AccelMotion DC2M17 User Manual

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AccelMotion DC2M17 User Manual Manual pdf 38 page image

38DC2M17 Driver/Controller ModuleG (Go/Branch)CommandGFunction Type SizeExecute Program/Branch to location Immediate, Program 4Example(Name) G a (t) ↵Data 1a 0-511 (excluding 200-255)Data 2t (0-1)ResultnoneThe Go command is used to enter Program Mode and begin execution of a user-programmed sequence,starting at memory location “a”. Most programs will start at “0”, however, any starting address may beused.“G” can start execution from Immediate Mode to begin a program manually, and is used within aprogram to branch to a new location. For conditional branches, refer to L (Loop Waiting on Condition)Command.The available address range is 0 to 511. In addition, address locations between 200 and 255 are reservedfor parameter storage and may not be used in programs.If optional parameter t is a 1 (one), Trace Mode is enabled; Trace displays the instruction step beingexecuted as the program is running, as a tool for debugging. The list format is the same as that of the“Q” command. Trace Mode will be in effect until the program terminates or until an another “Go” isexecuted without the Trace attribute – so change all G branches in any debug code to Trace Mode.The controller is factory set with a test program similar to the following example:P0 Enters Program Entry Mode, from Immediate Mode0 +801 Move 801 steps in the plus direction5 W100 Wait 100 milliseconds8 -800 Move 800 steps in the minus direction13 W100 Wait 100 milliseconds16 Z0 Display step position17 G0 0 Go (Jump) to location 0 and continue executing21 P Exits Program Entry ModeA running program can be aborted from the console with the ESC command, returning control fromProgram Mode to Immediate Mode – In Program Mode only the commands “ESC”,”^C”, “|” and “@”are permitted to be sent via the Communications Interface. In Program Mode, the | command is used toend a program, and exit Program Mode.Upon completion of a program the controller will return a message to the host, indicating thecompletion of the program and the exiting of Program Mode (unless in Multi-Axis mode).Auto Program ExecutionDuring power-up or after any reset procedure (see ^C command) the controller will automatically runany program starting at location 192. This feature is known as Automatic Program Mode, and allows thedesigner to place programs, such as initialization sequences or a homing routine, or to start a completeprogram sequence upon power-up. All Automatic Programs must begin with a “G” command, to redirectprogram flow to other locations, as programs cannot be placed in locations 200 – 255.

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