Galil DMC-13X8 user manual Example 6 Absolute Position, Example 7 Velocity Control

TP Y	Tell position - Y axis only
TP Z	Tell position - Z axis only
TP W	Tell position - W axis only

The position error, which is the difference between the commanded position and the actual position can be interrogated with the instruction TE.

Instruction	Interpretation
TE	Tell error - all axes
TE X	Tell error - X axis only
TE Y	Tell error - Y axis only
TE Z	Tell error - Z axis only
TE W	Tell error - W axis only

Example 6 - Absolute Position

Objective: Command motion by specifying the absolute position.

InstructionInterpretation

DP 0,2000	Define the current positions of X,Y as 0 and 2000
PA 7000,4000	Sets the desired absolute positions
BG X	Start X motion
BG Y	Start Y motion

After both motions are complete, the X and Y axes can be command back to zero:

PA 0,0	Move to 0,0
BG XY	Start both motions

Example 7 - Velocity Control

Objective: Drive the X and Y motors at specified speeds.

Instruction	Interpretation
JG 10000,-20000	Set Jog Speeds and Directions
AC 100000, 40000	Set accelerations
DC 50000,50000	Set decelerations
BG XY	Start motion

after a few seconds, command:

JG -40000	New X speed and Direction
TV X	Returns X speed

and then

JG ,20000	New Y speed
TV Y	Returns Y speed

These cause velocity changes including direction reversal. The motion can be stopped with the instruction

STStop

Chapter 2 Getting Started • 32 USER MANUAL