Galil DMC-2X00 - Manual (Page 133)

Program Format
A DMC program consists of DMC-2x00 instructions combined to solve a machine control application.
Action instructions, such as starting and stopping motion, are combined with Program Flow
instructions to form the complete program. Program Flow instructions evaluate real-time conditions,
such as elapsed time or motion complete, and alter program flow accordingly.
Each DMC-2x00 instruction in a program must be separated by a delimiter. Valid delimiters are the
semicolon (;) or carriage return. The semicolon is used to separate multiple instructions on a single
program line where the maximum number of instructions on a line is limited by 80 characters. A
carriage return enters the final command on a program line.
Using Labels in Programs
All DMC-2x00 programs must begin with a label and end with an End (EN) statement. Labels start
with the pound (#) sign followed by a maximum of seven characters. The first character must be a
letter; after that, numbers are permitted. Spaces are not permitted.
The maximum number of labels which may be defined is 510, for firmware 1.0c and higher.
Valid labels
#BEGIN
#SQUARE
#X1
#BEGIN1
Invalid labels
#1Square
#123
Example
Instruction Interpretation
#START Beginning of the Program
PR 10000,20000 Specify relative distances on A and B axes
BG AB Begin Motion
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-2x00 has some special labels, which are used to define input interrupt subroutines, limit
switch subroutines, error handling subroutines, and command error subroutines. See section on Auto-
Start Routine
The DMC-2x00 has a special label for automatic program execution. A program which has been saved
into the controller’s non-volatile memory can be automatically executed upon power up or reset by
DMC-2X00 Chapter 7 Application Programming y 123