Galil DMC-13X8 Example 2 Profiled Move, Example 3 Multiple Axes, Example 4 Independent Moves

KPD=10 Alternate method for setting D axis gain

Example 2 - Profiled Move

Objective: Rotate the X axis a distance of 10,000 counts at a slew speed of 20,000 counts/sec and an acceleration and deceleration rates of 100,000 counts/s2. In this example, the motor turns and stops:

InstructionInterpretation

PR 10000	Distance
SP 20000	Speed
DC 100000	Deceleration
AC 100000	Acceleration
BG X	Start Motion

Example 3 - Multiple Axes

Objective: Move the four axes independently.

InstructionInterpretation

PR 500,1000,600,-400	Distances of X,Y,Z,W
SP 10000,12000,20000,10000	Slew speeds of X,Y,Z,W
AC 100000,10000,100000,100000	Accelerations of X,Y,Z,W
DC 80000,40000,30000,50000	Decelerations of X,Y,Z,W
BG XZ	Start X and Z motion
BG YW	Start Y and W motion

Example 4 - Independent Moves

The motion parameters may be specified independently as illustrated below.

Instruction	Interpretation
PR ,300,-600	Distances of Y and Z
SP ,2000	Slew speed of Y
DC ,80000	Deceleration of Y
AC, 100000	Acceleration of Y
SP ,,40000	Slew speed of Z
AC ,,100000	Acceleration of Z
DC ,,150000	Deceleration of Z
BG Z	Start Z motion
BG Y	Start Y motion

Example 5 - Position Interrogation

The position of the four axes may be interrogated with the instruction, TP.

Instruction	Interpretation
TP	Tell position all four axes
TP X	Tell position - X axis only

USER MANUAL Chapter 2 Getting Started • 31