Galil Motion Control Command Reference

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Galil Motion Control Command Reference#ININTInput interrupt automatic subroutineSyntax:Operands:Burn:Othernonenot burnableFull Description#ININT is an automatic subroutine that runs upon a state transition of digital inputs 1 to 8 and is configured with II. #ININT runs in thread 0.ArgumentsN/AOperand UsageN/AUsageUsage and Default DetailsUsageWhile MovingIn a ProgramCommand LineValueYesYesNoRelated CommandsII- Input interrupt@IN - Read digital inputRI - Return from interruptExamples:II1; 'arm digital input 1EN;'End thread zero'#ININT;'Automatic sub. Runs on input eventMG"Inputs:",_TI0; 'Display status of inputs 1-8WT100;'Debounce inputRI;'Return from interruptfile:///C|/Documents%20and%20Settings/Andy/Desktop/Temp/4Kcom/index.html (24 of 358)5/24/2011 8:38:16 AM
Galil Motion Control Command Reference#LIMSWILimit switch automatic subroutineSyntax:Operands:Burn:Othernonenot burnableFull DescriptionWithout #LIMSWI defined, the controller will effectively issue the STn on the axis when it's limit switch is tripped. With #LIMSWI defined, the axisis still stopped, and in addition, code is executed. #LIMSWI is most commonly used to turn the motor off when a limit switch is tripped (see examplebelow). For #LIMSWI to run, the switch corresponding to the direction of motion must be tripped (forward limit switch for positive motion andnegative limit switch for negative motion). #LIMSWI interrupts thread 0 when it runs.Use RE to terminate the #LIMSWI subroutine.ArgumentsN/AOperand UsageN/AUsageUsage and Default DetailsUsageWhile MovingIn a ProgramCommand LineController UsageDafault ValueDefault FormatValueYesYesNoAllN/AN/ARelated Commands_LFn - State of forward limit switch_LRn - State of reverse limit switchLD - Limit DisableExamples:#Main ;'print a message every secondMG "Main"WT1000JP#MainEN'#LIMSWI ;'runs when a limit switch is trippedIF (_LFX = 0) | (_LRX = 0)MG "X"DCX=67107840STXAMXMOXELSE; IF (_LFY = 0) | (_LRY = 0)MG "Y"DCY=67107840file:///C|/Documents%20and%20Settings/Andy/Desktop/Temp/4Kcom/index.html (25 of 358)5/24/2011 8:38:16 AM
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Galil Motion Control Command Reference

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