X-Axis

500 counts

Position

 

10000 count/sec

Speed

 

500000 counts/sec2

Acceleration

Y-Axis

1000 counts

Position

 

15000 count/sec

Speed

 

500000 counts/sec2

Acceleration

Z-Axis

100 counts

Position

 

5000 counts/sec

Speed

 

500000 counts/sec

Acceleration

This example will specify a relative position movement on X, Y and Z axes. The movement on each axis will be separated by 20 msec. Fig. 6.1 shows the velocity profiles for the X,Y and Z axis.

#A

Begin Program

PR 2000,500,100

Specify relative position movement of 1000, 500 and 100 counts for X,Y and Z

 

axes.

SP 15000,10000,5000

Specify speed of 10000, 15000, and 5000 counts / sec

AC 500000,500000,500000

Specify acceleration of 500000 counts / sec2 for all axes

DC 500000,500000,500000

Specify deceleration of 500000 counts / sec2 for all axes

BG X

Begin motion on the X axis

WT 20

Wait 20 msec

BG Y

Begin motion on the Y axis

WT 20

Wait 20 msec

BG Z

Begin motion on Z axis

EN

End Program

VELOCITY

 

 

 

 

 

(COUNTS/SEC)

 

 

 

 

 

 

X axis velocity profile

 

 

 

20000

 

 

 

Y axis velocity profile

 

 

 

 

 

 

15000

 

 

 

 

 

10000

 

 

 

Z axis velocity profile

 

 

 

 

 

5000

 

 

 

 

TIME (ms)

 

 

 

 

 

0

20

40

60

80

100

Figure 6.1 - Velocity Profiles of XYZ

Notes on fig 6.1: The X and Y axis have a ‘trapezoidal’ velocity profile, while the Z axis has a ‘triangular’ velocity profile. The X and Y axes accelerate to the specified speed, move at this constant

Chapter 6 Programming Motion • 66

USER MANUAL

Page 66
Image 66
Galil DMC-13X8 user manual Velocity COUNTS/SEC, Axis velocity profile