140ARI03010 processor module

The DMC-21x2/21x3 provides a powerful programming language that allows users to customize the controller for their particular application. Programs can be downloaded into the DMC-21x2/21x3 memory freeing the host computer for other tasks. However, the host computer can send commands to the controller at any time, even while a program is being executed. Only ASCII commands can be used for application programming. In addition to standard motion commands, the DMC-21x2/21x3 provides commands that allow the DMC-21x2/21x3 to make its own decisions. These commands include conditional jumps, event triggers and subroutines. For example, the command JP#LOOP, n<10 causes a jump to the label #LOOP if the variable n is less than 10.

For greater programming flexibility

 the DMC-21x2/21x3 provides user-defined variables, arrays and arithmetic functions. For example, with a cut-to-length operation, the length can be specified as a variable in a program which the operator can change as necessary. The following sections in this chapter discuss all aspects of creating applications programs. The program memory size is 80 characters x 1000 lines.

ED command only accepts a parameter (such as #BEGIN) in DOS Window. For general purposes, the editing features in this section are not applicable when not in DOS mode.

Using the DOS Editor to Enter Programs 

The DMC-21x2/21x3 has an internal editor which may be used to create and edit programs in the controller's memory. The internal editor is opened by the command ED. Note that the command ED will not open the internal editor if issued from Galil's Window based software - in this case, a Windows based editor will be automatically opened. The Windows based editor provides much more functionality and ease-of-use, therefore, the internal editor is most useful when using a simple terminal with the controller and a Windows based editor is not available. Once the ED command has been given, each program line is automatically numbered sequentially starting with 000. If no parameter follows the ED command, the editor prompter will default to the last line of the last program in memory. If desired, the user can edit a specific line number or label by specifying a line number or label following ED.

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