Galil DMC-1700, DMC-1800 user manual CR 80000,270,-360

5 in/sec = 200,000 count/sec

an acceleration rate of 0.1g equals

0.1g = 38.6 in/s2 = 1,544,000 count/s2

Note that the circular path has a radius of 2” or 80000 counts, and the motion starts at the angle of 270° and traverses 360° in the CW (negative direction). Such a path is specified with the instruction

CR 80000,270,-360

Further assume that the Z must move 2” at a linear speed of 2” per second. The required motion is performed by the following instructions:

INSTRUCTION	FUNCTION
#A	Label
VM XY	Circular interpolation for XY
VP 160000,160000	Positions
VE	End Vector Motion
VS 200000	Vector Speed
VA 1544000	Vector Acceleration
BGS	Start Motion
AMS	When motion is complete
PR,,-80000	Move Z down
SP,,80000	Z speed
BGZ	Start Z motion
AMZ	Wait for completion of Z motion
CR 80000,270,-360	Circle
VE
VS 40000	Feedrate
BGS	Start circular move
AMS	Wait for completion
PR,,80000	Move Z up
BGZ	Start Z move
AMZ	Wait for Z completion
PR -21600	Move X
SP 20000	Speed X
BGX	Start X
AMX	Wait for X completion
PR,,-80000	Lower Z
BGZ
AMZ
CR 80000,270,-360	Z second circle move
VE
VS 40000
BGS
AMS
PR,,80000	Raise Z

DMC-1700/1800 Chapter 7 Application Programming • 171