Galil DMC-13X8 user manual Example 8 Operation Under Torque Limit, Example 9 Interrogation

Example 8 - Operation Under Torque Limit

The magnitude of the motor command may be limited independently by the instruction TL.

Instruction	Interpretation
TL 0.2	Set output limit of X axis to 0.2 volts
JG 10000	Set X speed
BG X	Start X motion

In this example, the X motor will probably not move since the output signal will not be sufficient to overcome the friction. If the motion starts, it can be stopped easily by a touch of a finger.

Increase the torque level gradually by instructions such as

InstructionInterpretation

TL 1.0	Increase torque limit to 1 volt.
TL 9.98	Increase torque limit to maximum, 9.98 Volts.

The maximum level of 9.998 volts provides the full output torque.

Example 9 - Interrogation

The values of the parameters may be interrogated. Some examples …

Instruction	Interpretation
KP ?	Return gain of X axis.
KP ,,?	Return gain of Z axis.
KP ?,?,?,?	Return gains of all axes.

Many other parameters such as KI, KD, FA, can also be interrogated. The command reference denotes all commands which can be interrogated.

Example 10 - Operation in the Buffer Mode

The instructions may be buffered before execution as shown below.

Instruction	Interpretation
PR 600000	Distance
SP 10000	Speed
WT 10000	Wait 10000 milliseconds before reading the next instruction
BG X	Start the motion

Example 11 - Using the On-Board Editor

Motion programs may be edited and stored in the controller’s on-board memory. When the command, ED is given from communications software, the controller’s editor will be started.

The instruction

ED Edit mode

moves the operation to the editor mode where the program may be written and edited. The editor provides the line number. For example, in response to the first ED command, the first line is zero.

Line #	Instruction	Interpretation
000	#A	Define label
001	PR 700	Distance
002	SP 2000	Speed

USER MANUAL Chapter 2 Getting Started • 33