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Workcell Installation and General Guidelines Revision F / Janu ary 2021 Page 49 of 59 Cmd Description Example Tips AC Acceleration for independent moves are in counts per second² AC*=100000 (sets all axes) ACX=100000 (on…

Workcell Installation and General Guidelines

Revision F / January 2021

Page 48 of 59

DMC Programming Basics

• All commands must be in uppercase letters.

• Positions are given in counts. In most cases there are 5080 counts per inch, 200

counts per millimeter.

• No line of code may contain more than 80 characters.

• A semicolon (;) is used as a carriage return. This allows for multiple commands on the

same line and can be used to save space in the program.

Labels

Sections of a program (subroutines) are defined by labels. PathMaster® generates its own

labels for programs. These labels do not appear in the edit window, so the operator cannot

alter them.

• Labels start with the pound (#) sign followed by a maximum of seven characters.

• The first character must be a letter, after there can be numbers.

• There can be no spaces.

• There can be no duplicate labels anywhere in memory. The Main program and

PathMaster® are written without any duplicate labels.

• If the operator must put special labels into programs it can cause duplicate labels. If

any duplicate labels occur, the operator must find the duplication and fix it.

This usually happens when a section of code has been copied and pasted. There can be no

duplicates anywhere within a project, which includes all 30 programs in that project.

• Labels must be at the start of a line. When code is entered manually, make sure there

are no labels in the middle of a line. This causes an error when the program is run.

Important Commands

The DMC programming language contains over 135 commands. The program for the workcell

does not use most of these commands, and even fewer are used to create a dispense path.

The commands in the table below are the most important for an advanced operator to know.

A complete list of commands can be found in the separate DMC-1500 or 2200 manual that

came with the machine. Any reference to manually changing or querying in the examples

below requires the use of the terminal option in PathMaster® to communicate directly with

the controller.

Workcell Installation and General Guidelines

Revision F / January 2021

Page 49 of 59

Cmd

Description

Example

Tips

Acceleration for independent

moves are in counts per second²

AC*=100000 (sets all axes)

ACX=100000 (only sets the

X axis acceleration)

Make sure the acceleration is large

enough to get the motion to speed

in a reasonable amount of time

After move. This command holds

the program until the movement

on the specified axes is

completed

AM (wait for all axes to finish

its motion)

AMS (wait for coordinate

sequence to finish motion)

The AM command tests for profile

completion. Use the AM command

to separate multiple movements

After vector distance. This

command holds the program

until a specified distance has

been traveled with a coordinated

move, the units are in counts

AV1000 (wait until the axes

have moved 1000 counts)

The AV command resets to zero

after every use. It can be calculated

by summing the distances between

each point on the coordinated

move

Begin. BG starts a motion on an

axis or a sequence

BGX (begin motion on the X

axis), BGS (begin motion

sequence), BG (begin motion

on all axes)

A second BG command cannot be

given until the first BG motion is

finished. The AM command can

hold the program until the first

motion is done. The exact axes to

put in motion must be given. The

BG command starts all the axes

according to the last specified

motions

Reverse Software Limit

Clear bit. Clears a bit on the

output port

CB40 (clears the bit for the

buzzer)

Clearing a bit in DMC terminology

turns the bit on. The opposite of CB

is SB (set bit). A complete list of the

outputs can be found in the

Operating Guide

Circle. Select a radius, a start

angle and the angle to be

traversed. Movement is

counterclockwise in the

Cartesian coordinate system.

This is either clockwise or

counterclockwise, as viewed

from the front of the machine,

and depends on the setup of the

machine. A negative traverse

angle yields clockwise motion in

the Cartesian coordinate system

CR 5000,90,180

arc with length of 5000

counts, starting at 90° and

doing a half circle (180°)

The circle command is a

coordinated two dimensional move.

The structure is the same as all

other coordinated moves, using the

VM, VP and VE commands. A start

angle of 0° gives a circle, relative to

the start point, entirely negative in

the X direction and half positive,

half negative in the Y. Starting at

180° yields an entirely positive X

circle and a half positive, half

negative Y.

90° is an entirely negative Y circle

180° entirely positive Y, with both

having X half positive, half negative

Clear Sequence

Clears Memory of prior coordinated sequences

Workcell Installation and General Guidelines

Revision F / January 2021

Page 50 of 59

Deceleration for independent

moves. The units are in counts

per second²

DC*=100000 (sets all axes),

DCX=100000 (only sets the X

axis deceleration), DC

10000,30000,40000 (sets X, Y

and Z Decelerations

separately)

The higher the deceleration, the

faster an axis stops its move

Dual (Auxiliary) Encoder Position

Download. This transfers a text

file from the computer to the

controller

DL (then select a text file to

download)

Use the HX (halt execution)

command before using DL.

Damage may result otherwise

End. This terminates a

subroutine, program thread or

program

The Dispensing System also has

a subroutine used for a

conditional end. The command

JP#NOOP operates the same as

the EN command

Forward Software Limit

Halt execution. Halts the

execution of the program or any

of its threads

HX1 (halt thread 1)

HX (halt the entire program)

Always use the HX command

before executing a DL command

Jog

Jump to a program location.

Locations are marked by labels.

This command can be used in a

conditional statement and the

jump occurs if the conditional is

true

JP#NOOP (jump to location

#NOOP), JP#NOOP,COUNT>10

(jump to location #NOOP if the

value of COUNT exceeds 10)

It is important not to confuse JP

with JS. Using a JP when a JS is

required results in the thread

being halted once the EN

command is reached

Jump to subroutine. Subroutines

are marked by labels

JS#H1UP (jump to subroutine

#H1UP)

It is important not to confuse JS

with JP. Using a JS when a JP is

required can result in “nesting”

the program continuously until a

nesting error occurs.

Subroutines can only be nested

16 deep

Linear Interpolation Distance

Linear Interpolation Mode

List. The operator can list a

single line or multiple lines of the

program in a terminal screen

LS 300,0 (show line 300), LS

250,270 (show lines 250 to

270), LS (show all lines in

memory)

If a runtime error occurs, use the

LS command in the terminal

screen to check the line

containing the error

Message. This command sends

data out the bus. It can also be

used by the operator to query

the controller for information

MG “Path Complete” (displays

the message “Path Complete”

on the terminal screen),

MG@IN[60] (displays the value

of input 60, where 0 is on and 1

is off)

Do not put message commands

in programs! If there are

message commands, and there

is no computer attached to the

workcell, the controller halts

once the output buffer is full