Subroutines for Monitoring Conditions.................................................124
Mathematical and Functional Expressions ............................................................................127
Mathematical Operators ..........................................................................................127
Bit-Wise Operators..................................................................................................128
Functions .................................................................................................................129
Variables................................................................................................................................129
Programmable Variables .........................................................................................130
Operands................................................................................................................................131
Special Operands.....................................................................................................131
Examples .................................................................................................................132
Arrays ....................................................................................................................................132
Defining Arrays.......................................................................................................132
Assignment of Array Entries...................................................................................132
Uploading and Downloading Arrays to On Board Memory....................................133
Automatic Data Capture into Arrays.......................................................................133
Deallocating Array Space........................................................................................135
Outputting Numbers and Strings ...........................................................................................135
Sending Messages ...................................................................................................135