Galil DMC-1800, DMC-1700 Example - Absolute Position Movement, Example - Multiple Move Sequence

_PRx

Returns current incremental distance specified for the ‘x’ axis

Example - Absolute Position Movement

PA 10000,20000	Specify absolute X,Y position
AC 1000000,1000000	Acceleration for X,Y
DC 1000000,1000000	Deceleration for X,Y
SP 50000,30000	Speeds for X,Y
BG XY	Begin motion

Example - Multiple Move Sequence

Required Motion Profiles:

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

88 • Chapter 6 Programming Motion DMC-1700/1800